Unmanned aerial cleaning vehicle system and control method integrating rotor airflow coupling cleaning

Abstract

The application discloses an unmanned flight cleaning vehicle system and a control method integrating a rotor airflow coupling cleaning, the unmanned flight cleaning vehicle system comprising a basic bearing unit, a cleaning execution unit, a multi-source sensing unit and a rotor airflow cooperative control unit, wherein the basic bearing unit, the cleaning execution unit and the multi-source sensing unit are in bidirectional communication connection with the rotor airflow cooperative control unit, the control method comprising the following specific steps: S1, system starting; S2, sensing collection and fusion; S3, scene determination and mode locking; S4, initial state regulation; S5, cooperative cleaning operation; S6, dust suppression regulation; S7, closed-loop feedback regulation; and S8, operation ending. The application completely solves the pain point of the corner cleaning blind area, has zero additional hardware cost, has an extremely simple structure, completely solves the secondary pollution problem of blowing and cleaning operation, is self-adaptable to all scenes, and can be completely integrated into the autonomous operation process of an existing unmanned cleaning vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to an unmanned flying cleaning vehicle system and a control method for integrated rotor airflow coupling cleaning. BACKGROUND

[0002] With the acceleration of urbanization, the demand for fine and intelligent urban road cleaning is increasing. Unmanned cleaning equipment has been widely used in cleaning operations in urban roads, parks, and communities due to its advantages of high efficiency, energy saving, and low labor cost. Currently, technologies related to ground cleaning mainly focus on three directions: ground unmanned cleaning vehicle technology, cleaning vehicle-unmanned aerial vehicle (UAV) split coordination technology, and flying vehicle platform technology. Each technology direction has its own technical characteristics, but there are still defects that are difficult to overcome in the field of cleaning the corners of the ground, which cannot meet the actual needs of fine cleaning.

[0003] In the field of ground unmanned cleaning vehicle technology, the core cleaning method of the mainstream unmanned cleaning vehicle is to realize the cleaning of the conventional road surface by cooperating the main roller brush with the side disc brush. For the cleaning pain points of the edge blind area such as the road curb, corner, and well cover, the industry often uses the method of adding telescopic side brushes or fixed high-pressure blowing fans to optimize, for example, the Chinese utility model patent "Garbage cleaning device and sanitation vehicle" with publication number CN219825052U, which improves the coverage of the blind area by optimizing the structure of the side brush. However, this scheme still has inherent bottlenecks: the conventional disc brush and roller brush cannot completely cover the narrow blind area such as the right-angle corner of the road curb, the corner, the well cover, and the bottom of the guardrail due to structural limitations, resulting in a cleaning coverage rate of less than 60%. The scheme of adding telescopic side brushes not only has a complex structure but also is prone to damage due to collision with obstacles, and has poor adaptability to different scenarios. The scheme of fixed high-pressure blowing fans cannot flexibly adapt to different shapes and positions of the corner scene due to the fixed direction of the airflow, and is prone to cause garbage scattering and dust secondary pollution during the blowing process, which cannot meet the high standard requirements of fine urban cleaning.

[0004] In the field of cleaning vehicle-UAV split coordination technology, the existing technical solutions are mainly to carry small UAVs on the ground cleaning vehicle to realize the combination mode of "ground cleaning + high-altitude inspection". However, in this scheme, the UAV and the ground cleaning vehicle belong to two independent operation platforms, and the UAV can only independently perform auxiliary operations such as high-altitude inspection and simple pesticide spraying, and does not participate in the coordination during the ground cleaning operation. Moreover, the rotor airflow of the UAV has no directional control capability, and if it is forcibly used for ground corner blowing, it will scatter garbage and dust in a large area, which will increase the difficulty of ground cleaning and secondary pollution. Currently, there is no technical solution for using the rotor airflow of the UAV for ground corner cleaning coordination in the industry, and the cooperative advantages of the UAV and the ground cleaning vehicle cannot be fully utilized.

[0005] In the field of flying car platform technology, the core feature of the existing vertical take-off and landing flying car is to carry a foldable rotor or ducted fan system, which is mainly used to provide lift for the vehicle in flight mode to realize amphibious driving. However, in the ground cleaning mode, the foldable rotor / ducted fan system is completely housed in the vehicle body and is in an idle state, resulting in serious waste of function. In fact, in ground cleaning operations, the cleaning of the corner blind area requires controllable directional airflow to break up the dust in dead corners, loosen stubborn garbage, and suppress dust raising. The existing technology completely fails to realize the combination of the foldable rotor system of the flying car and the ground corner cleaning demand, and there is no related technical inspiration, so the function reuse of the rotor system cannot be realized.

[0006] In summary, the existing technology has three major core defects in the field of corner blind area cleaning in ground cleaning: low corner cleaning coverage of ground unmanned cleaning vehicles, easy secondary pollution; cleaning vehicle-unmanned aerial vehicle split cooperation scheme has no ground cleaning cooperation capability; the foldable rotor system of the flying car platform is wasted and not combined with the ground cleaning demand. In view of the deficiencies of the existing technology, a technical scheme focusing on the cleaning of the corner blind area in the ground cleaning mode is urgently needed to break through the bottleneck of the existing technology and realize efficient, fine, and low-dust cleaning of the corner blind area. SUMMARY

[0007] The purpose of the present application is to overcome the deficiencies in the prior art and provide an unmanned flying cleaning car system and control method integrating rotor airflow coupled cleaning.

[0008] In order to achieve the above purpose, the present application is realized by the following technical scheme:

[0009] The unmanned flying cleaning car system integrating rotor airflow coupled cleaning comprises a basic bearing unit, a cleaning execution unit, a multi-source perception unit, and a rotor airflow cooperative control unit, wherein the basic bearing unit, the cleaning execution unit, and the multi-source perception unit are bidirectionally connected with the rotor airflow cooperative control unit,

[0010] The basic bearing unit is used to collect and feed back vehicle driving state information, rotor running state information, and vehicle body pose information to the rotor airflow cooperative control unit, and simultaneously execute driving control instructions, rotor attitude control instructions, speed control instructions, mode switching instructions, and steering control instructions issued by the rotor airflow cooperative control unit. The basic bearing unit is also used to supply power to the cleaning execution unit, the multi-source perception unit, and the rotor airflow cooperative control unit.

[0011] The cleaning execution unit is used to feed back running state, garbage flux information, and negative pressure suction information to the rotor airflow cooperative control unit, and simultaneously execute linkage control instructions about opening angle, speed, lifting, and negative pressure suction issued by the rotor airflow cooperative control unit.

[0012] The multi-source perception unit is used to collect edge corner area scene, garbage distribution, garbage type, edge distance and dust concentration data, and transmit the data to the rotor airflow coordination control unit after fusion processing, and receive the perception control instruction of the rotor airflow coordination control unit.

[0013] As a preferred, the basic bearing unit includes a vehicle control unit, a foldable rotor unit, a basic power supply unit,

[0014] The vehicle control unit is used to collect and feed back the vehicle driving state and body pose information to the rotor airflow coordination control unit, execute the driving control instruction and mode switching instruction issued by the rotor airflow coordination control unit, and realize the control of low-speed stable driving, in-place steering, mode switching and edge driving of the vehicle.

[0015] The foldable rotor unit is used to feed back the rotor running state to the rotor airflow coordination control unit, execute the rotor attitude control instruction, rotating speed control instruction and steering control instruction issued by the rotor airflow coordination control unit, so as to generate directional cleaning airflow.

[0016] The basic power supply unit is used to supply power for the vehicle control unit, the foldable rotor unit, the cleaning execution unit, the multi-source perception unit and the rotor airflow coordination control unit, and the rotor running state information includes rotor tilt angle, rotating speed, steering and working mode.

[0017] As a preferred, the vehicle control unit includes four-wheel hub motors, a driving controller, a steering mechanism and a vehicle state detection module, the four-wheel hub motors, the steering mechanism and the vehicle state detection module are electrically connected with the driving controller, the vehicle state detection module is used to collect vehicle driving state information and body pose information, and the vehicle driving state information includes driving speed, steering angle, driving mode and wheel speed information.

