CN107348917A

CN107348917A - The method of UAV and its cleaning wall, the wall cleaning systems using the UAV

Info

Publication number: CN107348917A
Application number: CN201710640875.1A
Authority: CN
Inventors: 刘昂; 吴育维
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2014-09-03
Filing date: 2014-09-03
Publication date: 2017-11-17
Anticipated expiration: 2034-09-03
Also published as: CN107348917B; CN104224062B; CN104224062A

Abstract

The present invention discloses a kind of UAV and its cleans the method for wall, the wall cleaning systems using the UAV, and the method for UAV cleaning walls comprises the following steps：Step a, obtain path to be cleaned；Step b, according to the path to be cleaned, fly to region to be cleaned；Step c, identify the metope in the region to be cleaned；Step d, the metope is cleaned using the UAV cleaning devices carried.The method of above-mentioned UAV cleanings wall can greatly reduce the danger of the wall cleaning of building, and without absorption on the metope of building, its movement is more convenient, goes for different types of wall.

Description

The method of UAV and its cleaning wall, the wall cleaning systems using the UAV

The application is the Application No. 201410446796.3 submitted to China Intellectual Property Office, and the applying date is 2014 09 The moon 03, invention and created name are special for the invention of " method of UAV and its cleaning wall, the wall cleaning systems using the UAV " The divisional application of profit application.

Technical field

The present invention relates to a kind of UVA (Unmanned Aerial Vehicle, unmanned vehicle), more particularly to a kind of energy Enough clean the UAV of wall and its clean the method for wall, the wall cleaning systems using the UAV.

Background technology

The exterior wall of high buildings and large mansions in city undergoes wind and weather Exposure to Sunlight throughout the year, under normal circumstances can be by the dust in air Attaching surface.For the overall appearance in city, grow a kind of emerging industry in modern metropolitan cities, i.e. high building exterior wall cleans Industry.The personnel for being engaged in this industry are usually the high-altitude application worker Jing Guo professional training, and it is carried out from upper using safety rope Work under and, that spraying cleaning formulation is carried out for building exposed wall material, cleans dirt dust.

Due to steeplejack building eminence using safety rope carry out it is top-down progress exterior wall cleaning, its It is dangerous larger.In order to reduce danger, occur a kind of robot for being used to clean wall at present, however, cleaning wall The difficult point of robot is solve wall absorption problem, although in general glass outer wall can use the principle of vacuum suction, There is also release to move the problem of difficult, and common wall does not almost have solution.

The content of the invention

In consideration of it, the present invention is necessary to provide a kind of method of UAV cleanings wall, it can greatly reduce building The danger of wall cleaning, and without absorption on the metope of building, its movement is more convenient, goes for inhomogeneity The wall of type.

A kind of method of UAV cleanings wall, comprises the following steps：

Step a, obtain path to be cleaned；

Step b, according to the path to be cleaned, fly to region to be cleaned；

Step c, identify the metope in the region to be cleaned；And

Step d, the metope is cleaned using the UAV cleaning devices carried.

Compared to traditional wall clean method, the method for above-mentioned UAV cleanings wall at least has advantages below：

(1) above method is cleaned using the cleaning device of UAV carryings to metope, is made without steeplejack Industry, so as to greatly reduce the danger of the wall of building cleaning.

(2) because UAV be free to stop being suspended in the air, without adsorbing on the metope of building, its movement is more square Just, different types of wall is gone for.

(3) because UAV according to Automatic-searching region to be cleaned in path to be cleaned, can identify the metope in cleaning region, greatly The automaticity of the big metope for improving cleaning of buildings.

In one of the embodiments, the step a further comprises：

Step a1, obtain total cleaning path and cleaning path；

Step a2, according to total cleaning path and the cleaning path, plan the path to be cleaned.

In one of the embodiments, total cleaning path is obtained by the UAV itself alignment sensor；

And/or total cleaning path is obtained by the Global localization system on building.

In one of the embodiments, total cleaning path includes following at least one：Along building wall it is perpendicular Nogata to path, along the path of the horizontal direction of the wall of building.

In one of the embodiments, the path of the vertical direction of the wall along building is from the building Vertical path of the top of wall to lower section.

In one of the embodiments, the step b further comprises：

Step b1, judge whether to forbid cleaning to identify；

Step b2, if forbidding cleaning to identify described in existing, identification current region is to forbid cleaning region；

Step b3, if forbidding cleaning to identify in the absence of described, identification current region is the region to be cleaned.

In one of the embodiments, it is described to forbid cleaning mark to include following at least one：On the metope Pattern, what the signal generator on the metope was sent forbids clean signal.

In one of the embodiments, the pattern includes forbidding initial pattern and forbids terminating pattern, described to forbid Initial pattern and it is described forbid terminate pattern be located at forbid clean region relative two edges.

In one of the embodiments, the signal generator is multiple, and including initial signal generator and termination Signal generator, the initial signal generator and the termination signal generator are located at the relative both sides for forbidding cleaning region Edge.

In one of the embodiments, the signal generator is multiple that the multiple signal generator is clear located at forbidding The middle part in clean region, and the multiple signal generator send signal covering described in forbid clean region.

In one of the embodiments, the step of step c includes identifying the spacing between the metope and the UAV And/or the step of identifying the type of the metope.

In one of the embodiments, the type of the metope includes following at least one：Glass metope, common metope；

The common metope includes following at least one：The metope of texture can be distinguished, repeats the metope of texture, texture-free Metope.

In one of the embodiments, the spacing between the metope and the UAV is passed by the metope distance of the UAV Sensor obtains.

In one of the embodiments, the metope range sensor includes following at least one：Ultrasonic ranging senses Device, visual token sensor, laser range sensor, infrared distance measuring sensor, radar range finding sensor.

In one of the embodiments, the type of the metope is obtained by the metope type sensor of the UAV.

In one of the embodiments, the metope type sensor includes following at least one：Ultrasonic sensor, swash Optical sensor, vision sensor.

In one of the embodiments, the step d further comprises：

Step d1, obtain the type of the metope；

Step d2, according to the type of the metope, select the cleaning mode corresponding with the type of the metope；

Step d3, according to the cleaning mode of selection, control the spacing between the UAV and the metope；

Step d4, the metope is cleaned using the cleaning mode of selection.

In one of the embodiments, the cleaning mode includes following at least one：Ultrasonic oscillation cleans, and spraying is clear Clean dose of cleaning.

In one of the embodiments, the mode of the spraying cleaning agent cleaning includes following at least one：Slidably reciprocate Wipe, rotation wipes, and unidirectional dragging wipes.

In one of the embodiments, methods described also includes step e：Stop cleaning the metope, it is automatic along road of making a return voyage Make a return voyage to level point in footpath.

