CN109436331A - Cleaning system and cleaning method based on unmanned plane - Google Patents
Cleaning system and cleaning method based on unmanned plane Download PDFInfo
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- CN109436331A CN109436331A CN201811379171.4A CN201811379171A CN109436331A CN 109436331 A CN109436331 A CN 109436331A CN 201811379171 A CN201811379171 A CN 201811379171A CN 109436331 A CN109436331 A CN 109436331A
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- fuselage
- unmanned plane
- cleaning
- support tube
- cleaning system
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- 238000004140 cleaning Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims description 11
- 239000007788 liquid Substances 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims description 26
- 239000007921 spray Substances 0.000 abstract description 10
- 238000005507 spraying Methods 0.000 abstract description 2
- 239000012212 insulator Substances 0.000 description 8
- 238000003860 storage Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005336 cracking Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The present invention relates to a kind of cleaning system based on unmanned plane, unmanned plane includes fuselage.Cleaning system includes cleaning assembly and control assembly.Cleaning assembly is set to fuselage.Cleaning assembly includes device for storing liquid, caisson, support tube, nozzle and switching device.Device for storing liquid and caisson are set to fuselage.Caisson is for storing high pressure gas.Fuselage is fixed in support tube one end, and the other end is far from fuselage.Nozzle is set to end of the support tube far from fuselage.Nozzle is connect by delivery tube with device for storing liquid and caisson.Switching device is set to delivery tube.Control assembly includes remote control apparatus and the control circuit for being set to fuselage.Control circuit and remote control apparatus communicate to connect.Control circuit is electrically connected with switching device.In the present invention, high pressure gas is carried using caisson, it is overweight avoids carrying around air compressor load.The power for spraying high pressure gas as liquid in device for storing liquid using siphon principle simultaneously sprays great efforts.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of based on the cleaning system of unmanned plane and cleaning side
Method.
Background technique
Insulator is a kind of insulating device of the application in transmission line of electricity.After long-time use, insulator surface is vulnerable to sky
Gas influences to form pollution layer.In wet weather, flashover electric discharge easily occurs for dirty insulator, so must clean dry
Only, restore original dielectric level.
Traditional cleaning way is needed using artificial Pan Ta sprinkling cleaning agent and is wiped, and time-consuming, low efficiency.In order to guarantee
The safety of staff, construction line will also have a power failure, and impact to the life production of surrounding area.Also big payload helicopter takes
High-pressure sprayer is carried to be cleaned.But the operation of big payload helicopter needs pilot and the application course line airspace of profession
Equal formalities, higher cost.Therefore, traditional cleaning way cleaning inconvenience and higher cost.
Summary of the invention
Based on this, it is necessary to aiming at the problem that and higher cost inconvenient traditional cleaning way cleaning, provide one kind and be based on
The cleaning system and cleaning method of unmanned plane.
A kind of cleaning system based on unmanned plane, the unmanned plane include fuselage, comprising:
Cleaning assembly, is set to the fuselage, and the cleaning assembly includes:
Device for storing liquid is set to the fuselage；
Caisson is set to the fuselage, for storing high pressure gas；
The fuselage is fixed in support tube, one end, and the other end is far from the fuselage；
Nozzle, is set to end of the support tube far from the fuselage, and the nozzle passes through delivery tube and the liquid storage
Device is connected with the caisson；
Switching device is set to the delivery tube, for controlling the on-off of the delivery tube；And
Control assembly, including remote control apparatus and the control circuit for being set to the fuselage, the control circuit and institute
Remote control apparatus communication connection is stated, the control circuit is electrically connected with the switching device.
The nozzle is threeway nozzle in one of the embodiments, including two entrances and one outlet are described two
Entrance is connect by the delivery tube with the device for storing liquid and the caisson respectively.
The delivery tube is nested in the support tube in one of the embodiments,.
The support tube includes folding device in one of the embodiments, and the folding device is set to the support
The middle part of pipe, for folding direction of the support tube with the folding device axially adjacent to the fuselage.
The control circuit includes: in one of the embodiments,
Digital transmission module is communicated to connect with the remote control apparatus；
Controller is electrically connected with the digital transmission module and the switching device respectively.