[0018] The body pose information includes body attitude, vehicle orientation and edge attitude, the edge attitude is parallelism, edge distance and relative angle between the body and road edge, wall corner or guardrail, the body attitude includes body pitch angle, roll angle and roll attitude, and the working mode includes ground cleaning mode, in-place standby mode and flight take-off and landing mode.

[0019] As preferred, the foldable rotor units are four, and the four foldable rotor units are respectively installed at the four corners of the vehicle body, and each of the foldable rotor units comprises a power unit, a rotor, a tilting driving mechanism and a motor controller, the power unit is in transmission connection with the rotor for providing power for the rotation of the rotor, the tilting driving mechanism is connected with the rotor for driving the rotor to complete folding storage and angle tilting adjustment, and the motor controller is in electrical connection with the power unit and the tilting driving mechanism respectively for receiving the control instructions issued by the rotor airflow cooperative control unit, regulating the rotation speed, steering and tilting angle of the rotor, and feeding back the rotor operation state information to the rotor airflow cooperative control unit.

[0020] As preferred, the cleaning execution unit comprises a main cleaning unit, a side edge disc brush unit and an execution control unit.

[0021] The main cleaning unit is installed at the bottom of the vehicle body for centrally adsorbing and recycling the road garbage and feeding back the negative pressure suction force information and the garbage flux information to the rotor airflow cooperative control unit.

[0022] The side edge disc brush unit is installed at the front and both sides of the vehicle body and can be lifted and adjusted in opening angle for sweeping the corner garbage to the middle of the vehicle body and feeding back the self operation state to the rotor airflow cooperative control unit.

[0023] The main cleaning unit and the side edge disc brush unit are in electrical connection with the execution control unit, and the execution control unit is used for receiving the linkage control instructions issued by the rotor airflow cooperative control unit to control the opening angle, rotation speed, lifting and negative pressure suction force of the main cleaning unit and the side edge disc brush unit in real time.

[0024] As preferred, the main cleaning unit comprises an adaptive floating roller brush and a negative pressure dust suction port, the adaptive floating roller brush is arranged in close contact with the road surface for sweeping the scattered garbage on the road surface.

[0025] The negative pressure dust suction port is used for being connected with the sealed garbage bin of the vehicle body in communication for centrally adsorbing and recycling the road garbage in cooperation with the adaptive floating roller brush.

[0026] As preferred, the side edge disc brush unit comprises a disc brush body, a lifting driving mechanism, an angle adjusting mechanism and a disc brush driving motor.

[0027] The disc brush driving motor is in transmission connection with the disc brush body for driving the disc brush body to rotate and clean.

[0028] The lifting driving mechanism is used for driving the disc brush body to realize lifting action and adapt to different road conditions.

[0029] The angle adjusting mechanism is used for adjusting the opening angle of the disc brush body, and sweeping the road edge corner garbage to the middle of the vehicle body.

[0030] As preferred, the multi-source perception unit is installed on the left and right sides of the vehicle body, and the multi-source perception unit includes a laser radar, a binocular vision camera, an ultrasonic sensor, a perception fusion module,

[0031] The laser radar is used for collecting the edge corner region scene, and the edge corner scene includes the edge distance of the vehicle body and an obstacle, the position of the obstacle, and the contour of the obstacle, wherein the obstacle includes a curb, a corner, a guardrail, and a manhole cover.

[0032] The binocular vision camera is used for collecting garbage distribution, garbage type, dust concentration, and image information of the edge corner sweeping blind area in the edge corner region;

[0033] The ultrasonic sensor is used for assisting in detecting the edge distance, avoiding collision between the vehicle body and the obstacle, and supplementing the detection blind area of the laser radar and the binocular vision camera.

[0034] The perception fusion module is electrically connected with the laser radar, the binocular vision camera, and the ultrasonic sensor, respectively, and is used for fusion processing of the information collected by each sensor and transmission to the rotor airflow cooperative control unit, and simultaneously receiving the perception control instruction issued by the rotor airflow cooperative control unit.

[0035] As preferred, the rotor airflow cooperative control unit includes a rotor attitude and airflow adjusting module, a sweeping linkage closed-loop control module, and a dust suppression adaptive adjusting module,

[0036] The rotor attitude and airflow adjusting module is used for receiving vehicle driving state information, vehicle body pose information, and rotor running state information fed back by the basic bearing unit, and receiving various types of collected data fed back by the multi-source perception unit, and outputting a control instruction to adjust the rotor tilt angle, the rotation speed, and the steering, to regulate the direction and intensity of the air flow;

[0037] The sweeping linkage closed-loop control module is used for issuing a linkage control instruction to the sweeping execution unit according to the information collected by the multi-source perception unit, the vehicle driving state fed back by the basic bearing unit, the rotor running state, and the vehicle body pose information, and receiving the running state, the garbage flux information, and the negative pressure suction force information of the sweeping execution unit to form a closed-loop control;

[0038] The dust suppression adaptive adjusting module is used for receiving the edge corner region scene, the garbage distribution, the edge distance, and the dust concentration data after fusion processing by the multi-source perception unit, and fine-tuning the rotor rotation speed, the steering, and the tilt angle.

[0039] The control method of the unmanned flying cleaning vehicle system integrating the rotor airflow coupling cleaning comprises the following specific steps:

[0040] S1. System startup: the basic power supply unit supplies power to the vehicle control unit, the foldable rotor unit, the cleaning execution unit, the multi-source perception unit and the rotor airflow cooperative control unit, each unit completes self-checking and feeds back the self-checking state to the rotor airflow cooperative control unit, and ensures normal operation of each part of the system;

[0041] S2. Perception acquisition and fusion: the multi-source perception unit starts working, the laser radar collects the scene of the corner area, the binocular vision camera collects the garbage distribution, garbage type, dust concentration and blind area image information of the corner cleaning area, and the ultrasonic sensor assists in detecting the edge distance to supplement the detection blind area; the perception fusion module fuses the information collected by each sensor to generate accurate scene, garbage and edge distance data, and transmits them to the rotor airflow cooperative control unit;

[0042] S3. Scene determination and mode locking: the rotor airflow cooperative control unit determines the current cleaning scene according to the fusion data transmitted by the multi-source perception unit, the cleaning scene includes obstacle distribution, garbage type and distribution range, edge distance, and combines the vehicle body pose information fed back by the basic bearing unit (100) to lock the corresponding working mode, the working mode includes ground cleaning mode, standby mode or flight mode;

[0043] If it is determined to be the ground cleaning mode, the edge driving parameters and the initial working parameters of the cleaning execution unit are locked synchronously to ensure that the cleaning action is adapted to the scene, and the flight mode locking operation is performed at the same time, and then step S4 is turned to;

[0044] If it is determined to be the standby mode, the cleaning execution unit is controlled to be in the shutdown standby state, the foldable rotor unit is kept in the folded storage state, the vehicle control unit controls the vehicle to maintain the current position, and each unit keeps low power consumption and continuously feeds back the state information to the rotor airflow cooperative control unit, until the mode switching instruction is received and the step S2 is jumped to, otherwise it is exited;

[0045] If it is determined to be the flight mode, the take-off parameters of the foldable rotor unit are locked, the cleaning execution unit is controlled to rise to a preset safe height and stop, and the vehicle control unit locks the vehicle braking state to ensure that the vehicle body is stable and has no interference during the flight and take-off process, after the flight and take-off action is completed, until the mode switching instruction is received and the step S2 is jumped to, otherwise it is exited;

[0046] S4. Initial State Control: Based on the locked ground cleaning mode and scene parameters, the rotor airflow coordination control unit receives the vehicle's initial driving state information, vehicle body posture information, and rotor initial operating state information from the basic support unit. It issues control commands through the rotor attitude and airflow adjustment module to adjust the tilt angle, speed, and direction of the foldable rotor unit to generate directional cleaning airflow. At the same time, it issues initial linkage commands through the cleaning linkage closed-loop control module to control the main cleaning unit and side brush unit of the cleaning execution unit to enter the standby working state.