In one of the embodiments, the step e further comprises following steps：

Step e1, judge whether the current residual motive energy resources measurement of the UAV is more than from current location and make a return voyage the required energy Amount；

Step e2, maked a return voyage required quantity of energy if the current residual motive energy resources measurement of the UAV is not more than from current location, Stop cleaning the metope immediately, returned automatically along the path of making a return voyage.

In one of the embodiments, the step e also comprises the following steps：

Step e3, make a return voyage required quantity of energy, sentence if the current residual motive energy resources measurement of the UAV is more than from current location Whether the cleaning device that breaks can continue to work；

Step e4, if the cleaning device can not work on, stop cleaning the metope immediately, returned automatically along described Bit path returns.

In one of the embodiments, the step e also comprises the following steps：

Step e5, if the cleaning device can continue to work, judge whether to complete the path to be cleaned；

Step e6, if having completed the path to be cleaned, stop cleaning the metope immediately, automatically along the road of making a return voyage Footpath returns；

Step e7, if not completing the path to be cleaned, according to the path to be cleaned, continue to clean.

In one of the embodiments, stop cleaning the metope when UAV receives following at least one information：It is described The information that UAV current residual power source deficiency is maked a return voyage, the information that the cleaning device can not work on, the UAV are complete Into the information in the path to be cleaned.

In one of the embodiments, the information that the cleaning device can not work on includes following at least one：Institute State the information of the power source deficiency of cleaning device, the information of the cleaning raw material deficiency of the cleaning device.

In one of the embodiments, the power source of the cleaning device and the UAV power source are electric energy, And the two shares a power supply.

In one of the embodiments, the cleaning raw material of the cleaning device is cleaning agent or water.

In one of the embodiments, the power source of the UAV is electric energy or fuel oil.

In one of the embodiments, the level point is base station.

In one of the embodiments, methods described also includes step f after the step e：The base station is to described UAV carries out power source and/or cleaning raw material supply.

In one of the embodiments, the metope is the exterior wall of building, and the base station is located at aerial or described building The top of thing；

Or the interior wall that the metope is building, the base station are located at the indoor ground of the building.

In one of the embodiments, the path that path is user preset of making a return voyage, cleaning path, or automatic planning Path.

In one of the embodiments, the path planned automatically includes following at least one：

Consume the minimum path of power source, the most short path of stroke of making a return voyage, the departure times on reverse most short path.

In one of the embodiments, the step d further comprises step：To described by the way of vibration of ultrasonic wave Metope is cleaned.

In one of the embodiments, the wall area of the vibration of ultrasonic wave passes through the cleaning device and the metope Between spacing regulation；

Or the wall area of the vibration of ultrasonic wave is adjusted by the cleaning device itself.

In one of the embodiments, the step d further comprises step：When cleaning the metope, remember simultaneously Record cleaning path.

In one of the embodiments, the step d further comprises step：Using spraying cleaning agent cleaning by the way of pair The metope is cleaned.

In one of the embodiments, the wall area of the cleaning agent spraying passes through the cleaning device and the metope Between spacing regulation；

Or the wall area of the cleaning agent spraying is adjusted by the cleaning device itself.

In one of the embodiments, the level point is user preset place, or the place that the UAV is set automatically.

A kind of UAV for being used to clean wall, it includes：

Memory, for storing path to be cleaned；

Alignment sensor, for obtaining UAV current location information；

Metope identification sensor, for obtaining the information of metope；And

Controller, connected with the memory, the alignment sensor, metope identification sensor communication, to obtain The path to be cleaned, the information of the metope and the current location information；

Wherein, the controller sends flight to area to be cleaned according to the path to be cleaned, the current location information The flight control signal in domain；The controller sends the cleaning control signal for cleaning the metope according to the information of the metope.

Above-mentioned UAV at least has the following advantages that：

(1) cleaning device of above-mentioned UAV carryings can be cleaned to metope, and operation is carried out without steeplejack, So as to greatly reduce the danger of the wall of building cleaning.

(3) because UAV can be treated clearly according to the path Automatic-searching to be cleaned in self poisoning sensor and memory Clean region, and the metope for cleaning region is identified according to the metope identification sensor of itself, substantially increase cleaning of buildings The automaticity of metope.

In one of the embodiments, the alignment sensor includes following at least one：GPS, IMU, altimeter sensing Device；

The height sensor includes following at least one：Barometertic altimeter, infrared distance sensor, ultrasonic ranging pass Sensor, visual token sensor, laser range sensor, radar range finding sensor.

In one of the embodiments, the metope identification sensor include being used for measuring the UAV and the metope it Between spacing metope range sensor.

In one of the embodiments, the metope range sensor includes following at least one：Ultrasonic ranging senses Device, visual token sensor, laser range sensor, infrared distance sensor, radar range finding sensor.

In one of the embodiments, the metope identification sensor includes being used to identify the metope of the type of the metope Type sensor.

In one of the embodiments, the metope type sensor includes forbidding cleaning on the metope for identifying Mark forbids mark identification sensor.

In one of the embodiments, it is described to forbid identifying identification sensor including following at least one：Signal receiver, Vision sensor.

In one of the embodiments, the memory is also stored with total cleaning path and cleaning path, the control Device processed obtains the path to be cleaned according to total cleaning path and the cleaning path.

In one of the embodiments, total cleaning path is obtained by the alignment sensor；

In one of the embodiments, the memory is additionally operable to storage and maked a return voyage path, and the controller returns according to Bit path controls the UAV to make a return voyage to level point.

In one of the embodiments, path, cleaning path or the automatic planning that path is user preset of making a return voyage Path.

In one of the embodiments, the path planned automatically includes following at least one：Consume power source most Few path, the most short path of stroke of making a return voyage, the departure times on reverse most short path.

In one of the embodiments, the UAV also includes being used for the cleaning device for cleaning the metope.

In one of the embodiments, the cleaning device includes following at least one：For spraying the hydrojet of cleaning agent Mechanism, for producing the ultrasonic transducer of ultrasonic oscillation, for the rotary drive mechanism for driving cleaning member to rotate, it is used for The sliding drive mechanism for driving the cleaning member to slidably reciprocate, for dragging the tractor of the cleaning member.

In one of the embodiments, the wall area of the ultrasonic oscillation by the ultrasonic transducer with it is described Spacing regulation between metope；

Or the wall area of the ultrasonic oscillation is adjusted by the ultrasonic transducer.

In one of the embodiments, the wall area of the cleaning agent sprinkling passes through the hydrojet mechanism and the metope Between spacing adjust；

Or the wall area of the cleaning agent sprinkling is adjusted by the hydrojet mechanism.

In one of the embodiments, the cleaning member includes following at least one：Cleaning cloth, cleaning sponge.