The cleaning system based on unmanned plane further includes range finder module in one of the embodiments, is set to institute
Fuselage is stated, and is electrically connected with the digital transmission module.
The cleaning system based on unmanned plane further includes camera model in one of the embodiments, is set to institute
Fuselage is stated, and is electrically connected with the digital transmission module.
The length of the support tube is 1.5m-1.8m in one of the embodiments,.
The switching device is solenoid valve in one of the embodiments,.
A kind of cleaning method based on unmanned plane, comprising:
Obtain the real-time range with object；
Judge whether the real-time range meets pre-determined distance；
When the real-time range meets the pre-determined distance, clear instruction is issued；
The clear instruction is received, and the clear instruction is parsed, obtains control signal；
The control signal is transmitted to switching device, is turned on the switch, cleaning is started.
The above-mentioned cleaning system based on unmanned plane, including fuselage, cleaning assembly and control assembly.In cleaning,
By the remote control apparatus clear instruction can be assigned to the control circuit.The control circuit can be according to described clear
It washes instruction and controls the switch that the switching device opens the delivery tube, spray the high pressure gas in the caisson.Institute
It states high pressure gas and forms negative pressure at the nozzle, to attract the liquid in the device for storing liquid, mix gas and liquid
It sprays, object is cleaned.In this application, high pressure gas is carried using caisson, avoids carrying around air compression
The problem of overload of machine.Spray the caisson as the liquid in the device for storing liquid using siphon principle simultaneously
Power, spray great efforts, while avoiding carrying around water pump, further mitigate the burden of the unmanned plane.Meanwhile the cleaning
Component makes the nozzle far from the fuselage by the way that the support tube is arranged, on the one hand can to avoid cleaning liquid by nothing
On the other hand the influence of man-machine blade whirlwind can make the fuselage of the unmanned plane far from substrate body, to prevent from cleaning
The danger that unmanned plane may cause when power equipment (such as insulator).
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for cleaning system based on unmanned plane that one embodiment of the application provides；
Fig. 2 is a kind of structural schematic diagram for cleaning assembly that one embodiment of the application provides；
Fig. 3 is a kind of structural schematic diagram for cleaning system based on unmanned plane that one embodiment of the application provides；
Fig. 4 is a kind of flow chart for cleaning method based on unmanned plane that one embodiment of the application provides.
Drawing reference numeral explanation:
10 cleaning systems based on unmanned plane
20 unmanned planes
100 fuselages
200 cleaning assemblies
210 device for storing liquid
220 caissons
230 support tubes
232 folding devices
240 nozzles
242 delivery tubes
244 entrances
246 outlets
250 switching devices
300 control assemblies
310 remote control apparatuses
312 memories
314 processors
320 control circuits
322 digital transmission modules
324 controllers
400 range finder modules
500 camera models
600 power supplys
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing to the application
Specific embodiment be described in detail.Many details are explained in the following description in order to fully understand this Shen
Please.But the application can be implemented with being much different from other way described herein, those skilled in the art can be not
Similar improvement is done in the case where violating the application intension, therefore the application is not limited by following public specific implementation.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Please also refer to Fig. 1 and Fig. 2.One embodiment of the application provides a kind of cleaning system 10 based on unmanned plane.It is described
Unmanned plane 20 includes fuselage 100.The cleaning system 10 includes cleaning assembly 200 and control assembly 300.The cleaning assembly
200 are set to the fuselage 100.The cleaning assembly 200 includes device for storing liquid 210, caisson 220, support tube 230, spray
Mouth 240 and switching device 250.The device for storing liquid 210 is set to the fuselage 100.The caisson 220 is set to institute
Fuselage 100 is stated, for storing high pressure gas.The fuselage 100 is fixed in described 230 one end of support tube, and the other end is far from described
Fuselage 100.The nozzle 240 is set to end of the support tube 230 far from the fuselage 100.The nozzle 240 passes through fortune
Defeated pipe 242 is connect with the device for storing liquid 210 and the caisson 220.The switching device 250 is set to the delivery tube
242, for controlling the on-off of the delivery tube 242.The control assembly 300 includes remote control apparatus 310 and is set to institute
State the control circuit 320 of fuselage 100.The control circuit 320 is communicated to connect with the remote control apparatus 310.The control
Circuit 320 is electrically connected with the switching device 250.
