WO2020082393A1 - 基于无人机的清洁方法及系统 - Google Patents

基于无人机的清洁方法及系统 Download PDF

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Publication number
WO2020082393A1
WO2020082393A1 PCT/CN2018/112267 CN2018112267W WO2020082393A1 WO 2020082393 A1 WO2020082393 A1 WO 2020082393A1 CN 2018112267 W CN2018112267 W CN 2018112267W WO 2020082393 A1 WO2020082393 A1 WO 2020082393A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
drone
clean
target
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/112267
Other languages
English (en)
French (fr)
Chinese (zh)
Inventor
李洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hizero Technologies Co Ltd
Original Assignee
Hizero Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hizero Technologies Co Ltd filed Critical Hizero Technologies Co Ltd
Priority to CN201880032432.7A priority Critical patent/CN110769728A/zh
Priority to PCT/CN2018/112267 priority patent/WO2020082393A1/zh
Priority to JP2019524145A priority patent/JP2021509591A/ja
Priority to US16/314,479 priority patent/US20210196093A1/en
Priority to EP18248258.8A priority patent/EP3643608A1/en
Priority to GB1821278.7A priority patent/GB2578489A/en
Priority to DE202019102399.6U priority patent/DE202019102399U1/de
Publication of WO2020082393A1 publication Critical patent/WO2020082393A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • 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
    • B64D25/00—Emergency apparatus or devices, not otherwise provided for
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • 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
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
    • 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
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • This application relates to the field of drones, and in particular to a cleaning method and system based on drones.
  • Embodiments of the present application provide a drone-based cleaning method and system, which can be safely and intelligently cleaned by a cleaning device carried by the drone.
  • an embodiment of the present application provides a drone-based cleaning method, which is applied to a drone-based cleaning system.
  • the cleaning system includes the drone, a water supply pipe, and a detergent supply pipe, wherein ,
  • the drone includes a cleaning device and a connecting end piece, the cleaning device is placed on the belly of the drone, the drone is connected to the water supply pipe through the connecting end piece, the The drone is connected to the cleaning agent supply pipeline through the connection end piece;
  • the method includes:
  • the drone When the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned;
  • the cleaning device is controlled to clean the cleaning area.
  • an embodiment of the present application provides a drone-based cleaning system, the system including:
  • a control unit configured to fly to a designated position of the target to be cleaned when the drone receives a cleaning instruction for cleaning the target to be cleaned
  • a determining unit configured to determine a cleaning area corresponding to the external surface of the target to be cleaned and the designated position
  • the control unit is also used to control the cleaning device of the drone to be turned from below to a position parallel to the outer surface according to the environmental information;
  • an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program causes the computer to execute as described in the first aspect of the embodiment of the present application Instructions for some or all steps described.
  • an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause the computer to execute Apply for some or all of the steps described in the first aspect of the embodiments.
  • the computer program product may be a software installation package.
  • the drone when the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned, and determines the cleaning area corresponding to the designated surface of the target to be cleaned, Obtain the environmental information of the cleaning area, control the cleaning device of the drone from below to be parallel to the outer surface according to the environmental information, and control the cleaning device to clean the cleaning area, so that it can be more intelligent Control the drone to clean it to make the cleaning of the outer wall of the drone safer.
  • FIG. 1A is a schematic structural diagram of a drone-based cleaning system provided by an embodiment of the present application.
  • 1B is a structure of a cleaning device in a drone provided by an embodiment of the present application.
  • FIG. 1C is a schematic structural view of the cleaning device shown in FIG. 1B from another perspective provided by an embodiment of the present application;
  • 1D is a schematic flowchart of an embodiment of a cleaning method based on a drone provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of another embodiment of a cleaning method based on a drone provided by an embodiment of the present application;
  • FIG. 3 is a schematic flowchart of another embodiment of a cleaning method based on a drone provided by an embodiment of the present application;
  • FIG. 4 is a schematic structural diagram of a drone provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a drone-based cleaning system provided by an embodiment of the present application.
  • FIG. 1A is a schematic structural diagram of a drone-based cleaning system provided by an embodiment of the present application.
  • the cleaning system includes a drone 1001, a water supply pipe 1002, and a detergent supply line 1003.
  • the drone includes a cleaning device and a connecting end piece.
  • the cleaning device is placed on the belly of the drone.