In one of the embodiments, the UAV also includes head, and the cleaning device is connected to institute by the head State on UAV body, and the posture of the cleaning device is adjusted by the head.

A kind of wall cleaning systems, including：

Above-mentioned UAV；And

For feeding the base station of power source and/or cleaning raw material to the UAV.

In one of the embodiments, the power source of the UAV is electric energy, and the base station includes described for changing The battery replacement device of UAV battery and the battery charger for the battery charging to the UAV.

In one of the embodiments, the power source of the UAV is fuel oil, and the base station includes being used for the UAV Feed the fuel oil device for supplying of fuel oil.

In one of the embodiments, the base station also includes being used for the cleaning for feeding the cleaning raw material to the UAV Raw material device for supplying.

In one of the embodiments, the UAV is multiple that the base station can be simultaneously or sequentially to multiple UAV Feed power source and cleaning raw material；

Or the base station is multiple, the UAV can automatically select one of them described base station carry out power source and Cleaning raw material is fed.

In one of the embodiments, the base station also includes being used to control the master controller of the UAV and for sending out The wireless signal transmitter of control signal is penetrated, the UAV also includes wireless signal receiver.

Brief description of the drawings

Fig. 1 is the flow chart that the UAV of embodiments of the present invention cleans the method for wall；

Fig. 2 is the particular flow sheet of the step of UAV shown in Fig. 1 cleans the method for wall one；

Fig. 3 is the schematic diagram that total cleaning path is obtained in the step of UAV shown in Fig. 1 cleans the method for wall one；

Fig. 4 (a) is the one of real of total cleaning path in the step of UAV shown in Fig. 1 cleans the method for wall one Apply the schematic diagram of example；

Fig. 4 (b) is another implementation of total cleaning path in the step of UAV shown in Fig. 1 cleans the method for wall one The schematic diagram of example；

Fig. 5 is the particular flow sheet in the step of UAV shown in Fig. 1 cleans the method for wall two；

Fig. 6 is to forbid one of implementation that cleaning identifies in the step of UAV shown in Fig. 1 cleans the method for wall two The schematic diagram of example；

Fig. 7 is to forbid another embodiment that cleaning identifies in the step of UAV shown in Fig. 1 cleans the method for wall two Schematic diagram；

Fig. 8 is the particular flow sheet in the step of UAV shown in Fig. 1 cleans the method for wall four；

Fig. 9 is the particular flow sheet in the step of UAV shown in Fig. 1 cleans the method for wall five；

Figure 10 is the structural representation of the wall cleaning systems of embodiments of the present invention；

Figure 11 is the UAV of the wall cleaning systems shown in Figure 10 circuit theory diagrams；

Figure 12 is the circuit theory diagrams of the base station of the wall cleaning systems shown in Figure 10；

Figure 13 is the structure principle chart of the hydrojet mechanism of the cleaning device of the UAV shown in Figure 11；

Figure 14 is the structure principle chart of the sliding drive mechanism of the cleaning device of the UAV shown in Figure 11；

Figure 15 is the structure principle chart of the rotary drive mechanism of the cleaning device of the UAV shown in Figure 11；

Figure 16 is the structure principle chart of the tractor of the cleaning device of the UAV shown in Figure 11；

Figure 17 is the structural representation of the UAV shown in Figure 11.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.

It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component Or there may also be component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to To another component or it may be simultaneously present component placed in the middle.Term as used herein " vertical ", " horizontal ", " left side ", " right side " and similar statement are for illustrative purposes only.

Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases The arbitrary and all combination of the Listed Items of pass.

Embodiments of the present invention disclose a kind of method of UAV cleanings wall, the sanitizer cartridge that methods described is carried by UAV Put and the metope of building is cleaned, then, the UAV is fed by base station (dock).

In wherein some embodiments, cleaning device can be integrated on UAV body, can also be separately manufactured, then Reassemble together.

In wherein some embodiments, the metope can be the wall face of building, or the interior wall of building Face, for example, being built for some tower classes, the height of its interior room is higher, can equally use above-mentioned clean method to building Inner wall surface is cleaned.

In wherein some embodiments, the base station can be located at the roof of building, for example, when to the exterior wall of building Face is cleaned, and base station can be located at the roof of building, or hovering is in the air, to facilitate the UAV to be carried out down from roof Cleaning.

The base station can also be located at the indoor ground of building, for example, the interior wall of the building for some tower classes When face is cleaned, base station can be located at the flooring of building.

In wherein some embodiments, the UAV flies to region to be cleaned, and to be cleaned according to path to be cleaned The metope in region is cleaned.

The path to be cleaned can plan in real time, can also pre-set.The path to be cleaned can be according to total clear The cleaning path of clean path and record is calculated.

In wherein some embodiments, total cleaning path of the UAV can be from the vertical direction of building be layered into Row cleaning, for example, total cleaning path of the UAV is the vertical of multiple parallel intervals setting from the top of building to lower section Path.Total cleaning path of the UAV can also be to be cleaned along the horizontal direction layering of the wall of building, for example, institute State the horizontal route that UAV total cleaning path is set for multiple parallel intervals from the left of building to right.

In wherein some embodiments, the cleaning mode of the UAV can be the cleaning mode of spraying cleaning agent, can also For using the cleaning mode of ultrasonic oscillation.

In wherein some embodiments, the area that the cleaning device of the UAV carryings once cleans can be by described clear Spacing or the cleaning device itself regulation between clean device and the metope.

In wherein some embodiments, the mode of the spraying cleaning agent cleaning can be a variety of, for example, the wiping that slidably reciprocates Wipe, rotation wipes, and unidirectional dragging wipes etc..Slidably reciprocate wiping, that is, drives cleaning member to be wiped back and forth on metope, example Such as, wipe back and forth up and down, left and right wipes back and forth.Rotation wipes, that is, drives cleaning member rotation, cleaning member is wiped metope. Unidirectional dragging wipes, that is, drives cleaning member to be dragged on metope, to wipe metope, for example, being dragged down along the metope from upper It is dynamic, or, dragged upward under along the metope.

In wherein some embodiments, the metope, which is provided with, forbids cleaning to identify, so which area on the metope identified Domain is the region that need not be cleaned, and the UAV, which is sensed, described to be forbidden after cleaning identifies, flying to what other needs cleaned immediately Region.

Described to forbid cleaning mark can be the entity identification that is attached on the metope, for example, described forbid cleaning to identify Pattern on the metope.It is described to forbid the virtual identifying that cleaning mark be the covering metope, for example, described What the signal generator for forbidding cleaning to be identified as on the metope was sent forbids clean signal.

In wherein some embodiments, the type of the metope can be a variety of, for example, glass metope, common metope etc. Deng.The common metope is the metope that can distinguish texture, repeats the metope, the metope of texture-free etc. of texture.