[0047] S5. Collaborative Sweeping Operation: Based on the driving control commands issued by the rotor airflow collaborative control unit and the locked edge driving parameters, combined with the vehicle driving status and body posture information collected by the vehicle status detection module, the vehicle control unit realizes low-speed stable driving, on-the-spot turning or edge driving; simultaneously, the sweeping linkage closed-loop control module dynamically adjusts the opening angle, speed and lifting of the side brush unit and the negative pressure suction of the main sweeping unit based on the real-time data collected by the multi-source sensing unit, the vehicle driving status and rotor operation status fed back by the basic support unit, to sweep up and centrally absorb and recycle the corner garbage;

[0048] S6. Dust Suppression and Control: The dust suppression adaptive adjustment module receives dust concentration data after fusion processing by the multi-source sensing unit in real time. Combined with the locked scene parameters, garbage distribution and edge distance information, it finely adjusts the rotation speed, direction and tilt angle of the foldable rotor unit, controls the airflow intensity and direction, suppresses the spread of dust during the cleaning process, and achieves low dust corner cleaning.

[0049] S7. Closed-loop feedback control: The sweeping execution unit feeds back its own operating status, garbage throughput information, and negative pressure suction information to the rotor airflow coordination control unit in real time. The basic support unit feeds back the vehicle driving status, vehicle body posture information, and rotor operating status in real time. The multi-source sensing unit feeds back the updated collected and fused data in real time. The rotor airflow coordination control unit determines whether the current scene has changed based on the feedback information from each unit. If the scene has not changed, it maintains the locked mode and control parameters. If the scene has changed, it jumps to step S3 to determine the scene and lock the mode, dynamically adjusts each control command, forms a closed-loop control, and ensures the sweeping effect.

[0050] S8. Operation Completed: When the cleaning task is completed or a stop command is received, the rotor airflow coordination control unit issues a stop command, unlocks the working mode, the cleaning execution unit stops cleaning and resets, the foldable rotor unit completes folding and storage and stops running, the vehicle control unit controls the vehicle to stop driving and brakes; each unit stops working and reports the stop status to the rotor airflow coordination control unit, the basic power supply unit cuts off unnecessary power supply according to the command, and the system enters standby state.

[0051] The beneficial effects of this invention are as follows:

[0052] (1) This invention completely solves the pain point of blind spots in corner cleaning: Through the directional and controllable rotor airflow, it can penetrate into narrow corners and gaps that cannot be covered by the disc brush, and blow out the garbage and dust completely. Combined with the cleaning execution unit, it can achieve 100% full coverage cleaning, without the need for manual cleaning, and improve the corner cleaning efficiency by more than 40%.

[0053] (2) Zero additional hardware cost and extremely simple structure: The existing rotor system of the flying car is completely reused. There is no need to add a high-pressure fan or telescopic cleaning mechanism. The complexity of the whole vehicle structure is reduced by 35%, the hardware cost and maintenance cost are reduced by 30%, and the problem of idle function of the flying car rotor in ground mode is solved.

[0054] (3) Completely solve the problem of secondary pollution in sweeping operations: The first-ever airflow coordinated closed-loop sweeping logic and dust suppression design ensure that garbage and dust are adsorbed and collected in the closed loop throughout the process, improving the dust suppression effect by 75% and completely avoiding garbage splashing and dust diffusion.

[0055] (4) Full-scene adaptive adaptation: It can intelligently identify different corner scenes such as curb stones, wall corners, manhole covers, guardrails, etc., and automatically match the optimal airflow parameters and cleaning parameters. It has strong adaptability, no need for manual preset, and can be fully integrated into the autonomous operation process of existing unmanned sweeping vehicles. Attached Figure Description

[0056] Figure 1 This is a system block diagram of the present invention;

[0057] Figure 2 This is a module connection diagram for the vehicle control unit;

[0058] Figure 3 This is a module connection diagram for a foldable rotor unit;

[0059] Figure 4 This is a module connection diagram for the side brush unit;

[0060] Figure 5 This is a flowchart of the control method of the present invention. Detailed Implementation

[0061] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0062] like Figure 1 As shown, the unmanned aerial vehicle cleaning system integrating rotor-airflow coupling cleaning includes a basic support unit 100, a cleaning execution unit 200, a multi-source sensing unit 300, and a rotor-airflow cooperative control unit 400. The basic support unit 100, the cleaning execution unit 200, and the multi-source sensing unit 300 are all bidirectionally communicatively connected to the rotor-airflow cooperative control unit 400.

[0063] The basic support unit 100 is used to collect and feed back vehicle driving status information, rotor operating status information, and vehicle body position and attitude information to the rotor airflow coordination control unit 400. At the same time, it executes driving control commands, rotor attitude control commands, speed control commands, mode switching commands, and steering control commands issued by the rotor airflow coordination control unit 400. The basic support unit 100 is also used to supply power to the cleaning execution unit 200, the multi-source sensing unit 300, and the rotor airflow coordination control unit 400.

[0064] The cleaning execution unit 200 is used to feed back the operating status, garbage throughput information and negative pressure suction information to the rotor airflow coordination control unit 400, and at the same time execute the linkage control commands issued by the rotor airflow coordination control unit 400 regarding the opening angle, rotation speed, lifting and lowering and negative pressure suction.

[0065] The multi-source sensing unit 300 is used to collect data on the scene in the corner area, the distribution of garbage, the type of garbage, the distance to the edge, and the dust concentration. After fusion processing, the data is transmitted to the rotor airflow cooperative control unit 400, and at the same time, it receives the sensing and control commands from the rotor airflow cooperative control unit 400.

[0066] The basic support unit 100 includes a vehicle control unit 101, a foldable rotor unit 102, and a basic power supply unit 103.

[0067] The vehicle control unit 101 is used to collect and feed back vehicle driving status and vehicle body posture information to the rotor airflow coordination control unit 400, execute driving control commands and mode switching commands issued by the rotor airflow coordination control unit 400, and realize vehicle low-speed stable driving, stationary turning, mode switching and edge driving control.

[0068] The foldable rotor unit 102 is used to feed back the rotor operating status to the rotor airflow coordination control unit 400, and execute the rotor attitude control command, speed control command and steering control command issued by the rotor airflow coordination control unit 400 to generate directional cleaning airflow.

[0069] The basic power supply unit 103 is used to provide unified power to the vehicle control unit 101, the foldable rotor unit 102, the cleaning execution unit 200, the multi-source sensing unit 300 and the rotor airflow coordination control unit 400. The rotor operating status information includes rotor tilt angle, rotation speed, direction and working mode.

[0070] like Figure 2As shown, the vehicle control unit 101 includes four-wheel hub motors 1010, a driving controller 1011, a steering mechanism 1012, and a vehicle status detection module 1013. The four-wheel hub motors 1010, the steering mechanism 1012, and the vehicle status detection module 1013 are all electrically connected to the driving controller 1011. The vehicle status detection module 1013 is used to collect vehicle driving status information and vehicle body posture information. The vehicle driving status information includes driving speed, steering angle, driving mode, and wheel speed information. The four-wheel hub motors 1010 are driven independently and can achieve low-speed stable driving, on-the-spot turning, and edge-to-edge driving, adapting to edge cleaning needs.

[0071] The vehicle body posture information includes vehicle attitude, vehicle orientation, and edge-adhering attitude. The edge-adhering attitude refers to the parallelism, edge-adhering distance, and relative angle between the vehicle body and the curb, corner, or guardrail. The vehicle attitude includes the vehicle pitch angle, roll angle, and roll attitude. The working modes include ground cleaning mode, stationary standby mode, and take-off and landing mode.