  • the connection end piece is connected to the water supply pipe, and the drone is connected to the cleaning agent supply pipeline through the connection end piece.
  • the drone can be connected to the water supply pipe and the cleaning agent supply pipeline hanging from the roof of the building through the connection end piece, or the drone can also be connected to the water supply pipe on the ground or the vehicle through the connection end piece
  • the cleaning agent provides a pipeline connection, in which the water supply pipe and the cleaner supply pipeline can be used as safety cables to prevent the drone from falling during flight.
  • FIG. 1B is a structure of a cleaning device in a drone provided by an embodiment of the present application.
  • FIG. 1C is another perspective of the cleaning device shown in FIG. 1B provided by an embodiment of the present application.
  • the cleaning device 100 includes a cleaning drum 10, a driving motor 12 that drives the cleaning drum 10 to rotate, a water tank 20 with a gap between the cleaning drum 10, and a gap with the cleaning drum 10
  • the bristles on the roller brush 20 contact the cleaning roller 10, and the garbage collection box 40 is at least partially under the roller brush 20.
  • the cleaning drum 10 rotates under the drive of the driving motor 12 to fix the solid garbage, sweep it into the garbage collection box 40 and absorb the liquid garbage in the cleaning drum 10.
  • the clean water in the clean water tank 20 flows into the cleaning drum 10 to provide the cleaning drum 10 with clean water.
  • the cleaning drum 10 cleans the ground, it will suck in the liquid garbage on the ground and the sewage mixed with it, and fill it up.
  • the cleaning drum 10 of the sewage rotates through the squeezing member to become the squeezing member 31, the contacted part is compressed by the squeezing member 40, and the amount of compression generated causes the sewage absorbed by the compressed portion of the cleaning drum 10 to be squeezed out above,
  • the sewage has an upward pressure flowing upward.
  • the sides of the compressed part of the cleaning roller 10 are deformed upwards, so that the side of the compressed part of the original or near-round cleaning roller 10 fills the gap between the water tank and the squeezed sewage With an upward pressure driven upward, it is squeezed upward into the water tank 30.
  • the upper pressure generated by the deformation is greater than the gravity of the sewage stored in the water tank 30 plus the sewage stored in the sewage pipe, the sewage flows into the water tank 30 to recover the sewage.
  • the rotating shaft of the cleaning roller 10 is made of a hard material, and the outer peripheral part is made of a flexible material, such as sponge, cotton cloth, etc. Due to the porosity of the material and the surface cleaning power, the clean water is easily sucked in, and Easy to achieve cleaning function.
  • the cleaning drum 10 is driven and rotated by a motor, and the motor is also installed inside the casing.
  • the sewage tank 30 is provided separately from the clean water tank 20.
  • the clean water tank 20 provides clean water for the cleaning drum 10, and the sewage tank 30 is used to collect the sewage pressed out by the cleaning drum 10.
  • a clean water hole 21 is opened at the bottom or side of the clean water tank 20, through which the clean water in the clean water tank 20 passes The hole 21 flows to the cleaning roller 10.
  • the clean water tank 20 is provided above the cleaning drum 10 and has a gap with the cleaning drum 10. Both sides of the clean water tank 20 are provided with water inlets 201.
  • the water inlet 201 communicates with the clean water tank. In the water tank 20, the clean water in the clean water tank 20 enters the cleaning drum 10 through the clean water hole 21.
  • the pressing member 40 is a pressing column 42
  • the pressing column 42 is cylindrical
  • the pressing column 42 is disposed near the sewage tank 30 to facilitate pressing sewage into the sewage tank 30, and the surface pressure of the pressing column 42 is set on the cleaning drum 10's surface.
  • the pressing column 42 may have a spherical shape or the like.
  • the pressing cylinder 42 presses the flexible roller 10 to form a concave portion 13 on the surface of the flexible cylinder 10, and the size of the portion of the pressing cylinder 42 located in the concave portion 13 is 1 / 4-1 / 2 of the radius or diameter of the pressing cylinder 42 Not only does it not affect the normal rotation of the flexible drum 10, but it can also press out the sewage.
  • water outlets 301 are provided on both sides or one side of the sewage tank 30, and the amount of sewage can be controlled by providing electromagnetic valves at the two water outlets 301.
  • the pressing member 40 is a protrusion 41 provided at the bottom of the sewage tank 30.
  • the protrusion 41 may be provided at the bottom edge of the sewage tank 30 or at the middle of the bottom of the sewage tank 30.