It is appreciated that the fuselage 100 is the main part of the unmanned plane 20.Type, the size of the unmanned plane 20
It is unlimited, as long as the cleaning assembly 200 can be carried.In one embodiment, the unmanned plane 20 can be more rotors
Unmanned plane is advantageously implemented the operation such as hovering, convenient for manipulation to carry out steady operation.In one embodiment, the cleaning group
Part 200 is set to the position of centre of gravity of the fuselage 100, unbalance to prevent the unmanned plane 20, is conducive to keep the steady of cleaning
It is qualitative.
In one embodiment, the device for storing liquid 210 can be ampuliform or can-like.In one embodiment, the storage
Clear water or detergent can be contained in liquid device 210.In one embodiment, the device for storing liquid 210 can be two or two
More than a, and it is connect by delivery tube 242 with the nozzle 240.The nozzle 240 can also be correspondingly arranged to be multiple, and every
A nozzle 240 is all connect with the device for storing liquid 210 and the caisson 220 respectively.In one embodiment, described
Caisson 220 can be ampuliform or can-like.In one embodiment, it can store compressed air in the caisson 220.
The compressed air can be inculcated by independent air compressor, be mended again after the caisson 220 exhausts gas
It fills, avoids air compressor bring weight, alleviate the burden of the unmanned plane 20.In one embodiment, the storage
Liquid device 210, the caisson 220 are all fixed on the fuselage 100.In one embodiment, 210 He of device for storing liquid
The caisson 220 is set side by side, convenient for the connection of the delivery tube 242.
It is appreciated that the support tube 230 is for avoiding the nozzle 240 far from the fuselage 100 of the unmanned plane 20
The liquid sprayed from the nozzle 240 is influenced by the blade (not shown) whirlwind of the unmanned plane 20, causes cleaning inconvenient
The problem of.In one embodiment, the support tube 230 can be made of carbon fibre composite, keep the same of strong rigidity
When, further mitigate quality.In one embodiment, the nozzle 240 is fixed on the nozzle of the support tube 230.At one
In embodiment, the delivery tube 242 can be hose, convenient for connection.
In one embodiment, the switching device 250 is set to the nozzle 240 and is connected to the caisson 220
The delivery tube 242, the delivery tube 242 being connect with the device for storing liquid 210 no setting is required the switching device 250,
Because the device for storing liquid 210 is sealing state, if liquid therein will form negative pressure when circulating by the delivery tube 242.
In one embodiment, the device for storing liquid 210 is provided with check valve, and the check valve has cracking pressure, makes
Inside the device for storing liquid 210 when usual be in closed state, even if be not provided with the switching device 250 with the storage
The delivery tube 242 that liquid device 210 connects can also avoid the liquid in the device for storing liquid 210 from letting out by forming negative pressure
Dew.In the operating condition, connection of the high pressure gas in the caisson 220 in the delivery tube 242 and the nozzle 240
Place forms negative pressure, using siphon principle, attracts the liquid in the device for storing liquid 210, the check valve is made to reach cracking pressure,
Air flows into the device for storing liquid 210, sprays liquid smoothly.In one embodiment, the remote control apparatus 310 can be with
For the control handle of the unmanned plane 20.In one embodiment, the fuselage 100 includes a cabinet, described for accommodating
Control circuit 320, plays a protective role simultaneously.
In the present embodiment, the cleaning system 10 passes through fuselage 100 described in 310 remote control of remote control apparatus
On the cleaning assembly 200 carry out cleaning, avoid many and diverse and dangerous of artificial climbing cleaning.In cleaning,
By the remote control apparatus 310 clear instruction can be assigned to the control circuit 320.The control circuit 320 can be with
The switch that the switching device 250 opens the delivery tube 242 is controlled according to the clear instruction, makes the caisson 220
Interior high pressure gas sprays.The high pressure gas forms negative pressure at the nozzle 240, to attract the device for storing liquid 210
Interior liquid mixes gas and liquid and sprays, cleans to object.