It is automatic to be maked a return voyage along path of making a return voyage to level point after the UAV completes cleaning operation in wherein some embodiments. Level point can be user preset place, for example, level point can be the default location that user is set in advance, such as base station, Or it is the position that user sets temporarily according to current environment.

The level point can also be the place that the UAV is set automatically.For example, the level point can be the UAV The landing place automatically selected according to current environment.

Based on the method for above-mentioned UAV cleaning walls, embodiments of the present invention, which also provide one kind, can implement the above method UAV.The UAV includes being used for the memory for storing path to be cleaned and path of making a return voyage, for obtaining UAV present bit confidence The alignment sensor of breath, the metope identification sensor of the information for obtaining metope, for control the flight path of the UAV with And the controller of the working condition of the cleaning device.

In wherein some embodiments, the UAV carries cleaning device by head.Institute can be adjusted by the head State the posture of cleaning device.

In wherein some embodiments, the UAV directly carries the cleaning device, and the posture of the cleaning device passes through The posture of the UAV adjusts.

In wherein some embodiments, the cleaning device includes following at least one：For spraying the hydrojet of cleaning agent Mechanism, for producing the ultrasonic transducer of ultrasonic oscillation, for the rotary drive mechanism for driving cleaning member to rotate, it is used for The sliding drive mechanism for driving the cleaning member to slidably reciprocate, for dragging the tractor of the cleaning member.

In wherein some embodiments, the metope identification sensor includes following at least one：Metope range sensor, Metope type sensor, forbid identifying identification sensor.The metope range sensor is used to sense the UAV and the metope Between spacing.The metope type sensor is used for the type for identifying the metope.It is described to forbid identifying identification sensor use Cleaning is forbidden to identify on the metope in identifying.

Based on above-mentioned UAV, embodiments of the present invention also provide a kind of wall cleaning systems.The wall cleaning systems bag Above-mentioned UAV and base station are included, the base station is used to feed power source and/or cleaning raw material to the UAV.

In wherein some embodiments, base station can be located at the outside of building, for example, the metope is the outer of building Metope, the base station is located at the top of aerial or described building.Base station can also be located at the inside of building, for example, described Metope is the inner wall surface of building, and the base station is located at the indoor ground of the building.

In wherein some embodiments, a base station simultaneously or sequentially can feed kinetic force to multiple UAV Source and cleaning raw material.When the base station is multiple, a UAV can automatically select one of them described base station and enter action The power energy and cleaning raw material supply.

In wherein some embodiments, the power source of the UAV can share an energy source device with cleaning device, The different energy can be respectively adopted.

Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.

Referring to Fig. 1, the method for the UAV cleaning walls of embodiments of the present invention, comprises the following steps S11~S15.

Step S11, obtain path to be cleaned.

The step S11 can be obtained in different ways, for example, as shown in Fig. 2 it is specific in the present embodiment, Step S11 further comprises step S111 and S112.

Step S111, obtain total cleaning path and cleaning path.

Total cleaning path can obtain in different ways, and in one of the embodiments, total cleaning path can lead to The alignment sensor for crossing UAV itself obtains, for example, UAV flies before total cleaning path is planned around the area to be cleaned of building Row one time, the positional information in all regions to be cleaned is learnt by UAV itself alignment sensor, so as to obtain total cleaning road Footpath.

Specifically, as shown in figure 3, after UAV takes off from the base station at the top of building, according to the alignment sensor of itself (such as GPS), according to pre-recorded flight path (shown in dotted line as shown), ultrasonic sensor, camera and acceleration are passed through The gravity direction of meter, vertical metope can be identified, so as to obtain total cleaning path.

In another embodiment, total cleaning path is obtained by the Global localization system on building.For example, All regions to be cleaned on building set Global localization system, and total cleaning footpath can be learnt by Global localization system Road, and the UAV is uploaded to by Global localization system.

In another embodiment, total cleaning path can pass through the UAV itself alignment sensor and building On Global localization system jointly coordinate learn.

Total cleaning path can plan according to the actual environment of building, for example, total cleaning path can include it is as follows It is at least one：Along the path of the vertical direction of the wall of building, along the path of the horizontal direction of the wall of building.

Specifically, as shown in Fig. 4 (a), the path along the vertical direction of the wall of building can be the wall from building Vertical path of the top of body to lower section.As shown in Fig. 4 (b), along the wall of building horizontal direction path can be from Horizontal route of the left side of the wall of building to right side.

Step S112, according to total cleaning path and cleaning path, plan path to be cleaned.

Path to be cleaned can with real-time update, for example, when UAV is cleaned to the corner of the building, then can and When selection make a return voyage needed for the minimum cleaning path of motive energy resources measurement, to save power source.

Path to be cleaned can also be spaced preset time renewal, for example, when UAV makes a return voyage to base station, start described in renewal Path to be cleaned.

Step S12, according to path to be cleaned, fly to region to be cleaned.

Different modes is taken to control UAV flights region to be cleaned according to the different situations in path to be cleaned.Treated for example, working as When the region that minority forbids cleaning in cleaning path be present, balcony, the window of such as residential building, it can be prohibited by automatic identification Only cleaning Region control UAV flies to region to be cleaned.

For example, as shown in figure 5, it is specific in the present embodiment, when the regions that minority in path to be cleaned be present and forbid cleaning, Step S12 further comprises step S121~S123.

Step S121, judge whether to forbid cleaning to identify.

Cleaning mark is forbidden to be designed according to actual conditions, for example, forbidding cleaning mark to include following at least one： Pattern on metope, what the signal generator on metope was sent forbids clean signal.

The pattern can take different modes to set, for example, in one of the embodiments, pattern includes forbidding Initial pattern and forbid terminate pattern, forbid initial pattern and forbid terminate pattern be located at forbid clean region relative both sides Edge.When UAV, which is sensed, forbids initial pattern, stop cleaning operation, when forbidding terminating pattern up to sensing, start to continue again Cleaning operation, so as to avoid forbidding cleaning region.

Specifically, as shown in fig. 6, some exterior walls due to cause specific, then can be without cleaning without being cleaned Stick the initial pattern of forbidding of " Stop " mark above wall, and " Continue " mark forbid terminate pattern.

The signal generator can be set in different ways, for example, in one of the embodiments, signal hair Raw device is multiple, and is sent out including initial signal generator and termination signal generator, initial signal generator and termination signal Raw device is located at the relative two edges for forbidding cleaning region.When UAV senses the signal that initial signal generator is sent, stop clear Clean operation, until when sensing the signal that termination signal generator is sent, start to continue cleaning operation again, it is clear so as to avoid forbidding Clean region.