  • the roller brush 50 is located above the side of the flexible roller 10, and the roller brush 50 is driven by a roller brush motor 51.
  • the roller brush 50 rolls in the opposite direction of the flexible roller 10, thereby removing the flexible roller 10
  • the dirt on the top is obtained by cleaning the cleaning target by the flexible roller, and the dirt falls into the garbage collection box 60 below to achieve the purpose of removing the dirt in time.
  • the garbage collection box 60 is disposed along the direction in which the cleaning drum 10 rolls and has a gap with the cleaning drum 10, and the garbage collection box 60 is located on one side of the cleaning drum 10 and directly below the roller brush 50, and solid garbage is entrained in the trash In the collection box 60, the remaining garbage is removed by the roller brush 50.
  • the garbage collection box 60 is arranged in a U shape, but the corners are arranged in a square shape.
  • a scraper 61 is provided on the side of the garbage collection box 60 close to the cleaning drum 10 for receiving garbage dropped by the cleaning drum 10.
  • a load-bearing wheel 80 is provided between the garbage collection box 60 and the scraper 61 to increase the load-bearing capacity of the garbage collection box 60.
  • the scraper 61 is provided in an arc shape and has one end connected to the side of the cleaning drum 10 where the garbage collection box 60 abuts.
  • the above cleaning system further includes a safety cable, and the drone can be connected to the safety lock through the connection end piece, thereby preventing the drone from falling from high altitude.
  • one end of the safety cable can be connected to the connection end piece of the drone, and the other end of the safety cable can be connected to the pipeline hanging from the top floor of the building, or to the pipeline provided by the ground or the vehicle, optionally , Water supply pipe and cleaning agent supply pipeline can be used as safety cables.
  • the above cleaning system may further include an airbag, and the airbag may be used as a safety device for the drone to protect the safety of the drone.
  • FIG. 1D is a schematic flowchart of an embodiment of a drone-based cleaning method provided by an embodiment of the present application.
  • the drone-based cleaning method described in this embodiment includes the following steps:
  • the target to be cleaned may be, for example, the outer wall of the building. When the building is tall, the outer wall of the building may be cleaned by the drone in the embodiment of the present application.
  • the target to be cleaned may also be other high The goal of the location, considering that it is dangerous to use manual labor to complete the cleaning work at a higher position, so the drone can be used instead of manual work.
  • the drone when the drone receives the cleaning instruction, it can be based on The cleaning instruction flies to the designated position of the target to be cleaned, for example, it can control the drone to fly from the ground to a specific position that needs to be cleaned, and for example, can control the drone to fly from the top of the building to the specific cleaning Specify the location.
  • the above-mentioned cleaning area corresponding to the designated position may be an area where the designated position where the drone is located is projected on the outer surface of the target to be cleaned, or a designated position where the drone is located outside the target to be cleaned The area of the surface and the area of the preset area around the area.
  • the above environmental information may include at least one of the following: dirtiness of the cleaning area, material of the outer surface of the target to be cleaned, smoothness of the outer surface of the target to be cleaned, etc., which is not limited here, specifically If the above cleaning area is the area where the designated position of the drone is projected on the outer surface of the target to be cleaned, the environmental information of the cleaning area can be directly obtained.
  • the area and the area of the preset area around the area need to control the drone to move around the clean area to obtain the environmental information of the clean area.
  • the drone includes an environment monitoring device.
  • acquiring environmental information of the clean area may include the following steps:
  • the environmental monitoring device based on the drone detects the clean area to obtain dust information
  • the above environmental monitoring device may include a dust collector, which collects dust in the area of the preset area of the outer surface of the target to be cleaned by the dust collector, and then detects the weight or thickness of the collected dust according to the preset dust weight or The correspondence between the thickness and the degree of dirt determines the degree of dirt in the clean area.
  • a dust collector which collects dust in the area of the preset area of the outer surface of the target to be cleaned by the dust collector, and then detects the weight or thickness of the collected dust according to the preset dust weight or The correspondence between the thickness and the degree of dirt determines the degree of dirt in the clean area.
  • the above environment detection device may further include a surface smoothness detection device, and the surface smoothness detection device may detect the smoothness of the outer surface of the target to be cleaned.
  • the drone includes a camera.