In this application, high pressure gas is carried using caisson 220, avoids carrying around the overload of air compressor
The problem of.Move the caisson 220 as what the liquid in the device for storing liquid 210 sprayed using siphon principle simultaneously
Power, avoids carrying around water pump, further mitigates the burden of the unmanned plane 20, while pressure is bigger, and injection dynamics is bigger, cleaning
More thoroughly.Meanwhile the cleaning assembly 200 makes the nozzle 240 far from the fuselage by the way that the support tube 230 is arranged
100, on the one hand can be influenced to avoid the liquid of cleaning by 20 blade whirlwind of unmanned plane, on the other hand can make it is described nobody
The fuselage 100 of machine 20, may to unmanned plane 20 when preventing cleaning power equipment (such as insulator) far from substrate body
Caused by danger.
In one embodiment, the nozzle 240 is threeway nozzle.The threeway nozzle includes two entrances 244 and one
A outlet 246.Described two entrances 244 pass through the delivery tube 242 and the device for storing liquid 210 and the caisson respectively
220 connections.In one embodiment, the threeway nozzle can be T-shaped or " Y " font.It is appreciated that the delivery tube
242 be two to be separately connected the device for storing liquid 210 and the caisson 220.In one embodiment, the nozzle
240 outlet 246 is provided with multiple apertures, so that liquid is more concentrated when spraying, while increasing impact force.In the present embodiment
In, the high pressure gas of the caisson 220 can be in three mouthfuls of infall shapes of described two entrances 244 and one outlet 246
At negative pressure, spray the liquid in the device for storing liquid 210 using siphon principle.
In one embodiment, the nozzle 240 can be the nozzle ring with notch, and have multiple outlets 246,
The multiple outlet 246 both corresponds to the center of the annular.In the present embodiment, can be made by the notch insulator into
Enter the annular center, it is convenient that comprehensive cleaning is carried out to insulator.
In one embodiment, the delivery tube 242 is nested in the support tube 230.In the present embodiment, the branch
Stay tube 230 can provide protective effect while carrying delivery tube 242.
In one embodiment, the support tube 230 includes folding device 232.The folding device 232 is set to described
The middle part of support tube 230, for making side of the support tube 230 with the folding device 232 axially adjacent to the fuselage 100
To folding.It is appreciated that avoid damaging the delivery tube 242, the delivery tube when the support tube 230 is folded
242 be hose.In one embodiment, the folding device 232 includes start button, when pressing start button, the branch
Stay tube 230 can fold, and when the start button is extracted outward, 230 position of the support tube fixation is not foldable.One
In a embodiment, the support tube 230 can fold 0 ° -180 °.In one embodiment, the support tube 230 is being parallel to
The plane of the blade of the unmanned plane 20 is folded.
In the present embodiment, the support tube 230 can be folded, and subtract the space hold of the cleaning assembly 200
It is small, it is easy to carry and transport.
Please also refer to Fig. 3.In one embodiment, the control circuit 320 includes digital transmission module 322 and controller
324.The digital transmission module 322 is communicated to connect with the remote control apparatus 310.The controller 324 is passed with the number respectively
Module 322 and the switching device 250 are electrically connected.It is appreciated that the digital transmission module 322 is used for wireless data transmission.It is described
After remote control apparatus 310 sends instruction, received by the digital transmission module 322, and be transferred to the controller 324.Institute
It states 324 pairs of instructions of controller to parse, and executes the instruction.In one embodiment, the remote control apparatus 310 can be with
Binary instruction is sent to the digital transmission module 322, and transparent transmission.In one embodiment, the digital transmission module 322 can also
For sending information to the remote control apparatus 310.In one embodiment, the controller 324 is control chip.
In the present embodiment, the fuselage 100 may be implemented and the remote control apparatus by the digital transmission module 322
310 data transmission and information interchange.The instruction that the controller 324 can obtain the digital transmission module 322 is carried out into one
Step parsing directly controls signal corresponding to the switching device 250 to generate.
