CN113477625A - Distance measuring device, unmanned aerial vehicle cleaning equipment, liquid removing method and control device - Google Patents
Distance measuring device, unmanned aerial vehicle cleaning equipment, liquid removing method and control device Download PDFInfo
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- CN113477625A CN113477625A CN202110793818.3A CN202110793818A CN113477625A CN 113477625 A CN113477625 A CN 113477625A CN 202110793818 A CN202110793818 A CN 202110793818A CN 113477625 A CN113477625 A CN 113477625A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
- B08B7/0071—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B23/00—Heating arrangements
- F26B23/04—Heating arrangements using electric heating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- General Engineering & Computer Science (AREA)
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- Sustainable Development (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a distance measuring device, unmanned aerial vehicle cleaning equipment, a liquid removing method and a control device, wherein the distance measuring device is used for the unmanned aerial vehicle cleaning equipment and comprises at least one distance measuring camera, the distance measuring camera is sleeved with the liquid removing device, and the liquid removing device is provided with a light-transmitting body; the liquid removing device further includes a heating member for heating the light-transmitting body to remove the liquid on the light-transmitting body. Through adopting one serving of being close to the camera lens of range finding camera at liquid remove device to be equipped with the printing opacity body and be used for heating the heating member of the printing opacity body, the heating member can make the splash evaporation of washing operation in-process splash back, reduce the deviation of the image range finding that the splash that splashes back arouses, improve range unit's image range finding's accuracy, range unit can make unmanned aerial vehicle cleaning equipment fix a position more accurately when wasing, reduce the scraping of unmanned aerial vehicle cleaning equipment, collide the possibility of external equipment, promote the safe in utilization degree of unmanned aerial vehicle cleaning equipment when wasing.
Description
Technical Field
The invention relates to the technical field of cleaning and washing, in particular to a distance measuring device, unmanned aerial vehicle cleaning equipment, a liquid removing method and a control device.
Background
An insulator is a special insulating control used for fixing a power conductor in a power transmission line. Because the insulator fixed on the electric tower is exposed in the field environment for a long time, the surface of the insulator is easily polluted by dust to form a dirty layer, and if the insulator is not cleaned in time, the short circuit fault of a power supply system is easily caused. In recent years, insulator cleaning unmanned aerial vehicles have begun to receive attention from the power industry.
When the insulator cleaning unmanned aerial vehicle works, the distribution situation of surrounding obstacles needs to be known, and generally, the adopted method is to measure the distance from the surrounding obstacles to the insulator cleaning unmanned aerial vehicle by installing cameras around the unmanned aerial vehicle and utilizing a visual obstacle avoidance system. But unmanned aerial vehicle is when rinsing the insulator, can take place the scraping sometimes, collide the condition production of external equipment, and unmanned aerial vehicle's safety in utilization when rinsing remains to promote.
Disclosure of Invention
The invention mainly aims to provide a distance measuring device, and aims to improve the use safety degree of an unmanned aerial vehicle during cleaning.
In order to achieve the purpose, the distance measuring device provided by the invention is used for unmanned aerial vehicle cleaning equipment and comprises at least one distance measuring camera, wherein a liquid removing device is sleeved on the distance measuring camera, and a light-transmitting body is arranged at one end of the liquid removing device, which is close to a lens of the distance measuring camera; the liquid removing device further includes a heating member for heating the light-transmitting body to remove the liquid on the light-transmitting body.
Optionally, the liquid removing device further comprises a sleeve sleeved on the distance measuring camera, and a heat insulation piece is arranged between the sleeve and the distance measuring camera.
The invention also provides unmanned aerial vehicle cleaning equipment which comprises the distance measuring device; unmanned aerial vehicle cleaning equipment still includes supplementary range unit, controlling means is used for according to supplementary range unit with range unit's distance measurement deviation control the start-stop of heating member.
Optionally, the auxiliary ranging device comprises an ultrasonic ranging device.
The invention also provides a liquid removing method, which is applied to the unmanned aerial vehicle cleaning equipment and comprises the following steps: and judging the distance measurement deviation, comprising: acquiring a first ranging value through the auxiliary ranging device; acquiring a second ranging value through the ranging device; comparing a deviation of the first ranging value from the second ranging value; the liquid removal method further comprises: and when the deviation of the first distance measurement value and the second distance measurement value is greater than a first preset value, starting the heating element to remove the liquid on the light-transmitting body.