  • acquiring environmental information of the clean area may include the following steps:
  • the camera of the drone can be controlled to shoot the target image of the clean area, and then the target image is matched with multiple image templates in the preset image template library, and each image template in the multiple image templates corresponds to A material in which multiple image templates can be taken in advance for the outer surface of a common target of multiple materials to be cleaned, and then an image template library is established.
  • the target image matches the target image template in multiple images successfully, it can be determined
  • the target material corresponding to the target image template is the material of the outer surface of the target to be cleaned.
  • the cleaning device of the abdomen of the drone is turned from below to turn the cleaning device to a position parallel to the outer surface of the target to be cleaned, so that the cleaning device can clean the outer surface of the target to be cleaned
  • the cleaning device can be turned over to the external wall parallel to the cleaning target.
  • the above-mentioned cleaning device may include at least one cleaning roller, and by providing a plurality of cleaning rollers on the cleaning device, the cleaning speed can be accelerated.
  • controlling the cleaning device to clean the cleaning area may include the following steps:
  • different cleaning strategies can be determined according to different environmental information.
  • the obtained environmental information is the degree of dirtiness of the cleaning area, it can be determined that different degrees of dirtiness correspond to different cleaning strategies, for example, for different dirtiness
  • the amount of cleaning agent can be determined to prevent too little cleaning agent from causing inadequate cleaning, or too much cleaning agent to cause waste of cleaning agent, and it takes longer to clean;
  • the environmental information obtained is the material of the outer surface of the target to be cleaned .
  • You can determine the cleaning strategy corresponding to the material for example, for the external wall of the building is a material inlaid with ceramic tiles, facing bricks or glass bricks, and the external wall of the building is a slag-like material such as terrazzo, dry sticky stone, or
  • the exterior wall of the building is made of paint and other coating materials.
  • the force of the cleaning roller in contact with the cleaning area can also be set within different pressure ranges to prevent damage to the exterior wall materials of the building; when the environment is acquired
  • the information is the smoothness of the outer surface of the target to be cleaned, which can be determined and obtained according to the correspondence between the preset smoothness and the cleaning strategy
  • the embodiments of the present application may further include the following steps:
  • the above flight parameters may include at least one of the following: flight speed, flight altitude, the angle between the drone and the horizontal plane, the angular velocity of the drone overturning, etc., which is not limited here.
  • the flight parameters of the drone can be obtained according to a preset time period.
  • the airbag can be opened to prevent the drone Fall to protect the drone.
  • the drone when the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned, and determines the cleaning area corresponding to the designated surface of the target to be cleaned, Obtain the environmental information of the cleaning area, control the cleaning device of the drone from below to be parallel to the outer surface according to the environmental information, and control the cleaning device to clean the cleaning area, so that it can be more intelligent Control the drone to clean it to make the cleaning of the outer wall of the drone safer.
  • FIG. 2 is a schematic flowchart of an embodiment of a cleaning method based on a drone provided by an embodiment of the present application.
  • the drone-based cleaning method described in this embodiment includes the following steps:
  • the environmental monitoring device based on the drone detects the clean area to obtain dust information.
  • the drone when the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned, and determines the cleaning area corresponding to the designated surface of the target to be cleaned,
  • the drone-based environment monitoring device detects the clean area, obtains dust information, analyzes the dust information to obtain environmental information, and controls the drone cleaning device to flip from below to be parallel to the outer surface according to the environmental information Control the cleaning device to clean the cleaning area. In this way, the drone can be controlled to clean more intelligently, so that the drone can clean the outer wall more safely.
  • FIG. 3 is a schematic flowchart of an embodiment of a drone-based cleaning method provided by an embodiment of the present application.
  • the drone-based cleaning method described in this embodiment includes the following steps:
  • the drone When the drone receives a cleaning instruction for cleaning the target to be cleaned, it will fly to the designated position of the target to be cleaned.
  • the drone when the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned, and determines the cleaning area corresponding to the designated surface of the target to be cleaned,
  • the drone-based camera acquires the target image of the clean area, performs image analysis on the target image to obtain environmental information, and controls the drone's cleaning device to be turned from below to a position parallel to the outer surface according to the environmental information.
  • the cleaning device cleans the cleaning area, so that the drone can be controlled to clean more intelligently, so that the drone can clean the outer wall more safely.
  • FIG. 4 is a schematic structural diagram of a drone provided by an embodiment of the present application.