In one embodiment, the cleaning system 10 based on unmanned plane further includes range finder module 400.The ranging mould
Block 400 is set to the fuselage 100, and is electrically connected with the digital transmission module 322.It is appreciated that the remote control apparatus 310
With display, the range data that is obtained for showing the range finder module 400.In one embodiment, the range finder module
400 are configured relative to the support tube 230 far from the direction of the fuselage 100.In one embodiment, the ranging mould
Block 400 is arranged close to the support tube 230.In one embodiment, the range finder module 400 can be laser ranging module.
The laser ranging module can use TOF (time flight theory) range measurement principle measurement fuselage 100 and object between away from
From.In one embodiment, the range finder module 400 can also be ultrasonic distance measuring module.
In the present embodiment, the range finder module 400 can measure the distance between the fuselage 100 and object, and
By the range information, the remote control apparatus 310 is transmitted to by the digital transmission module 322, reference is provided.When it is described away from
Clutch is in due course, issues clear instruction at 310 end of remote control apparatus.
In one embodiment, the cleaning system 10 based on unmanned plane further includes camera model 500.The camera mould
Block 500 is set to the fuselage 100, and is electrically connected with the digital transmission module 322.It is appreciated that the remote control apparatus 310
With display screen, for showing the image of the camera.In one embodiment, the camera model 500 is relative to the branch
Stay tube 230 is configured far from the direction of the fuselage 100.In one embodiment, the camera model 500 is close to the branch
Stay tube 230 is arranged.In one embodiment, the camera model 500 can be visible light holder camera.
In the present embodiment, the camera model 500 can take in the image of 100 ambient enviroment of fuselage, and by institute
It states image and the offer of remote control apparatus 310 reference is transmitted to by the digital transmission module 322.Meanwhile when being cleaned,
The effect of cleaning can be monitored.
In one embodiment, the length of the support tube 230 can be 1.5m-1.8m.In one embodiment, described
The length of support tube 230 is defined as the distance from the center of the fuselage 100 to the nozzle 240.In one embodiment, institute
The length for stating support tube 230 can be 1.6m.In one embodiment, the length of the support tube 230 can be 1.7m.
In the present embodiment, the nozzle 240 is when apart from the fuselage 1001.5m-1.8m, not will receive it is described nobody
The influence of the blade whirlwind of machine 20, while making between the fuselage 100 and object that there are suitable distances to prevent from interacting.
In one embodiment, the switching device 250 can be solenoid valve.In the present embodiment, the controller 324
It can control the solenoid valve.Clear instruction can be resolved to the control signal of the solenoid valve by the controller 324.
In one embodiment, the cleaning system 10 based on unmanned plane further includes power supply 600.The power supply 600 is set
It is placed in the fuselage 100.The power supply 600 is connect with the control circuit 320, for being supplied to the control circuit 320
Electricity.The control circuit 320 includes power conversion module, is connect with the power supply 600, for adjusting voltage.Implement at one
In example, the power supply 600 can also be electrically connected with the range finder module 400, the camera model 500.
Please also refer to Fig. 4.One embodiment of the application also provides a kind of cleaning method based on unmanned plane, comprising:
S100 obtains the real-time range with object；
S200, judges whether the real-time range meets pre-determined distance；
S300 issues clear instruction when the real-time range meets the pre-determined distance；
S400 receives the clear instruction, and parses to the clear instruction, obtains control signal；
The control signal is transmitted to switching device 250, turned on the switch by S500, starts cleaning.
In one embodiment, the real-time range and the pre-determined distance are defined as the nozzle 240 to the target
The distance between object.In one embodiment, the pre-determined distance can be 0.5m-2m.In one embodiment, can pass through
Directly observation or camera model 500 carry out estimation and obtain the real-time range.In one embodiment, range finder module can be passed through
400 obtain the real-time range.
In one embodiment, when judging whether the real-time range meets pre-determined distance, can be judged by user.
In one embodiment, it when judging whether the real-time range meets pre-determined distance, can also be filled by the long-range control
310 are set to be judged.The remote control apparatus 310 includes memory 312, for storing pre-determined distance.The long-range control
Device 310 includes processor 314, whether meets pre-determined distance for real-time range described in multilevel iudge.