[0072] like Figure 3 As shown, there are four foldable rotor units 102, which are respectively installed at the four corners of the vehicle body. Each foldable rotor unit 102 includes a power unit 1020, a rotor 1021, a tilt drive mechanism 1022, and a motor controller 1023. The power unit 1020 is connected to the rotor 1021 and provides power for the rotation of the rotor 1021. The tilt drive mechanism 1022 is connected to the rotor 1021 and drives the rotor 1021 to complete folding and tilt adjustment. The tilt angle can be precisely adjusted within the range of 0-90° with an adjustment accuracy of ±0.5°. The motor controller 1023 is electrically connected to the power unit 1023 and the tilt drive mechanism 1022, respectively, and is used to receive control commands issued by the rotor airflow coordination control unit 400, regulate the rotor speed, direction, and tilt angle of the rotor 1021, and feed back the rotor 1021 operating status information to the rotor airflow coordination control unit 400. The motor controller 1023 can realize independent closed-loop control of rotor speed and direction, with a speed adjustment range of 0-6000rpm.

[0073] The cleaning execution unit 200 includes a main cleaning unit 201, a side brush unit 202, and an execution control unit 203.

[0074] The main sweeping unit 201 is installed at the bottom of the vehicle body and is used to centrally absorb and recycle road garbage, and to feed back negative pressure suction information and garbage throughput information to the rotor airflow coordination control unit 400.

[0075] The side brush unit 202 is installed at the front and left and right sides of the vehicle body. It can be raised and lowered and its opening angle can be adjusted. It is used to sweep the corner garbage towards the middle of the vehicle body, cooperate with the cleaning execution unit 200 to complete the collection, and report its own operating status to the rotor airflow coordination control unit 400.

[0076] The main cleaning unit 201 and the side brush unit 202 are both electrically connected to the execution control unit 203. The execution control unit 203 is used to receive the linkage control command issued by the rotor airflow coordination control unit 400, and to control the opening angle, rotation speed, lifting and lowering of the side brush unit 202 and the negative pressure suction of the main cleaning unit 201 in real time.

[0077] The main cleaning unit 201 includes an adaptive floating roller brush and a negative pressure suction port. The adaptive floating roller brush is set to fit the road surface and is used to sweep up scattered garbage on the road surface.

[0078] The negative pressure dust suction port is used to connect to the sealed garbage compartment of the vehicle body, and works with the adaptive floating roller brush to centrally absorb and recycle road garbage.

[0079] like Figure 4 As shown, the side brush unit 202 includes a brush body 2020, a lifting drive mechanism 2021, an angle adjustment mechanism 2022, and a brush drive motor 2023.

[0080] The disc brush drive motor 2023 is connected to the disc brush body 2020 for driving the disc brush body 2020 to rotate and clean.

[0081] The lifting drive mechanism 2021 is used to drive the disc brush body 2020 to achieve lifting action, adapting to different road conditions.

[0082] The angle adjustment mechanism 2022 is used to adjust the opening angle of the disc brush body 2020 to sweep the garbage from the corners of the road towards the center of the vehicle. The side disc brush unit 202 is used to report its own operating status to the rotor airflow coordination control unit 400.

[0083] The multi-source sensing unit 300 is installed on the left and right sides of the vehicle body. The multi-source sensing unit 300 includes a lidar 301, a binocular vision camera 302, an ultrasonic sensor 303, and a sensing fusion module 304.

[0084] The lidar 301 is used to collect scene data in the corner area. The corner scene includes the distance between the vehicle body and the edge of the obstacle, the position and outline of the obstacle, and the obstacle includes curbs, wall corners, guardrails and manhole covers.

[0085] The binocular vision camera 302 is used to collect image information of garbage distribution, garbage type, dust concentration, and blind spots in corner cleaning in the corner area;

[0086] The ultrasonic sensor 303 is used to assist in detecting the edge distance, avoid collisions between the vehicle body and obstacles, and supplement the detection blind spots of the lidar 301 and the binocular vision camera 302.

[0087] The perception fusion module 304 is electrically connected to the lidar 301, binocular vision camera 302, and ultrasonic sensor 303, respectively. It is used to fuse the information collected by each sensor and transmit it to the rotor airflow coordination control unit 400, while simultaneously receiving perception control commands from the rotor airflow coordination control unit 400. The perception fusion module can fuse the detection data from the lidar, binocular vision camera, and ultrasonic sensor, outputting core data such as edge scene type, edge distance, garbage distribution, and dust concentration, which is transmitted to the rotor airflow coordination control unit 400 in real time.

[0088] The rotor airflow coordination control unit 400 includes a rotor attitude and airflow adjustment module 401, a cleaning linkage closed-loop control module 402, and a dust suppression adaptive adjustment module 403.

[0089] The rotor attitude and airflow adjustment module 401 is used to receive vehicle driving status information, vehicle body posture information, and rotor operation status information fed back by the basic support unit 100, as well as various collected data fed back by the multi-source sensing unit 300, and output control commands to adjust the rotor tilt angle, speed, and direction, and regulate the direction and intensity of the airflow. The rotor attitude and airflow adjustment module 401: according to the corner scene data output by the multi-source sensing unit, independently controls the tilt angle, speed, and direction of each set of rotors to generate directional and controllable laminar airflow. For different corner scenes, it can realize the switching between single rotor independent operation and dual rotor collaborative operation modes, and the airflow blowing direction can be accurately pointed to the corner blind area.

[0090] The cleaning linkage closed-loop control module 402 is used to send linkage control commands to the cleaning execution unit 200 based on the information collected by the multi-source sensing unit 300, the vehicle driving status, rotor operation status, and vehicle body posture information fed back by the basic support unit 100, and to receive the operation status, garbage throughput information, and negative pressure suction information of the cleaning execution unit 200 to form a closed-loop control. The cleaning linkage closed-loop control module 402: establishes a matching model between the rotor airflow parameters and the working parameters of the cleaning execution unit to realize the closed-loop control of "blowing-sweeping-adsorption": the directional airflow generated by the rotor first blows the garbage and dust in the corner blind area to the coverage range of the disc brush; simultaneously adjusts the rotation speed and opening angle of the side disc brush to accurately sweep the garbage to the coverage area of ​​the negative pressure suction port; at the same time, adjusts the suction power of the negative pressure suction port to completely suck the garbage and dust into the garbage bin, with no garbage splashing and no dust diffusion throughout the process.

[0091] The dust suppression adaptive adjustment module 403 receives data on the corner area scene, garbage distribution, edge distance, and dust concentration from the multi-source sensing unit 300 after fusion processing, and fine-tunes the rotor speed, direction, and tilt angle. Based on real-time dust concentration data detected by the vision camera, the dust suppression adaptive adjustment module 403 establishes a closed-loop control logic for dust suppression. By fine-tuning the rotor's tilt angle, speed, and direction, a downward air curtain is formed above the cleaning area, blocking dust from spreading upwards and outwards. Simultaneously, in conjunction with the negative pressure suction port, the dust-laden airflow is completely sucked in, thoroughly solving the problem of secondary dust pollution during sweeping operations.

[0092] like Figure 5 As shown, the control method for an unmanned aerial cleaning vehicle system integrating rotor-airflow coupling cleaning includes the following specific steps:

[0093] S1. System Start-up: The basic power supply unit 103 supplies power to the vehicle control unit 101, the foldable rotor unit 102, the sweeping execution unit 200, the multi-source sensing unit 300, and the rotor airflow coordination control unit 400. Each unit completes self-test and reports the self-test status to the rotor airflow coordination control unit 400 to ensure the normal operation of each component of the system.

[0094] S2. Sensing Acquisition and Fusion: The multi-source sensing unit 300 starts working, the lidar 301 collects scene data of corner areas, extracts geometric features of typical corner areas such as curbs, corners, guardrails, and manhole covers, and generates parameters such as blind spot depth, edge distance, and obstacle outline. The binocular vision camera 302 collects image information of garbage distribution, garbage type, dust concentration, and corner cleaning blind spot in the corner area, and performs environmental feature modeling of garbage distribution, accumulation density, and dust risk level. The ultrasonic sensor 303 assists in detecting edge distance to supplement the detection blind spot. The sensing fusion module 304 fuses the information collected by the above sensors to generate accurate scene, garbage, and edge distance data. Combined with the vehicle's real-time pose and driving speed, it completes the planning of the cleaning boundary and airflow action domain, outputs control target quantities such as airflow injection angle, sweeping center, and coverage area, and transmits them to the rotor airflow collaborative control unit 400.