In another embodiment, to be multiple, multiple signal generators are located to be forbidden cleaning region signal generator Middle part, and the signal covering that multiple signal generators are sent is forbidden cleaning region.When UAV senses what signal generator was sent During signal, stop cleaning operation, when the blackout that signal generator is sent, start to continue cleaning operation again, so as to keep away Lift a ban and only clean region.

Specifically, as shown in fig. 7, installing short-range signal generator in interior of building, unmanned plane receives signal hair Stop cleaning operation during the signal that raw device is sent, until the blackout that signal generator is sent.The letter that signal generator is sent Number covering region be forbid clean region.

Step S122, if in the presence of forbidding cleaning to identify, identification current region is to forbid cleaning region.

When UAV identification current regions is forbid cleaning region, then UAV stops cleaning the current region.

Step S123, if in the absence of forbidding cleaning to identify, identification current region is the region to be cleaned.

When UAV identification current regions are region to be cleaned, then UAV can clean to current region.

Step S13, identify the metope in region to be cleaned.

The step of step S13 can include the spacing between identification metope and UAV and identify the type of metope.

Spacing between metope and UAV can be obtained by UAV metope range sensor, for example, metope Distance-sensing Device can be ultrasonic distance-measuring sensor, visual token sensor, laser range sensor, infrared distance measuring sensor, radar Distance measuring sensor etc..

Step S14, metope is cleaned using the UAV cleaning devices carried.

Cleaning metope mode have it is a variety of, for example, ultrasonic oscillation clean, spraying cleaning agent cleaning etc..When using super During the mode of sound wave shock cleaning, cleaning device includes being used for the ultrasonic transducer for producing ultrasonic oscillation.When using spraying The mode of cleaning agent cleaning, cleaning device include being used for the hydrojet mechanism for spraying cleaning agent.

Ultrasonic oscillation cleans, i.e. produces ultrasonic wave towards metope by ultrasonic transducer, utilizes ultrasonic oscillation wall Dust on face.

Wherein, the wall area of vibration of ultrasonic wave can control in different ways, for example, an implementation wherein In example, the wall area of vibration of ultrasonic wave is adjusted by the spacing between cleaning device and metope.For example, work as ultrasonic transducer Caused ultrasonic wave is sent in sector, then the spacing between ultrasonic transducer and metope is bigger, the metope face of vibration of ultrasonic wave Product is bigger, conversely, the wall area of vibration of ultrasonic wave is with regard to smaller.

In another embodiment, the wall area of vibration of ultrasonic wave is adjusted by cleaning device itself.Can for example, working as To adjust the outlet size of the ultrasonic wave of ultrasonic transducer, then ultrasonic wave outlet is bigger, and the wall area of vibration of ultrasonic wave is just It is bigger, conversely, the wall area of vibration of ultrasonic wave is with regard to smaller.

Spray cleaning agent cleaning, i.e. towards wall surface spraying cleaning agent, then recycle the dirt of cleaning member erasing metope Dirt.

Wherein, the wall area of cleaning agent spraying can control in different ways, for example, an implementation wherein In example, the wall area of cleaning agent spraying is adjusted by the spacing between cleaning device and metope.For example, when hydrojet mechanism is in fan When shape sprays cleaning agent, then the spacing between cleaning device and metope is bigger, and the wall area of cleaning agent spraying is bigger, instead It, the wall area of cleaning agent spraying is with regard to smaller.

In another embodiment, the wall area of cleaning agent spraying is adjusted by cleaning device itself.Can for example, working as During adjusting the size of the mouth spray of hydrojet mechanism, then the mouth spray of hydrojet mechanism is bigger, and the wall area of cleaning agent spraying is just It is bigger, conversely, the wall area of cleaning agent spraying is with regard to smaller.

The mode for spraying cleaning agent cleaning can be a variety of, for example, the wiping that slidably reciprocates, rotation wipes, and unidirectional dragging is wiped Wipe.

Rotation wipes, i.e. driving cleaning member makes cleaning member pat metope, so as to wipe metope around drive shaft turns Dirt.

Slidably reciprocate wiping, i.e. driving cleaning member slidably reciprocates in the metope for being coated with cleaning agent, so as to wipe metope Dirt.

Unidirectional dragging wipes, i.e. drags cleaning member along metope, makes the dirt of cleaning member erasing metope.

Step S14 can be realized in different ways, for example, as shown in figure 8, in the present embodiment, step S14 enters One step includes step S141~S144.

Step S141, obtain the type of metope.

The type of metope can be learnt by UAV itself sensor, or, learnt according to user preset information.

Step S142, according to the type of metope, select the cleaning mode corresponding with the type of metope.

The type of different metopes, using different cleaning modes.For example, the dust for floating over metope, can be used The mode of ultrasonic oscillation is cleaned；Dirt for being fixedly arranged at metope, it can be carried out by the way of cleaning agent is sprayed clear It is clean.

Step S143, according to the cleaning mode of selection, control the spacing between UAV and metope.

Different cleaning modes is directed to, can selectively control the spacing between UAV and metope.For example, using ultrasound When the mode of ripple concussion is cleaned, the spacing between UAV and metope is controlled in the first pre-determined distance, using spraying cleaning agent When mode is cleaned, the control of spacing between UAV and metope in the second pre-determined distance, the second default spacing and first it is default between Away from unequal.

In addition, being directed to different cleaning areas, the spacing between UAV and metope can also be selectively controlled, specific control Mode processed is as described in step S13, and in this not go into detail.

Step S144, metope is cleaned using the cleaning mode of selection.

, can be to metope disposable cleaning, or repeated multiple times cleaning according to selected cleaning mode.

It should be noted that step S14 can further include step：When cleaning metope, while record has cleaned Path, so as to real-time update cleaning path.

Further, method also includes step S15：Stop cleaning the metope, it is automatic to be maked a return voyage along path of making a return voyage to landing Point.

Make a return voyage path can be user preset path, for example, user is according to the current default path of ambient conditions.Return Bit path can also be cleaning path, i.e. be returned along the path flown during cleaning.Path of making a return voyage can also plan automatically Path, for example, the path planned automatically can be the minimum path of consume power source, the most short path of stroke of making a return voyage, return Most short path of ETS estimated time of sailing etc..

Level point is user preset place, for example, level point is for feeding power source and/or cleaning raw material to UAV Base station.Or level point is the place that UAV is automatically selected.

In addition, the position of base station can be set according to the position of metope to be cleaned, for example, when metope is building Exterior wall, base station is located at aerial or building top.When the interior wall that metope is building, base station is located at the indoor ground of building Face.

UAV stops cleaning the metope when receiving following at least one information：UAV current residual power source deficiency is returned The information of boat, the information that cleaning device can not work on, UAV complete the information in path to be cleaned.