Optionally, before the distance measurement deviation is determined, a speed measurement deviation determination is further included, including: acquiring a first sub-ranging value at a first moment by the auxiliary ranging device; acquiring a second sub-ranging value at a second moment through the auxiliary ranging device; acquiring a first Euclidean distance according to the first sub ranging value and the second sub ranging value; acquiring a second Euclidean distance corresponding to the unmanned aerial vehicle cleaning equipment from the first moment to the second moment according to the movement speed of the unmanned aerial vehicle cleaning equipment; comparing the deviation of the first Euclidean distance from the second Euclidean distance; the liquid removing method further comprises the step of starting the distance measurement deviation judgment step when the deviation between the first Euclidean distance and the second Euclidean distance is smaller than a second preset value.
Optionally, before the distance measurement deviation is determined, a speed measurement deviation determination is further included, including: acquiring a first sub-ranging value at a first moment by the auxiliary ranging device; acquiring a second sub-ranging value at a second moment through the auxiliary ranging device; acquiring a first measuring speed according to the first moment, the second moment, the first sub-ranging value and the second sub-ranging value; acquiring the movement speed of the unmanned aerial vehicle cleaning equipment; comparing the first measured speed to a deviation of a movement speed of the drone cleaning device; the liquid removing method further comprises the step of starting the distance measurement deviation judging step when the deviation between the first measuring speed and the movement speed of the unmanned aerial vehicle cleaning equipment is smaller than a third preset value.
Optionally, the speed measurement deviation determination further includes: filtering the distance measurement data of the auxiliary ranging device; and/or monitoring the temperature of the heating element, and adjusting the heating power of the heating element according to the deviation of the temperature monitoring value of the heating element and a preset temperature curve.
The invention also provides a liquid removal control device, which is applied to the unmanned aerial vehicle cleaning equipment and comprises: range finding deviation judgement module includes: the first acquisition module is used for acquiring a first ranging value through the auxiliary ranging device; the second acquisition module is used for acquiring a second ranging value through the ranging device; the comparison module is used for comparing the deviation of the first ranging value and the second ranging value; the liquid removal control device further comprises a control module, and the control module is used for starting the heating element to remove the liquid on the light-transmitting body according to the deviation between the first ranging value and the second ranging value.
The present invention also proposes a computer storage medium for storing a liquid removal program which, when executed, implements the above-described liquid removal method.
According to the technical scheme, the end, close to the lens of the range camera, of the liquid removing device is provided with the light-transmitting body and the heating element used for heating the light-transmitting body, the heating element can enable splashed water flowers to evaporate in the cleaning operation process, the deviation of image ranging caused by the splashed water flowers is reduced, the accuracy of image ranging of the ranging device is improved, the ranging device can enable the unmanned aerial vehicle cleaning equipment to be more accurately positioned during cleaning, the possibility that the unmanned aerial vehicle cleaning equipment scrapes and collides with external equipment is reduced, and the use safety degree of the unmanned aerial vehicle cleaning equipment during cleaning is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a distance measuring device according to an embodiment of the invention.
FIG. 2 is a schematic diagram of the steps of one embodiment of the liquid removal method of the present invention.
FIG. 3 is a schematic diagram of the steps of another embodiment of the liquid removal method of the present invention.
FIG. 4 is a schematic structural diagram of a liquid removal control apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic flow chart of the cleaning operation performed by the unmanned aerial vehicle cleaning apparatus according to an embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | |
2 | Liquid removing |
| 21 | |
22 | |
| 23 | |
24 | Heat insulation piece |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a distance measuring device, which is used for unmanned aerial vehicle cleaning equipment and comprises at least one distance measuring camera 1, wherein a liquid removing device 2 is sleeved on the distance measuring camera 1, one end of the liquid removing device 2, which is close to a lens 11 of the distance measuring camera 1, is provided with a light transmitting body 21, and the light transmitting body 21 can be specifically arranged as high-temperature-resistant high-heat-conductivity glass; the liquid removing device 2 further comprises a heating element 22, the heating element 22 can be set to be a heating sheet, a heating pipe, a heating plate and the like, the heating element 22 is used for heating the transparent body 21 to remove liquid on the transparent body 21, and particularly, the unmanned aerial vehicle cleaning equipment carries out splash of rinsing water splashing on the insulator. Liquid remove device 2 still includes the sleeve 23 of suit on range finding camera 1, is equipped with heat insulating part 24 between sleeve 23 and the range finding camera 1, and heat insulating part 24 can set up to the gasket of low heat conduction, and heat insulating part 24 can reduce the high temperature of heating member 22 to the influence of range finding camera 1, improves the durability of range finding camera 1. Through adopting one of camera lens 11 that is close to range finding camera 1 at liquid remove device 2 to serve and be equipped with printing opacity body 21 and be used for heating the heating member 22 of printing opacity body 21, heating member 22 can make the splash evaporation of washing operation in-process splash, reduce the deviation of the image range finding that the splash that splashes back arouses, improve range unit's image range finding's accuracy, range unit can make unmanned aerial vehicle cleaning equipment fix a position more accurately when wasing, reduce unmanned aerial vehicle cleaning equipment scraping, collide the possibility of external equipment, promote the safe degree in utilization of unmanned aerial vehicle cleaning equipment when wasing.