[0095] S3. Scene determination and mode locking: The rotor airflow cooperative control unit 400 determines the current cleaning scene based on the fusion data transmitted by the multi-source sensing unit 300. The cleaning scene includes obstacle distribution, garbage type and distribution range, and edge distance. Combined with the vehicle body posture information fed back by the basic support unit 100, the corresponding working mode is locked. The working mode includes ground cleaning mode, stationary standby mode, or flight take-off and landing mode.

[0096] If the ground cleaning mode is determined, the edge-following driving parameters and the initial working parameters of the cleaning execution unit 200 are locked simultaneously to ensure that the cleaning action is adapted to the scene. At the same time, the flight mode lock-up operation is performed. The specific logic is as follows: ① The tilt drive mechanism locks the rotor of the foldable rotor unit 102 at a non-lift angle (tilting downward / to the side, rather than generating lift upward); ② The rotor power output is limited to the cleaning airflow range, which does not meet the takeoff thrust threshold; ③ The vehicle control unit 101 and the foldable rotor unit 102 establish an interlock to ensure that the rotor only outputs directional airflow and does not participate in flight control. Then, the process proceeds to step S4.

[0097] If the system is determined to be in standby mode, the sweeping execution unit 200 is in a stopped standby state, the foldable rotor unit 102 remains folded and stored, and the vehicle control unit 101 controls the vehicle to maintain its current position. At the same time, each unit maintains low power consumption and continuously feeds back status information to the rotor airflow coordination control unit 400 until a mode switching command is received, then jumps to step S2; otherwise, it exits.

[0098] If the flight take-off and landing mode is determined, the take-off and landing parameters of the foldable rotor unit 102 are locked, the cleaning execution unit 200 is controlled to rise to the preset safe height and stop, the vehicle control unit 101 locks the vehicle braking state to ensure that the vehicle body is stable and uninterrupted during the flight take-off and landing process. After the flight take-off and landing action is completed, the process jumps to step S2 after receiving the mode switching command; otherwise, it exits.

[0099] S4. Initial State Control: Based on the locked ground cleaning mode and scene parameters, the rotor airflow coordination control unit 400 receives vehicle initial driving state information, vehicle body posture information, and rotor initial operating state information from the basic support unit 100. It then issues control commands through the rotor attitude and airflow adjustment module 401 to adjust the tilt angle, rotation speed, and direction of the foldable rotor unit 102. According to the multi-rotor airflow vector dynamic allocation rule, it allocates the functions of each rotor: the rotor near the blind spot is assigned as the main blowing unit, outputting a high-momentum directional jet to break up dust accumulation in dead corners, loosen stubborn debris, and push it to the cleaning area. The effective cleaning area is swept; the rotor near the suction port is allocated as a flow guiding unit, which outputs low-pressure enveloping airflow to form a centripetal converging flow field, preventing garbage from splashing and guiding materials to migrate to the recycling area; the upper rotor is allocated as a dust suppression unit, which outputs a downward pressing laminar flow curtain to suppress dust from rising and spreading. The three work together to form a composite steady-state airflow field of "main blowing sweeping - centripetal flow guiding - dust suppression and sealing" in the cleaning space, generating directional cleaning airflow. At the same time, the initial linkage command is issued through the cleaning linkage closed-loop control module 402 to control the main cleaning unit 201 and the side brush unit 202 of the cleaning execution unit 200 to enter the standby working state.

[0100] S5. Collaborative Cleaning Operation: Based on the driving control commands and locked edge-keeping parameters issued by the rotor airflow collaborative control unit 400, and combined with the vehicle driving status and body posture information collected by the vehicle status detection module, the vehicle control unit 101 achieves low-speed stable driving, on-the-spot turning, or edge-keeping. Simultaneously, it executes operations according to the timing linkage rules of the cleaning mechanism, that is, first, the rotor airflow is activated to break blind spots and push materials, then the swing angle and speed of the side brush unit 202 are adjusted to ensure that the garbage collection path is consistent with the airflow conveying trajectory, and finally, the negative pressure dust collection system of the main cleaning unit 201 performs the return cleaning. Simultaneously, the cleaning linkage closed-loop control module 402 dynamically adjusts the opening angle, rotation speed, and lifting of the side brush unit 202, as well as the negative pressure suction of the main cleaning unit 201, based on the real-time data collected by the multi-source sensing unit 300, the vehicle driving status fed back by the basic support unit 100, and the operating status of the rotor 1021. The negative pressure dust collection system of the main cleaning unit 201 adaptively adjusts the negative pressure value according to the real-time garbage throughput data fed back by the multi-source sensing unit 300, ensuring that the blowing, sweeping, and recycling actions are continuous and without material retention, sweeping up the corner garbage and concentrating it for absorption and recycling.

[0101] S6. Dust Suppression and Control: The dust suppression adaptive adjustment module 403 monitors the dust concentration and diffusion range in real time through the binocular vision camera of the multi-source sensing unit 300, receives the dust concentration data after fusion processing by the multi-source sensing unit 300 in real time, and combines the locked scene parameters, garbage distribution and edge distance information to finely adjust the rotation speed, direction and tilt angle of the foldable rotor unit 102 to maintain a stable near-ground air curtain, so that the dust-laden airflow is confined within the local flow field and completely captured by the negative pressure system of the main cleaning unit 201, realizing dust source control and closed-loop removal, avoiding secondary pollution, suppressing the diffusion of dust during the cleaning process, and achieving low dust corner cleaning;

[0102] S7. Closed-loop feedback control: The cleaning execution unit 200 feeds back its own operating status, garbage throughput information and negative pressure suction information to the rotor airflow coordination control unit 400 in real time. The basic support unit 100 feeds back the vehicle driving status, vehicle body posture information and rotor operating status in real time. The multi-source sensing unit 300 feeds back the updated collected and fused data in real time. The rotor airflow coordination control unit 400 judges whether the current scene has changed based on the feedback information from each unit. If the scene has not changed, it maintains the locked mode and control parameters. If the scene has changed, it jumps to step S3 to determine the scene and lock the mode, dynamically adjusts each control command, forms a closed-loop control, and ensures the cleaning effect.

[0103] S8. Operation Completed: When the cleaning task is completed or a stop command is received, the rotor airflow coordination control unit 400 issues a stop command, unlocks the working mode, gradually reduces the rotor power output, and allows the airflow field to exit smoothly. The cleaning execution unit 200 stops cleaning and resets. The foldable rotor unit 102 completes folding and storage and stops operating. The vehicle control unit 101 controls the vehicle to stop driving and brakes. Cleaning resumes the normal road cleaning mode. The vehicle control logic switches smoothly without aerodynamic impact or sudden attitude changes. Each unit stops working and reports the stop status to the rotor airflow coordination control unit 400. The basic power supply unit 103 cuts off unnecessary power supply according to the command, and the system enters standby mode.

[0104] Rotor mechanism reuse solves the pain point of wasted functions: The innovative foldable rotor system of the unmanned flying cleaning vehicle (originally only used for flight lift) is extended to the ground cleaning scenario. By adding directional airflow control logic, the rotor can perform three functions in ground mode: "blind spot blowing, airflow diversion and recovery, and dust suppression". This completely changes the current situation of the rotor of the flying car being idle on the ground. There is no need to add additional high-pressure fans, telescopic side brushes and other components, simplifying the equipment structure.

[0105] Multi-unit closed-loop collaboration breaks the limitations of independent operation: Constructing a closed-loop control system of "multi-source sensing unit - rotor airflow collaborative control unit - basic support unit - cleaning execution unit" to achieve full-process collaboration of scene recognition, parameter matching, airflow blowing, garbage sweeping, and dust suppression recycling. This solves the defects of existing ground sweepers' "independent operation" and drone split solutions' "no ground collaboration", forming a collaborative effect of 1+1>2.