Wherein, the information that cleaning device can not work on includes following at least one：The power source of cleaning device is not The information of foot, the information of the cleaning raw material deficiency of cleaning device.The cleaning raw material of cleaning device can be cleaning agent, water etc..

UAV power source can be electric energy or fuel oil.In one of the embodiments, the power source of cleaning device and UAV power source is electric energy, and the two shares a power supply.

Step S15 embodiment can design according to different flight environment of vehicle, for example, as shown in figure 9, specific In the present embodiment, step S15 further comprises following steps S151~S157.

Step S151, judge whether UAV current residual motive energy resources measurement is more than from current location and make a return voyage required quantity of energy.

Specifically in the present embodiment, when UAV is electronic UAV, then judge whether the current residual electricity of UAV battery is big Maked a return voyage institute's subfam. Spiraeoideae in from current location.

In another embodiment, when UAV is fuel oil UAV, then judge that the current residual oil mass in UAV fuel tank is It is no be more than from current location make a return voyage required oil mass.

Step S152, make a return voyage required quantity of energy, stand if UAV current residual motive energy resources measurement is not more than from current location Stop cleaning the metope, it is automatic along path return of making a return voyage.

Specifically in the present embodiment, maked a return voyage required electricity if the current residual electricity of UAV battery is not more than from current location Amount, then stop cleaning the metope immediately, it is automatic along path return of making a return voyage.

In another embodiment, maked a return voyage institute if current residual oil mass in UAV fuel tank is not more than from current location Oil mass is needed, then stops cleaning the metope immediately, it is automatic along path return of making a return voyage.

Step S153, make a return voyage required quantity of energy, judge if UAV current residual motive energy resources measurement is more than from current location Whether cleaning device can continue to work.

Specifically in the present embodiment, maked a return voyage institute's subfam. Spiraeoideae if the current residual electricity of UAV battery is more than from current location When, then judge whether the power source of cleaning device and cleaning raw material are sufficient.

In another embodiment, if the current residual oil mass in UAV fuel tank is required more than being maked a return voyage from current location During oil mass, then judge whether the power source of cleaning device and cleaning raw material are sufficient.

Step S154, if cleaning device can not work on, stop cleaning the metope immediately, it is automatic along path of making a return voyage Return.

Specifically in the present embodiment, if power source or cleaning raw material needed for cleaning device are insufficient, cleaning is stopped immediately The metope, it is automatic along path return of making a return voyage.

Step S155, if cleaning device can continue to work, judge whether to complete path to be cleaned.

Specifically in the present embodiment, if the power source and cleaning raw material needed for cleaning device are enough, judge whether to complete Path to be cleaned.

Step S156, if having completed path to be cleaned, stop cleaning the metope immediately, it is automatic to be returned along path of making a return voyage Return.

Specifically in the present embodiment, whether UAV judges current location according to the information in path to be cleaned and current location Terminal position positioned at path to be cleaned.If current location is the terminal position positioned at path to be cleaned, stop cleaning immediately The metope, it is automatic to be maked a return voyage along path of making a return voyage.

Step S157, if not completing path to be cleaned, according to path to be cleaned, continue to clean.

Specifically in the present embodiment, if current location is not located at the terminal position in path to be cleaned, according to be cleaned Path, continue to clean, until reaching the terminal position in path to be cleaned.

If it should be noted that as shown in figure 1, the level point is base station, methods described is also wrapped after the step s 15 Include step S16：Base station carries out power source to UAV and/or cleaning raw material is fed.

Specifically in embodiment, if the not enough power supply of UAV battery, base station change UAV battery, and to replacing after Battery is charged.If cleaning agent is insufficient, base station feeds cleaning agent to UAV.

Based on the method for above-mentioned UAV cleaning walls, the present invention also provides a kind of wall cleaning systems.

Referring to Fig. 10, the wall cleaning systems 10 of present embodiment include being used for UAV 100, the Yi Jiyong for cleaning wall In the base station 200 that power source and/or cleaning raw material are fed to UAV 100.

Figure 11 is referred to, specifically in the present embodiment, UAV 100, which includes memory 110, alignment sensor 120, metope, to be known Individual sensor 130 and controller 140.

Memory 110 is used to store path to be cleaned.Memory 110 can be the storage device such as hard disk, flash card.

Alignment sensor 120 is used for the current location information for obtaining UAV 100.For example, alignment sensor 120 is including as follows It is at least one：GPS, IMU (Inertial measurement unit, Inertial Measurement Unit), altimeter.GPS is used to obtain Position coordinateses of the UAV 100 in three dimensions.IMU is used for three-axis attitude angle and the acceleration for obtaining UAV 100.Highly pass Sensor is used for the absolute altitude or relative altitude for obtaining UAV 100.For example, the height sensor includes following at least one： Barometertic altimeter, infrared distance sensor, ultrasonic distance-measuring sensor, visual token sensor, laser range sensor, radar Distance measuring sensor.

Metope identification sensor 130 is used for the information for obtaining metope.For example, metope identification sensor 130 is included as follows extremely Few one kind：Metope range sensor, metope type sensor, forbid identifying identification sensor.

Metope range sensor is used to measure the spacing between UAV 100 and metope.For example, metope range sensor includes It is following at least one：Ultrasonic distance-measuring sensor, visual token sensor, laser range sensor, infrared distance sensor, thunder Up to distance measuring sensor.

Metope type sensor is used for the type for identifying metope.For example, metope type sensor includes following at least one： Ultrasonic sensor, laser sensor, vision sensor.

Because same building thing might have different types of wall, the type of metope can divide glass metope, common wall Face.Common metope can be divided into the metope that can distinguish texture, repeat the metope of texture, the metope of texture-free.Different types of wall The cleaning task different (for example, using different cleaning reagents etc.) of wall requirement is, it is necessary to using metope type sensor to metope Type be identified.

For example, glass wall has the characteristics that energy is reflective, reflectance ultrasound ripple is stable, if meeting that UAV 100 is swept turns yaw angle (<30 °), then the distance values using ultrasonic sensor sensing are stable, and binocular camera obtains the complicated (glass of depth map scene Mirror-reflection distant place scenery) or itself shadow of UAV 100 is can recognize that, in conjunction with default metope type information (for example, whetheing there is Glass metope) and lasting detection statistics, can be reliable identify glass metope.

Common exterior wall can distinguish texture due to that can be divided into having, and have repetition texture and texture-free metope, wherein line can be distinguished Metope is managed in the image that binocular camera obtains, metope plane can be fitted；Repeat the metope of texture and the wall of texture-free Face, with reference to the ultrasound information of ultrasonic sensor, and then it is identified.

Forbidding mark identification sensor to be used to identify on metope forbids cleaning to identify.For example, forbid mark identification sensing Device includes following at least one：Signal receiver, vision sensor.