The invention also provides unmanned aerial vehicle cleaning equipment which comprises the distance measuring device; unmanned aerial vehicle cleaning equipment still includes supplementary range unit, controlling means, and supplementary range unit includes ultrasonic ranging device, and controlling means is used for opening and stop according to supplementary range unit and range unit's distance measurement deviation control heating member 22, and unmanned aerial vehicle cleaning equipment's work flow chart is shown in fig. 5. Wherein the control means may be provided as the liquid removal control means described below.
As shown in fig. 4, the liquid removal control device is applied to the unmanned aerial vehicle cleaning equipment, and the liquid removal control device includes a distance measurement deviation judgment module, and the distance measurement deviation judgment module includes a first acquisition module, and the first acquisition module is used for acquiring a first distance measurement value through an auxiliary distance measurement device; the distance measurement deviation judgment module also comprises a second acquisition module, and the second acquisition module is used for acquiring a second distance measurement value through the distance measurement device; the distance measurement deviation judgment module also comprises a comparison module, and the comparison module is used for comparing the deviation between the first distance measurement value and the second distance measurement value; the liquid removing control device further comprises a control module, wherein the control module is used for starting the heating element 22 to remove the liquid on the light-transmitting body 21 or controlling the heating element 22 to stop heating according to the deviation between the first distance measurement value and the second distance measurement value, so that the liquid removing device stops working.
The invention further provides a liquid removing method which is applied to the unmanned aerial vehicle cleaning equipment. As shown in fig. 2, in an embodiment of the liquid removing method of the present invention, the method comprises the following steps:
step S100, filtering the distance measurement data of an auxiliary distance measuring device, wherein the auxiliary distance measuring device can be set as an ultrasonic distance measuring device. The distance measurement data of the auxiliary distance measuring device are filtered, so that the obtained distance measurement value curve is smoother, and the auxiliary distance measuring device can reduce the influence of abnormal data.
After step S100, a velocity measurement deviation determination is performed, including:
step S211, acquiring a first sub-ranging value at a first moment through an auxiliary ranging device;
step S213, acquiring a second sub-ranging value at a second moment by the auxiliary ranging device; step S211 and step 213 may be performed synchronously or sequentially.
Step S230, acquiring a first Euclidean distance according to the first sub-ranging value and the second sub-ranging value; euclidean distance, also known as euclidean distance, is the most common distance metric that measures the absolute distance between two points in a multidimensional space.
Step S250, acquiring a second Euclidean distance corresponding to the unmanned aerial vehicle cleaning equipment from the first moment to the second moment according to the movement speed of the unmanned aerial vehicle cleaning equipment; it should be noted that, since the moving speed of the unmanned aerial vehicle cleaning device is a vector, that is, the moving speed includes a speed magnitude and a moving direction, the moving direction may be changing in real time.
Step S270, comparing the deviation of the first Euclidean distance and the second Euclidean distance;
step S290, when the deviation between the first Euclidean distance and the second Euclidean distance is smaller than a second preset value, starting a distance measurement deviation judgment step. The condition that the moving direction of the moving speed of the unmanned aerial vehicle cleaning equipment changes is judged through the first Euclidean distance and the second Euclidean distance, and the distance deviation of speed measurement can be judged more accurately. And when the deviation between the first Euclidean distance and the second Euclidean distance is larger than a second preset value, starting a distance measurement deviation judgment step. When the deviation of first european style distance and second european style distance is greater than the second default, can carry out the maintenance of returning a voyage to unmanned aerial vehicle cleaning equipment. The liquid removing method in this embodiment determines that the measurement value of the auxiliary testing device is reliable, and can be used to provide a reference function for the distance measurement of the distance measuring device, specifically as follows, after the above steps S211 to S290:
step S310, determining a distance measurement deviation, including: acquiring a first ranging value through an auxiliary ranging device; acquiring a second ranging value through the ranging device; the measured values of the auxiliary distance measuring device are now more reliable and can be used as a comparison reference.