[0106] Non-lift locking and interlocking design ensures operational safety: By locking the rotor's non-lift angle through the tilt drive mechanism, limiting the power output threshold, and establishing a triple protection between the vehicle control unit and the rotor unit, it is ensured that the rotor only outputs directional airflow during ground sweeping and does not participate in flight control, completely avoiding the risk of accidental activation of flight mode, and taking into account both functional expansion and operational safety.

[0107] Significantly improved corner cleaning coverage: For blind spots (10-20cm wide) that conventional disc brushes cannot cover, such as curbs, corners, and around manhole covers, high-momentum directional airflow is used to blow deep into the gaps, combined with disc brush sweeping and negative pressure recovery, increasing the corner cleaning coverage from less than 60% in the existing technology to more than 95%, achieving "no dead corners" cleaning.

[0108] Dust and debris splashing are completely controllable: The composite airflow field design of "main purging + centripetal guidance + pressure curtain" ensures that there is no outward splashing during the debris purging process. The dust-laden airflow is confined to the local flow field and completely captured by the negative pressure system. Combined with real-time feedback of dust concentration and adaptive adjustment of rotor parameters, the dust suppression rate reaches more than 90%, which completely solves the secondary pollution problem of existing high-pressure purging solutions.

[0109] Dual optimization of cleaning efficiency and quality: When the vehicle is traveling at a regular cleaning speed of 5km / h, the cleaning efficiency of blind spots in corners is improved by 40% compared with the existing telescopic side brush solution; airflow can loosen stubborn dust (adhesion ≤5N), and with an adaptive negative pressure suction of 1000-1500Pa, the garbage recovery rate reaches more than 98%, meeting the fine cleaning standard.

[0110] Reduced hardware costs: By reusing the original foldable rotor system of the flying car, there is no need to purchase additional high-pressure blowers, telescopic side brushes and other special blind spot cleaning components. The hardware cost of a single device is reduced by 15%-20% (based on the cost of adding components to existing sweeping vehicles).

[0111] Reduced maintenance difficulty and cost: Eliminating easily bumped and worn parts such as telescopic side brushes reduces equipment failure points; the rotor mechanism adopts a folding and storage design, with no additional wear and tear when traveling on the ground, reducing annual equipment maintenance costs by more than 30% and extending service life by 2-3 years.

[0112] Energy consumption optimization: The rotor airflow control adopts "scene-adaptive power adjustment" (such as the rotor speed of 1800-2500rpm in the curb stone scene, and the normal mode is to retract and stop). Compared with the fixed high-pressure fan (continuous high-power operation), energy consumption is reduced by 25%-30%, and the endurance is improved.

[0113] Automatic adaptation to multiple scenarios: Through scene feature extraction and fusion by multi-source sensing units, it can automatically identify different corner scenarios such as curb stones, wall corners, and manhole cover perimeters, and call the corresponding rotor parameters, brush angle, and negative pressure suction matching model without manual intervention, with strong adaptability.

[0114] Seamless switching to normal mode: After the corner cleaning is completed, the rotor automatically resets and is stored, the cleaning mechanism returns to normal parameters, and the whole vehicle smoothly switches to the normal road cleaning mode without aerodynamic impact or sudden attitude change, ensuring continuous cleaning of the entire road section.

[0115] This embodiment takes the cleaning of curb edges and corners as an example to explain the specific working process of the present invention in detail. Each step is implemented based on the system's basic support unit 100, cleaning execution unit 200, multi-source sensing unit 300, and rotor airflow cooperative control unit 400, as detailed below:

[0116] (1) Scene recognition and data acquisition

[0117] After the unmanned cleaning flying car switches to ground cleaning mode, the vehicle control unit 101 controls the vehicle to move at a constant speed along the road, while the multi-source sensing unit 300 starts collecting data from all scenes.

[0118] The LiDAR scans the curb on the right side of the vehicle in real time, extracts the right-angle geometric features of the curb, determines it as a "right-angle curb scene" through the perception fusion module, and measures the distance between the vehicle and the curb as 30cm.

[0119] The binocular vision camera collects information on garbage in the corner area, identifies garbage types such as leaves and dust, determines the garbage distribution range as the blind spot of the disc brush 10cm inward from the curb, and simultaneously detects the initial dust concentration;

[0120] Ultrasonic sensors assist in verifying the edge distance, supplementing blind spots in lidar detection, and avoiding distance measurement errors;

[0121] The perception fusion module integrates and processes the above-mentioned scene features, garbage data, and edge distance data, and then transmits them in real time to the rotor airflow cooperative control unit 400.

[0122] (2) Working parameter matching and mode switching

[0123] After receiving the fused data from the multi-source sensing unit 300, the rotor airflow coordination control unit 400 initiates the scene-parameter matching logic:

[0124] The cleaning linkage closed-loop control module 402 calls the preset curbstone scene parameter matching model to generate the optimal control parameter set;

[0125] The rotor attitude and airflow adjustment module 401 sends control commands to the foldable rotor unit 102: the rotor on the right front side of the vehicle body tilts downward by 30° (towards the blind spot of the curb corner), and the speed is set to 2500 rpm, generating a downward and inward directional airflow; the rotor on the right rear side of the vehicle body tilts downward by 20° (towards the negative pressure dust suction port), and the speed is set to 1800 rpm, generating an inward guiding airflow; at the same time, the non-lift angle of the rotor is locked through the tilt drive mechanism, and an interlock is established with the vehicle control unit 101 to prevent the flight mode from being accidentally activated;

[0126] The cleaning linkage closed-loop control module 402 sends a linkage command to the execution control unit 203 of the cleaning execution unit 200: controls the side brush unit 202 to open at an angle of 30° and rotate at 1000 rpm; controls the suction power of the negative pressure suction port of the main cleaning unit 201 to be set to -1500Pa, and the main cleaning unit 201 and the side brush unit 202 enter the standby working state.

[0127] The vehicle control unit 101 receives driving control commands, sets the vehicle speed to 5km / h, locks the edge driving parameters, and ensures that the vehicle body travels parallel to the curb at a constant speed.

[0128] (3) Closed-loop collaborative cleaning operation

[0129] Vehicle control unit 101 controls the vehicle to travel at a constant speed of 5 km / h along the curb, while rotor airflow coordination control unit 400 simultaneously initiates multi-unit closed-loop coordinated operation:

[0130] ① Airflow sweeping: The right front rotor of the foldable rotor unit 102 operates according to the set parameters, generating a high-momentum directional airflow that penetrates deep into the blind spots of the curbstone corners, completely sweeping the accumulated dust and leaves in the gaps to the area that the disc brush can cover, with no garbage splashing outwards;

[0131] ② Garbage sweeping: The right-side disc brush unit 202 rotates synchronously, sweeping the swept garbage towards the middle of the vehicle body and transporting it to the negative pressure suction port coverage area of ​​the main cleaning unit 201;

[0132] ③ Airflow diversion and dust suppression: The right rear rotor of the foldable rotor unit 102 generates airflow diversion, which, together with the negative pressure suction port of the main cleaning unit 201, completely sucks the garbage and dust-laden airflow into the sealed garbage compartment of the vehicle body; at the same time, the binocular vision camera of the multi-source sensing unit 300 detects the dust concentration in real time. When dust diffusion is detected, the dust suppression adaptive adjustment module 403 of the rotor airflow coordination control unit 400 automatically fine-tunes the tilt angle and rotation speed of the right rear rotor, forming a downward pressing air curtain above the cleaning area to block the dust diffusion and achieve dust source control.

[0133] ④ Status feedback: The sweeping execution unit 200 provides real-time feedback on the garbage throughput and negative pressure suction information to the sweeping linkage closed-loop control module 402; the foldable rotor unit 102 provides feedback on the rotor operation status; and the vehicle control unit 101 provides feedback on the vehicle driving status and vehicle posture information, forming a closed-loop control.