Controller 140, connected with memory 110, alignment sensor 120, the communication of metope identification sensor 130, to obtain Path to be cleaned, the information and current location information of metope.For example, controller 140 can be control chip, control circuit Plate etc..

Wherein, controller 140 sends flight control of the flight to region to be cleaned according to path to be cleaned, current location information Signal processed.Controller 140 sends the cleaning control signal for cleaning metope according to the information of metope.

Further, memory 110 is also stored with total cleaning path and cleaning path, and controller 140 is according to total clear Path to be cleaned is calculated in clean path and cleaning path.

Recorded in real time when cleaning path can be with the beginning cleaning operations of UAV 100, and road is cleaned with total Footpath compares, you can draws path to be cleaned.

Further, total cleaning path can obtain in different ways, in one of the embodiments, always clean road Footpath can be obtained by UAV 100 itself alignment sensor 120, for example, UAV 100 before total cleaning path is planned around The area to be cleaned of building is flown one time, and the position in all regions to be cleaned is learnt by UAV 100 itself alignment sensor 120 Confidence ceases, so as to obtain total cleaning path.

In another embodiment, total cleaning path is obtained by the Global localization system on building.For example, All regions to be cleaned on building are provided with Global localization system, and total cleaning footpath can be learnt by Global localization system Road, and the UAV 100 is uploaded to by Global localization system.

In another embodiment, total cleaning path passes through the UAV 100 alignment sensors 120 of itself and building Global localization system on thing coordinates jointly to be learnt.

For example, can be from the top to lower section of the wall of building along the path of the vertical direction of the wall of building Vertical path, the path along the horizontal direction of the wall of building can be the level from the left side of the wall of building to right side Path.

Further, memory 110 is additionally operable to storage and maked a return voyage path, and controller 140 is according to the path clustering UAV 100 that makes a return voyage Make a return voyage to level point.

Make a return voyage path can be user preset path, for example, user preset drops to the path of base station 200.Make a return voyage road Footpath can also be cleaning path, i.e. along the cleaning path backtracking passed by.Making a return voyage path can also be for UAV 100 certainly The path of dynamic planning.For example, the path planned automatically includes following at least one：The minimum path of power source is consumed, is maked a return voyage The most short path of stroke, the departure times on reverse most short path.

Further, UAV 100 can also integrate the cleaning device 150 for being cleaned to metope.Certainly, in this hair In bright, UAV 100 can also individually design with cleaning device 150.

Figure 13 to Figure 16 is referred to, cleaning device 150 includes following at least one：For spraying the hydrojet mechanism of cleaning agent 191, for producing the ultrasonic transducer of ultrasonic oscillation, for the slip driving machine for driving cleaning member 195 to slidably reciprocate Structure 192, for the rotary drive mechanism 193 for driving cleaning member 195 to rotate, for dragging the tractor of cleaning member 195 194。

The concrete structure of hydrojet mechanism 191 can be a variety of, for example, as shown in figure 13, hydrojet mechanism 191 can include using In the container 191a for containing cleaning agent, for spraying the nozzle 191b of cleaning agent, the tracheae 191c for input air pressure.Liquid-spreader Structure 191 can also use atomization structure, and in this not go into detail.

Ultrasonic transducer can be various types of structures, for example, can be MEMS ultrasonic transducers, its concrete structure In this not go into detail.

The concrete structure of sliding drive mechanism 192 can design according to being actually needed, can be with for example, as shown in figure 14 Belt 192b is driven to be fixed on belt 192b come back rotation, cleaning member 195 using belt pulley 192a, and with belt 192b moves back and forth.

The concrete structure of rotary drive mechanism 193 can design according to being actually needed, can be with for example, as shown in figure 15 Being rotated using motor 193a driving rotating disks 193b, cleaning member 195 can be fixed on rotating disk 193b, and with rotation Disk 193b is rotated, or the axis swing around rotating disk 193b.

The concrete structure of tractor 194 can design according to being actually needed, for example, as shown in figure 16, tractor 194 can be to be connected on UAV 100 body to drag support, and cleaning member 195 is fixed on dragging support, and with dragging Dynamic support movement.Wherein, dragging support can adjust its angle of inclination relative to metope.

Cleaning member 195 can be in general wiper member, for example, cleaning cloth, cleaning sponge etc..

The area of the single of cleaning device 150 cleaning can be adjusted according to the spacing between cleaning device 150 and metope.When When producing ultrasonic oscillation using ultrasonic transducer, the wall area of ultrasonic oscillation by ultrasonic transducer and metope it Between spacing regulation.For example, when ultrasonic wave caused by ultrasonic transducer is sent in sector, then ultrasonic transducer and metope it Between spacing it is bigger, the wall area of vibration of ultrasonic wave is bigger, conversely, the wall area of vibration of ultrasonic wave is with regard to smaller.

When spraying cleaning agent using hydrojet mechanism 191, the wall area of cleaning agent sprinkling passes through hydrojet mechanism 191 and wall Spacing between face is adjusted.For example, when hydrojet mechanism 191 sprays cleaning agent in fan-shaped, then cleaning device 150 and metope it Between spacing it is bigger, cleaning agent spraying wall area it is bigger, conversely, cleaning agent spraying wall area with regard to smaller.

In another embodiment, the wall area of vibration of ultrasonic wave is adjusted by ultrasonic transducer itself.For example, When the ultrasonic wave outlet of ultrasonic transducer can be with adjusting size, then ultrasonic wave exports bigger, the wall area of vibration of ultrasonic wave It is bigger, conversely, the wall area of vibration of ultrasonic wave is with regard to smaller.

The wall area of cleaning agent spraying is adjusted by hydrojet mechanism 191 itself.For example, when the hydrojet of hydrojet mechanism 191 When mouth can be adjusted, then the mouth spray of hydrojet mechanism 191 is bigger, and the wall area of cleaning agent spraying is bigger, conversely, cleaning agent The wall area of spraying is with regard to smaller.

Further, as shown in figure 17, UAV 100 also includes head 160, and cleaning device 150 is connected to by head 160 On UAV 100 body, and the posture of cleaning device 150 is adjusted by head 160.

It should be noted that head 160 can also omit, now cleaning device 150 is directly fixed with UAV 100 body and connected Connect, the posture of cleaning device 150 is adjusted by UAV 100 posture.

The concrete structure of base station 200 can design according to different demands, for example, as shown in figure 12, in the present embodiment In, UAV 100 power source is electric energy, base station 200 include being used to change the battery replacement device 210 of UAV 100 battery, And the battery charger 220 for the battery charging to UAV 100.

In other embodiments, UAV 100 power source is fuel oil, and base station 200 includes being used to feed to UAV 100 firing The fuel oil device for supplying of oil.