Step S330, comparing the deviation between the first range finding value and the second range finding value, wherein the deviation can be set as an absolute value or a value interval;
in step S350, when the deviation between the first distance measurement value and the second distance measurement value is greater than the first predetermined value, the heating element 22 is activated to remove the liquid on the transparent body 21. When the liquid on the transparent body 21 is reduced due to the heating of the heating element 22, and the deviation between the first distance measurement value and the second distance measurement value is smaller than the first preset value, the heating element 22 can be controlled to be turned off. If initially the deviation of the first and second distance values is smaller than the first predetermined value, the heating element 22 may not be activated.
And S400, monitoring the temperature of the heating element, and adjusting the heating power of the heating element according to the deviation of the temperature monitoring value of the heating element and a preset temperature curve. Particularly, the accessible sets up temperature sensor on unmanned aerial vehicle cleaning equipment, the temperature of real-time detection heating member.
In another embodiment of the liquid removal method of the present invention, as shown in FIG. 3, the following steps are included:
step S100, filtering the distance measurement data of an auxiliary distance measuring device, wherein the auxiliary distance measuring device can be set as an ultrasonic distance measuring device. The distance measurement data of the auxiliary distance measuring device are filtered, so that the obtained distance measurement value curve is smoother, and the auxiliary distance measuring device can reduce the influence of abnormal data.
After step S100, a velocity measurement deviation determination is performed, including:
step S202, a first sub-ranging value is obtained at a first moment through an auxiliary ranging device;
step S204, a second sub-ranging value is obtained at a second moment through the auxiliary ranging device;
step S220, acquiring a first measuring speed according to the first moment, the second moment, the first sub-ranging value and the second sub-ranging value;
step S240, acquiring the movement speed of the unmanned aerial vehicle cleaning equipment;
step S260, comparing the deviation between the first measurement speed and the movement speed of the unmanned aerial vehicle cleaning equipment;
step S280, when the deviation between the first measuring speed and the movement speed of the unmanned aerial vehicle cleaning equipment is smaller than a third preset value, a distance measuring deviation judging step is started. When the deviation between the first measurement speed and the movement speed of the unmanned aerial vehicle cleaning device is smaller than the third preset value, the liquid removing method in the embodiment determines that the measurement value of the auxiliary testing device is credible, and can be used for providing a reference effect for the distance measurement of the distance measuring device, specifically as follows. When the deviation of the first measuring speed and the movement speed of the unmanned aerial vehicle cleaning equipment is larger than a third preset value, the unmanned aerial vehicle cleaning equipment can be controlled to carry out return voyage repair. After the above steps S202 to S280, the following steps are performed:
step S310, determining a distance measurement deviation, including: acquiring a first ranging value through an auxiliary ranging device; acquiring a second ranging value through the ranging device; the measured values of the auxiliary distance measuring device are now more reliable and can be used as a comparison reference.
Step S330, comparing the deviation between the first range finding value and the second range finding value, wherein the deviation can be set as an absolute value or a value interval;
in step S350, when the deviation between the first distance measurement value and the second distance measurement value is greater than the first predetermined value, the heating element 22 is activated to remove the liquid on the transparent body 21. When the liquid on the transparent body 21 is reduced due to the heating of the heating element 22, and the deviation between the first distance measurement value and the second distance measurement value is smaller than the first preset value, the heating element 22 can be controlled to be turned off. If initially the deviation of the first and second distance values is smaller than the first predetermined value, the heating element 22 may not be activated.
And S400, monitoring the temperature of the heating element, and adjusting the heating power of the heating element according to the deviation of the temperature monitoring value of the heating element and a preset temperature curve. Particularly, the accessible sets up temperature sensor on unmanned aerial vehicle cleaning equipment, the temperature of real-time detection heating member.
The present invention also proposes a computer storage medium for storing a liquid removal program which, when executed, implements the above-described liquid removal method. Computer storage media may include mass storage for data or instructions. In particular, the computer storage medium may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Computer storage media may include removable or non-removable (or fixed) media, where appropriate. The computer storage medium may be internal or external to the integrated gateway disaster recovery device, where appropriate. In certain embodiments, the computer storage medium is non-volatile solid-state memory. In particular embodiments, computer storage media includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of at least two of the foregoing. The specific steps of the liquid removing method refer to the above embodiments, and since the computer storage medium adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A distance measuring device is used for unmanned aerial vehicle cleaning equipment and is characterized by comprising at least one distance measuring camera, wherein a liquid removing device is sleeved on the distance measuring camera, and a light-transmitting body is arranged at one end, close to a lens of the distance measuring camera, of the liquid removing device; the liquid removing device further includes a heating member for heating the light-transmitting body to remove the liquid on the light-transmitting body.