In one embodiment, when the real-time range is unsatisfactory for the pre-determined distance, reacquire it is described in real time away from
From.In one embodiment, the remote control apparatus 310 issues the clear instruction, and the digital transmission module 322 receives described
Clear instruction, the controller 324 parse the clear instruction, obtain control signal, and control the switching device
250 turn on the switch.
In one embodiment, when cleaning completion, the remote control apparatus 310 issues instruction of stopping work, the number biography
Module 322 receives the shut-down instruction, and the controller 324 parses shut-down instruction, obtains control signal, and control
It makes the switching device 250 to turn off the switch, stops cleaning.
Cleaning system 10 and cleaning method described herein based on unmanned plane is not limited to cleaning insulator, can apply
In any suitable place.For example it can be used for the cleaning of high-altitude exterior walls of buildings.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of cleaning system based on unmanned plane, the unmanned plane (20) includes fuselage (100) characterized by comprising
Cleaning assembly (200) is set to the fuselage (100), and the cleaning assembly (200) includes:
Device for storing liquid (210) is set to the fuselage (100)；
Caisson (220) is set to the fuselage (100), for storing high pressure gas；
Support tube (230), one end are fixed on the fuselage (100), and the other end is far from the fuselage (100)；
Nozzle (240), is set to the end of the support tube (230) far from the fuselage (100), and the nozzle (240) passes through
Delivery tube (242) is connect with the device for storing liquid (210) and the caisson (220)；
Switching device (250) is set to the delivery tube (242), for controlling the on-off of the delivery tube (242)；And
Control assembly (300) including remote control apparatus (310) and is set to the control circuits (320) of the fuselage (100),
The control circuit (320) and the remote control apparatus (310) communicate to connect, the control circuit (320) and the switch
Device (250) electrical connection.
2. the cleaning system according to claim 1 based on unmanned plane, which is characterized in that the nozzle (240) is threeway
Nozzle, including two entrances (244) and one outlet (246), described two entrances (242) pass through the delivery tube respectively
(246) it is connect with the device for storing liquid (210) and the caisson (220).
3. the cleaning system according to claim 1 based on unmanned plane, which is characterized in that the delivery tube (242) is nested
In the support tube (230).
4. the cleaning system according to claim 1 based on unmanned plane, which is characterized in that the support tube (230) includes
Folding device (232), the folding device (232) is set to the middle part of the support tube (230), for making the support tube
(230) with the folding device (232) for axially adjacent to the folding of the direction of the fuselage (100).
5. the cleaning system according to claim 1 based on unmanned plane, which is characterized in that control circuit (320) packet
It includes:
Digital transmission module (322) is communicated to connect with the remote control apparatus (310)；
Controller (324) is electrically connected with the digital transmission module (322) and the switching device (250) respectively.
6. the cleaning system according to claim 5 based on unmanned plane, which is characterized in that it further include range finder module (400),
It is set to the fuselage (100), and is electrically connected with the digital transmission module (322).
7. the cleaning system according to claim 5 based on unmanned plane, which is characterized in that it further include camera model (500),
It is set to the fuselage (100), and is electrically connected with the digital transmission module (322).
8. the cleaning system according to claim 1 based on unmanned plane, which is characterized in that the length of the support tube (230)
Degree is 1.5m-1.8m.
9. the cleaning system according to claim 1 based on unmanned plane, which is characterized in that the switching device (250) is
Solenoid valve.
10. a kind of cleaning method based on unmanned plane characterized by comprising
Obtain the real-time range with object；
Judge whether the real-time range meets pre-determined distance；
When the real-time range meets the pre-determined distance, clear instruction is issued；
The clear instruction is received, and the clear instruction is parsed, obtains control signal；
The control signal is transmitted to switching device (250), is turned on the switch, cleaning is started.
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| CN113134484A (en) * | 2021-03-25 | 2021-07-20 | 中国科学技术大学 | High-voltage electrified water washing method and system based on dual-machine cooperation |
| CN113734444A (en) * | 2021-09-01 | 2021-12-03 | 深圳供电局有限公司 | Unmanned aerial vehicle high-pressure water washing method based on first vision |
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