Further, base station 200 also includes being used for the cleaning raw material device for supplying 230 for feeding cleaning raw material to UAV 100.

The position of base station 200 can be set according to the position of metope to be cleaned.For example, one embodiment wherein In, metope is the exterior wall of building, and base station 200 is located at aerial or building top.

In another embodiment, metope is the interior wall of building, and base station 200 is located at the indoor ground of building.

The fit system of UAV 100 and base station 200 can according to UAV 100 quantity, or base station 200 quantity not With designing.For example, in one of the embodiments, UAV 100 is multiple, and base station 200 can be simultaneously or sequentially to multiple UAV 100 supply power sources and cleaning raw material.That is, multiple UAV 100 can share a base station 200 to feed, and pass through base station 200 Multiple UAV 100 can be fed successively, or, multiple UAV 100 can be fed simultaneously by base station 200.

In another embodiment, base station 200 is multiple that UAV 100 can automatically select one of base station 200 and enter The action edge energy and cleaning raw material supply.For example, multiple base stations 200 can be respectively arranged on into diverse location, UAV 100 can be selected The base station 200 for selecting most short distance of making a return voyage is fed.

In another embodiment, UAV 100 is multiple, base station 200 be it is multiple, can be in combination with above two side Formula is fed, and specific fit system is as described above, and in this not go into detail.

Further, as shown in figure 12, for the ease of controlling UAV 100, especially while when controlling multiple UAV 100, Base station 200 also includes being used for the master controller 240 for controlling UAV 100 and the wireless signal transmission for emissioning controling signal Device 250, the UAV 100 include wireless signal receiver 170.For example, when needing simultaneously, recalling all UAV 100 goes back to base station When 200, then user can input control instruction and pass through wireless signal transmission to the master controller 240, the master controller 240 Device 250 sends control signal to all UAV 100, so as to control all UAV 100 to make a return voyage to base station 200 simultaneously, i.e. Neng Goushi Show while reclaimed all UAV 100 function.

Further, master controller 240 is additionally operable to control battery replacement device 210, battery charger 220, Yi Jiqing Clean raw material device for supplying 230.

Above-mentioned wall cleaning systems 10 are illustrated below in conjunction with Figure 10.

First, UAV 100 obtains total cleaning path AF and cleaning path AB, so as to obtain path BF to be cleaned.

Then, UAV 100 flies to B points, UAV 100 metope identification sensor 130 according to path BF to be cleaned and identified The type of metope, and according to the corresponding cleaning mode of type selecting of metope, and the spacing between UAV 100 and metope is controlled, Start to clean metope.

Then, when UAV 100 is cleaned to C points, UAV 100 metope identification sensor 130, which recognizes, forbids clean signal, Stop cleaning operation, until UAV 100 flies to D points, CD sections are to forbid cleaning operation region.

Then, the cleaning operations since continuing D points of UAV 100, until E points, the not enough power supply of UAV 100 battery.

Finally, UAV 100 is back to base station 200 along path of making a return voyage automatically from E points and fed.

Above-mentioned wall cleaning systems at least have the following advantages that：

(1) above-mentioned wall cleaning systems 10 are cleaned using the cleaning devices 150 carried of UAV 100 to metope, without Steeplejack carries out operation, so as to greatly reduce the danger of the wall of building cleaning.

(2) due to UAV 100 be free to stop to be suspended in it is aerial, without adsorbing on the metope of building, its move compared with For convenience, different types of wall is gone for.

(3) because UAV 100 can be according to the path to be cleaned in self poisoning sensor 120 and memory 110 certainly It is dynamic to find region to be cleaned, and the metope for cleaning region is identified according to the metope identification sensor 130 of itself, substantially increase The automaticity of the metope of cleaning of buildings.

In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the module or list The division of member, only a kind of division of logic function can have an other dividing mode when actually realizing, for example, multiple units or Component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, show Show or the mutual coupling discussed or direct-coupling or communication connection can be by some interfaces, between device or unit Coupling or communication connection are connect, can be electrical, mechanical or other forms.

The unit illustrated as separating component can be or may not be physically separate, show as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.

If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are causing computer disposal Device (processor) performs all or part of step of each embodiment methods described of the present invention.And foregoing storage medium bag Include：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc. are various can be with the medium of store program codes.

Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Claims

A kind of 1. method of UAV cleanings wall, it is characterised in that including：

According to path to be cleaned, fly to region to be cleaned；

The metope type of the metope in the region to be cleaned is identified, wherein, the type of the metope includes following at least one：Glass Glass metope, common metope.
2. the method for UAV cleanings wall according to claim 1, it is characterised in that described according to path to be cleaned, flight Before to region to be cleaned, in addition to：Obtain path to be cleaned.
3. the method for UAV cleanings wall according to claim 1, it is characterised in that described according to path to be cleaned, flight To region to be cleaned, including：

Judge whether to forbid cleaning to identify；

If forbidding cleaning to identify described in existing, identification current region is to forbid cleaning region；

If forbidding cleaning to identify in the absence of described, identification current region is the region to be cleaned.
4. the method for UAV cleanings wall according to claim 1, it is characterised in that also include：Identify the metope and institute State the spacing between UAV.
5. the method for UAV cleanings wall according to claim 1, it is characterised in that the type of the metope passes through described UAV metope type sensor obtains.
6. the method for UAV cleanings wall according to claim 1, it is characterised in that the identification region to be cleaned Metope metope type after, including：

The metope is cleaned using the UAV cleaning devices corresponding with the metope type carried.
A kind of 7. UAV, it is characterised in that including：

Memory, for storing path to be cleaned；

Alignment sensor, for obtaining UAV current location information；

Metope identification sensor, for obtaining the information of metope；And

Controller, connected with the memory, the alignment sensor, metope identification sensor communication, with described in acquisition Path to be cleaned, the information of the metope and the current location information；

Wherein, the controller sends flight to region to be cleaned according to the path to be cleaned, the current location information Flight control signal；The controller sends the cleaning control signal for cleaning the metope according to the information of the metope.
8. UAV according to claim 7, it is characterised in that the alignment sensor includes following at least one：GPS, IMU, height sensor；

The height sensor includes following at least one：Barometertic altimeter, infrared distance sensor, ultrasonic ranging sensing Device, visual token sensor, laser range sensor, radar range finding sensor.
A kind of 9. wall cleaning systems, it is characterised in that including：

UAV described in claim 7 or 8；And

For feeding the base station of power source and/or cleaning raw material to the UAV.
10. wall cleaning systems according to claim 9, it is characterised in that the power source of the UAV is electric energy, institute Stating base station includes being used to change the battery replacement device of the battery of the UAV and the electricity for the battery charging to the UAV Pond charging device.