[0134] (4) Real-time adjustment of work status

[0135] When the multi-source sensing unit 300 detects that the corner debris has been cleaned up, or when the vehicle leaves the curb area, the rotor airflow coordination control unit 400 issues a reset command: the tilt drive mechanism of the foldable rotor unit 102 drives the rotor to reset to the storage state; the side brush unit 202 of the sweeping execution unit 200 resets to the normal sweeping angle, the main sweeping unit 201 maintains normal suction, and the whole vehicle resumes the normal road sweeping mode;

[0136] When the multi-source sensing unit 300 detects a right-angle scene at a wall corner, the rotor attitude and airflow adjustment module 401 automatically switches to dual-rotor cooperative mode, controlling the two rotors on the same side of the vehicle to generate opposing airflows, completely sweeping the garbage deep in the corner to the cleaning area; the cleaning linkage closed-loop control module 402 synchronously adjusts the swing angle and rotation speed of the side brush unit 202, cooperating with the main cleaning unit 201 to complete closed-loop cleaning.

[0137] (5) Emergency handling of faults

[0138] During operation, the ultrasonic sensors of the multi-source sensing unit 300 detect the distance between the vehicle body and the curb / wall in real time. When the detected distance is less than the safety threshold of 5cm, a danger signal is immediately transmitted to the rotor airflow coordination control unit 400; the coordination control unit immediately issues an emergency command:

[0139] The foldable rotor unit 102 is controlled to stop the purging operation, and the rotor maintains its current angle to avoid collision;

[0140] The vehicle control unit 101, which controls the basic support unit 100, drives the vehicle away from the danger zone;

[0141] The system sends an alarm signal and records the fault status simultaneously to ensure that the equipment is not damaged by impact.

[0142] In this embodiment, the rotor airflow coordination control unit 400 uniformly schedules the basic support unit 100, the cleaning execution unit 200, and the multi-source sensing unit 300, achieving efficient cleaning of blind spots in corners and edges. Compared with the prior art, this invention reuses the foldable rotor mechanism of the unmanned cleaning flying car, and can achieve deep cleaning of special corner and edge scenarios by only adding control logic, without the need to add additional components such as telescopic side brushes and fixed high-pressure fans. This not only improves cleaning efficiency (cleaning coverage rate increases from less than 60% in the prior art to more than 95%), but also reduces equipment complexity, significantly improving economy and cost-effectiveness.

[0143] It should be noted that the above examples are merely one specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. In short, all variations that can be directly derived or conceived by those skilled in the art from the content disclosed in this invention should be considered within the scope of protection of this patent.

Claims

1. An unmanned aerial vehicle cleaning system integrating rotor-airflow coupling cleaning, characterized in that: It includes a basic support unit (100), a cleaning execution unit (200), a multi-source sensing unit (300), and a rotor airflow coordination control unit (400). The basic support unit (100), the cleaning execution unit (200), and the multi-source sensing unit (300) are all bidirectionally connected to the rotor airflow coordination control unit (400). The basic support unit (100) is used to collect and feed back vehicle driving status information, rotor operating status information and vehicle body position information to the rotor airflow coordination control unit (400), and execute driving control commands, rotor attitude control commands, speed control commands, mode switching commands and steering control commands issued by the rotor airflow coordination control unit (400); the basic support unit (100) is also used to supply power to the cleaning execution unit (200), the multi-source sensing unit (300) and the rotor airflow coordination control unit (400); The cleaning execution unit (200) is used to feed back the operating status, garbage throughput information and negative pressure suction information to the rotor airflow coordination control unit (400), and at the same time execute the linkage control commands issued by the rotor airflow coordination control unit (400) regarding the opening angle, rotation speed, lifting and lowering and negative pressure suction. The multi-source sensing unit (300) is used to collect data on the scene of the corner area, garbage distribution, garbage type, edge distance and dust concentration. After fusion processing, the data is transmitted to the rotor airflow cooperative control unit (400) and receives sensing and control commands from the rotor airflow cooperative control unit (400).

2. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 1, characterized in that: The basic support unit (100) includes a vehicle control unit (101), a foldable rotor unit (102), and a basic power supply unit (103). The vehicle control unit (101) is used to collect and feed back vehicle driving status and vehicle body posture information to the rotor airflow coordination control unit (400), execute driving control commands and mode switching commands issued by the rotor airflow coordination control unit (400), and realize vehicle low-speed stable driving, stationary turning, mode switching and edge driving control. The foldable rotor unit (102) is used to feed back the rotor operating status to the rotor airflow coordination control unit (400), and execute the rotor attitude control command, speed control command and steering control command issued by the rotor airflow coordination control unit (400) to generate directional cleaning airflow; The basic power supply unit (103) is used to provide unified power to the vehicle control unit (101), the foldable rotor unit (102), the cleaning execution unit (200), the multi-source sensing unit (300), and the rotor airflow coordination control unit (400). The rotor operating status information includes rotor tilt angle, speed, direction, and working mode.

3. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 2, characterized in that: The vehicle control unit (101) includes a four-wheel hub motor (1010), a driving controller (1011), a steering mechanism (1012), and a vehicle status detection module. The four-wheel hub motor (1010), the steering mechanism (1012), and the vehicle status detection module (1013) are all electrically connected to the driving controller (1011). The vehicle status detection module (1013) is used to collect vehicle driving status information and vehicle body posture information. The vehicle driving status information includes driving speed, steering angle, driving mode, and wheel speed information. The vehicle body posture information includes vehicle attitude, vehicle orientation, and edge-adhering attitude. The edge-adhering attitude refers to the parallelism, edge-adhering distance, and relative angle between the vehicle body and the curb, corner, or guardrail. The vehicle attitude includes the vehicle pitch angle, roll angle, and roll attitude. The working modes include ground cleaning mode, stationary standby mode, and take-off and landing mode.

4. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 3, characterized in that, The four foldable rotor units (102) are respectively installed at the four corners of the vehicle body. Each foldable rotor unit (102) includes a power unit (1020), a rotor (1021), a tilt drive mechanism (1022), and a motor controller (1023). The power unit (1020) is connected to the rotor (1021) and is used to provide power for the rotation of the rotor (1021). The tilt drive mechanism (1022) is... The motor controller (1023) is connected to the power unit (1023) and the tilt drive mechanism (1022) respectively. It is used to receive control commands issued by the rotor airflow coordination control unit (400), adjust the rotor speed, direction and tilt angle of the rotor (1021), and feed back the rotor (1021) operation status information to the rotor airflow coordination control unit (400).

5. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 4, characterized in that, The cleaning execution unit (200) includes a main cleaning unit (201), a side brush unit (202), and an execution control unit (203). The main cleaning unit (201) is installed at the bottom of the vehicle body and is used to centrally adsorb and recycle road garbage, and to feed back negative pressure suction information and garbage throughput information to the rotor airflow coordination control unit (400); The side brush unit (202) is installed at the front and left and right sides of the vehicle body. It can be raised and lowered and its opening angle can be adjusted. It is used to sweep the corner garbage towards the middle of the vehicle body and to report its own operating status to the rotor airflow coordination control unit (400). The main cleaning unit (201) and the side brush unit (202) are both electrically connected to the execution control unit (203). The execution control unit (203) is used to receive the linkage control command issued by the rotor airflow coordination control unit (400) and control the opening angle, rotation speed, lifting and lowering of the side brush unit (202) and the negative pressure suction of the main cleaning unit (201) in real time.

6. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 5, characterized in that, The main cleaning unit (201) includes an adaptive floating roller brush and a negative pressure suction port. The adaptive floating roller brush is set to fit the road surface and is used to sweep up scattered garbage on the road surface. The negative pressure dust suction port is used to connect to the sealed garbage compartment of the vehicle body, and works with the adaptive floating roller brush to centrally absorb and recycle road garbage.

7. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 6, characterized in that, The side brush unit (202) includes a brush body (2020), a lifting drive mechanism (2021), an angle adjustment mechanism (2022), and a brush drive motor (2023). The disc brush drive motor (2023) is connected to the disc brush body (2020) for driving the disc brush body (2020) to rotate and clean. The lifting drive mechanism (2021) is used to drive the disc brush body (2020) to achieve lifting action, adapting to different road conditions; The angle adjustment mechanism (2022) is used to adjust the opening angle of the disc brush body (2020) to sweep the garbage on the edge of the road towards the center of the vehicle. The side disc brush unit (202) is used to report its own operating status to the rotor airflow coordination control unit (400).

8. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 7, characterized in that, The multi-source sensing unit (300) is installed on the left and right sides of the vehicle body. The multi-source sensing unit (300) includes a lidar (301), a binocular vision camera (302), an ultrasonic sensor (303), and a sensing fusion module (304). The lidar (301) is used to collect scene data in the corner area. The corner scene includes the distance between the vehicle body and the obstacle, the position of the obstacle and its outline. The obstacle includes curbs, corners, guardrails and manhole covers. The binocular vision camera (302) is used to collect image information of garbage distribution, garbage type, dust concentration and blind spots in corner cleaning in the corner area; The ultrasonic sensor (303) is used to assist in detecting the edge distance, avoid collisions between the vehicle body and obstacles, and supplement the detection blind spots of the lidar (301) and binocular vision camera (302); The perception fusion module (304) is electrically connected to the lidar (301), the binocular vision camera (302), and the ultrasonic sensor (303) respectively. It is used to fuse the information collected by each sensor and transmit it to the rotor airflow coordination control unit (400), and at the same time receive the perception control commands issued by the rotor airflow coordination control unit (400).

9. The unmanned aerial vehicle cleaning system with integrated rotor airflow coupling cleaning according to claim 8, characterized in that, The rotor airflow coordination control unit (400) includes a rotor attitude and airflow adjustment module (401), a cleaning linkage closed-loop control module (402), and a dust suppression adaptive adjustment module (403). The rotor attitude and airflow adjustment module (401) is used to receive vehicle driving status information, vehicle body posture information and rotor operation status information fed back by the basic support unit (100), as well as various types of collected data fed back by the multi-source sensing unit (300), and output control commands to adjust the rotor tilt angle, speed and direction, and regulate the direction and intensity of the airflow. The cleaning linkage closed-loop control module (402) is used to send linkage control commands to the cleaning execution unit (200) based on the information collected by the multi-source sensing unit (300), the vehicle driving status, rotor operation status and vehicle body posture information fed back by the basic bearing unit (100), and to receive the operation status, garbage throughput information and negative pressure suction information of the cleaning execution unit (200) to form a closed-loop control. The dust suppression adaptive adjustment module (403) is used to receive the corner area scene, garbage distribution, edge distance and dust concentration data after fusion processing by the multi-source sensing unit (300), and to fine adjust the rotor speed, direction and tilt angle.

10. A control method for an unmanned aerial cleaning vehicle system based on the integrated rotor-airflow coupling cleaning system of claim 9, characterized in that, The specific steps include the following: S1. System Start-up: The basic power supply unit (103) supplies power to the vehicle control unit (101), the foldable rotor unit (102), the cleaning execution unit (200), the multi-source sensing unit (300), and the rotor airflow coordination control unit (400). Each unit completes self-test and reports the self-test status to the rotor airflow coordination control unit (400) to ensure the normal operation of each component of the system. S2. Sensing Acquisition and Fusion: The multi-source sensing unit (300) starts working, the lidar (301) acquires the scene of the corner area, the binocular vision camera (302) acquires the garbage distribution, garbage type, dust concentration and corner cleaning blind area image information of the corner area, and the ultrasonic sensor (303) assists in detecting the edge distance to supplement the detection blind area; the sensing fusion module (304) fuses the information acquired by the above sensors to generate accurate scene, garbage and edge distance data, and transmits it to the rotor airflow cooperative control unit (400). S3. Scene determination and mode locking: The rotor airflow coordination control unit (400) determines the current cleaning scene based on the fusion data transmitted by the multi-source sensing unit (300). The cleaning scene includes obstacle distribution, garbage type and distribution range, and edge distance. Combined with the vehicle body posture information fed back by the basic bearing unit (100), the corresponding working mode is locked. The working mode includes ground cleaning mode, stationary standby mode or flight take-off and landing mode. If the ground cleaning mode is determined, the edge driving parameters and the initial working parameters of the cleaning execution unit (200) are locked simultaneously to ensure that the cleaning action is adapted to the scene. At the same time, the flight mode lock operation is performed, and then the process proceeds to step S4. If the system is determined to be in standby mode, the cleaning execution unit (200) is in a standby state, the foldable rotor unit (102) remains folded and stored, the vehicle control unit (101) controls the vehicle to remain stationary in its current position, and each unit maintains low power consumption and continuously feeds back status information to the rotor airflow coordination control unit (400) until a mode switching command is received and the system jumps to step S2; otherwise, it exits. If the flight take-off and landing mode is determined, the take-off and landing parameters of the foldable rotor unit (102) are locked, the cleaning execution unit (200) is controlled to rise to the preset safe height and stop, the vehicle control unit (101) locks the vehicle braking state to ensure that the vehicle body is stable and uninterrupted during the flight take-off and landing process. After the flight take-off and landing action is completed, the system will jump to step S2 after receiving the mode switching command; otherwise, it will exit. S4. Initial State Control: Based on the locked ground cleaning mode and scene parameters, the rotor airflow coordination control unit (400) receives the vehicle initial driving state information, vehicle body posture information and rotor initial operating state information fed back by the basic support unit (100). It issues control commands through the rotor attitude and airflow adjustment module (401) to adjust the tilt angle, speed and direction of the foldable rotor unit (102) to generate directional cleaning airflow. At the same time, it issues initial linkage commands through the cleaning linkage closed-loop control module (402) to control the main cleaning unit (201) and side brush unit (202) of the cleaning execution unit (200) to enter the standby working state. S5. Collaborative cleaning operation: The vehicle control unit (101) uses the driving control command issued by the rotor airflow collaborative control unit (400) and the locked edge driving parameters, combined with the vehicle driving status and body posture information collected by the vehicle status detection module, to realize the vehicle's low-speed stable driving, stationary turning or edge driving; Simultaneously, the cleaning linkage closed-loop control module (402) dynamically adjusts the opening angle, speed and lifting of the side brush unit (202) and the negative pressure suction of the main cleaning unit (201) based on the real-time data collected by the multi-source sensing unit (300), the vehicle driving status fed back by the basic bearing unit (100) and the rotor (1021) operation status, to sweep up the corner garbage and collect it in a concentrated manner; S6. Dust suppression control: The dust suppression adaptive adjustment module (403) receives the dust concentration data after fusion processing by the multi-source sensing unit (300) in real time. Combined with the locked scene parameters, garbage distribution and edge distance information, it finely adjusts the rotation speed, direction and tilt angle of the foldable rotor unit (102), controls the airflow intensity and direction, suppresses the spread of dust during the cleaning process, and achieves low dust corner cleaning. S7. Closed-loop feedback control: The cleaning execution unit (200) feeds back its own operating status, garbage throughput information and negative pressure suction information to the rotor airflow coordination control unit (400) in real time. The basic support unit (100) feeds back the vehicle driving status, vehicle body posture information and rotor operating status in real time. The multi-source sensing unit (300) feeds back the updated collected and fused data in real time. The rotor airflow coordination control unit (400) judges whether the current scene has changed based on the feedback information from each unit. If the scene has not changed, it maintains the locked mode and control parameters. If the scene has changed, it jumps to step S3 to determine the scene and lock the mode, dynamically adjusts each control command, forms a closed-loop control, and ensures the cleaning effect. S8. End of Operation: When the cleaning task is completed or a stop command is received, the rotor airflow coordination control unit (400) issues a stop command, unlocks the working mode, the cleaning execution unit (200) stops the cleaning action and resets, the foldable rotor unit (102) completes folding and storage and stops running, the vehicle control unit (101) controls the vehicle to stop driving and brakes; each unit stops working and reports the stop status to the rotor airflow coordination control unit (400), the basic power supply unit (103) cuts off unnecessary power supply according to the command, and the system enters standby state.

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