2. A ranging device as claimed in claim 1 wherein the liquid removal means further comprises a sleeve fitted over the ranging camera, a thermal insulation being provided between the sleeve and the ranging camera.
3. An unmanned aerial vehicle cleaning apparatus comprising a ranging device as claimed in claim 1 or 2; unmanned aerial vehicle cleaning equipment still includes supplementary range unit, controlling means is used for according to supplementary range unit with range unit's distance measurement deviation control the start-stop of heating member.
4. The unmanned aerial vehicle cleaning apparatus of claim 3, wherein the auxiliary ranging device comprises an ultrasonic ranging device.
5. A liquid removal method applied to the unmanned aerial vehicle cleaning equipment according to claim 3 or 4, and characterized by comprising the following steps of:
and judging the distance measurement deviation, comprising:
acquiring a first ranging value through the auxiliary ranging device;
acquiring a second ranging value through the ranging device;
comparing a deviation of the first ranging value from the second ranging value;
the liquid removal method further comprises:
and when the deviation of the first distance measurement value and the second distance measurement value is greater than a first preset value, starting the heating element to remove the liquid on the light-transmitting body.
6. The liquid removal method of claim 5, further comprising a velocity measurement deviation determination prior to the ranging deviation determination, comprising:
acquiring a first sub-ranging value at a first moment by the auxiliary ranging device;
acquiring a second sub-ranging value at a second moment through the auxiliary ranging device;
acquiring a first Euclidean distance according to the first sub ranging value and the second sub ranging value;
acquiring a second Euclidean distance corresponding to the unmanned aerial vehicle cleaning equipment from the first moment to the second moment according to the movement speed of the unmanned aerial vehicle cleaning equipment;
comparing the deviation of the first Euclidean distance from the second Euclidean distance;
the liquid removing method further comprises the step of starting the distance measurement deviation judgment step when the deviation between the first Euclidean distance and the second Euclidean distance is smaller than a second preset value.
7. The liquid removal method of claim 5, further comprising a velocity measurement deviation determination prior to the ranging deviation determination, comprising:
acquiring a first sub-ranging value at a first moment by the auxiliary ranging device;
acquiring a second sub-ranging value at a second moment through the auxiliary ranging device;
acquiring a first measuring speed according to the first moment, the second moment, the first sub-ranging value and the second sub-ranging value;
acquiring the movement speed of the unmanned aerial vehicle cleaning equipment;
comparing the first measured speed to a deviation of a movement speed of the drone cleaning device;
the liquid removing method further comprises the step of starting the distance measurement deviation judging step when the deviation between the first measuring speed and the movement speed of the unmanned aerial vehicle cleaning equipment is smaller than a third preset value.
8. The liquid removal method of claim 6 or 7, wherein the velocity measurement deviation determination further comprises:
filtering the distance measurement data of the auxiliary ranging device;
and/or monitoring the temperature of the heating element, and adjusting the heating power of the heating element according to the deviation of the temperature monitoring value of the heating element and a preset temperature curve.
9. A liquid removal control device applied to the unmanned aerial vehicle cleaning equipment according to claim 3 or 4, and characterized by comprising:
range finding deviation judgement module includes:
the first acquisition module is used for acquiring a first ranging value through the auxiliary ranging device;
the second acquisition module is used for acquiring a second ranging value through the ranging device;
the comparison module is used for comparing the deviation of the first ranging value and the second ranging value;
the liquid removal control device further comprises a control module, and the control module is used for starting the heating element to remove the liquid on the light-transmitting body according to the deviation between the first ranging value and the second ranging value.
10. A computer storage medium storing a liquid removal program, wherein the liquid removal program, when executed, implements the liquid removal method of any one of claims 5 to 8.
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| CN103661285A (en) * | 2013-12-05 | 2014-03-26 | 河南省佰腾电子科技有限公司 | Water removing device for automobile rearview mirror face |
| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
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| CN109967455A (en) * | 2017-12-28 | 2019-07-05 | 重庆国太科技有限公司 | A kind of camera lens self-cleaning system and method |
| CN112387696A (en) * | 2020-10-21 | 2021-02-23 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle lens cleaning method and device, unmanned aerial vehicle and storage medium |
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