  • the drone includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs described above It is stored in the aforementioned memory and is configured to be executed by the aforementioned processor.
  • the aforementioned program includes instructions for performing the following steps:
  • the drone When the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned;
  • the cleaning device is controlled to clean the cleaning area.
  • the drone includes an environmental monitoring device.
  • the above program includes instructions for performing the following steps:
  • the environmental monitoring device based on the drone detects the clean area to obtain dust information
  • the drone includes an environmental monitoring device.
  • the above program includes instructions for performing the following steps:
  • the above-mentioned program includes instructions for performing the following steps:
  • the cleaning device is controlled to clean the cleaning area according to the cleaning strategy.
  • the above-mentioned program includes instructions for performing the following steps:
  • the airbag is opened.
  • FIG. 5 is a schematic structural diagram of a drone-based cleaning system provided by an embodiment of the present application.
  • the drone-based cleaning system described in this embodiment includes a control unit 501, a determination unit 502, and an acquisition unit 503, as follows:
  • the control unit 501 is configured to fly to a designated position of the target to be cleaned when the drone receives a cleaning instruction for cleaning the target to be cleaned;
  • the determining unit 502 is configured to determine a cleaning area corresponding to the specified target outer surface of the target surface to be cleaned
  • the acquiring unit 503 is configured to acquire environmental information of the clean area
  • the control unit 501 is also used to control the cleaning device of the drone to be turned from below to a position parallel to the outer surface according to the environmental information;
  • the drone includes an environment monitoring device, and the acquiring unit 503 is specifically configured to:
  • the environmental monitoring device based on the drone detects the clean area to obtain dust information
  • the drone includes a camera
  • the acquiring unit 503 is specifically configured to:
  • control unit 501 is specifically configured to:
  • the cleaning device is controlled to clean the cleaning area according to the cleaning strategy.
  • the drone includes an airbag
  • the obtaining unit 503 is also used to obtain flight parameters of the drone;
  • control unit 501 When the line parameter meets a preset condition, the control unit 501 is also used to open the airbag.
  • the drone when the drone receives the cleaning instruction for cleaning the target to be cleaned, it flies to the designated position of the target to be cleaned, and determines the cleaning area corresponding to the designated surface of the target to be cleaned, Obtain the environmental information of the cleaning area, control the cleaning device of the drone from below to be parallel to the outer surface according to the environmental information, and control the cleaning device to clean the cleaning area, so that it can be more intelligent Control the drone to clean it to make the cleaning of the outer wall of the drone safer.
  • An embodiment of the present application also provides a computer-readable storage medium, wherein the computer storage medium
  • the computer program enables the computer to execute the above method embodiment
  • An embodiment of the present application further provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium that stores a computer program, and the computer program is operable to cause the computer to perform the method as described in the above embodiment Part or all steps of any drone-based cleaning method described.
  • the disclosed device may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may Integration into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical or other forms.
  • modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of software program modules.
  • the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it may be stored in a computer-readable memory.
  • the technical solution of the present application essentially or part of the contribution to the existing technology or all or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a memory, Several instructions are included to enable a computer device (which may be a personal computer, server, network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application.
  • the foregoing memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk, or optical disk and other media that can store program codes.
  • the program may be stored in a computer-readable memory, and the memory may include: a flash disk , Read-only memory, random access device, magnetic disk or optical disk, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Cleaning In General (AREA)
PCT/CN2018/112267 2018-10-27 2018-10-27 基于无人机的清洁方法及系统 Ceased WO2020082393A1 (zh)

Priority Applications (7)

Application Number Priority Date Filing Date Title
CN201880032432.7A CN110769728A (zh) 2018-10-27 2018-10-27 基于无人机的清洁方法及系统
PCT/CN2018/112267 WO2020082393A1 (zh) 2018-10-27 2018-10-27 基于无人机的清洁方法及系统
JP2019524145A JP2021509591A (ja) 2018-10-27 2018-10-27 ドローン型洗浄方法及びシステム
US16/314,479 US20210196093A1 (en) 2018-10-27 2018-10-27 Drone-based cleaning method and system
EP18248258.8A EP3643608A1 (en) 2018-10-27 2018-12-28 Drone-based cleaning method and system
GB1821278.7A GB2578489A (en) 2018-10-27 2018-12-28 Drone-based cleaning method and system
DE202019102399.6U DE202019102399U1 (de) 2018-10-27 2019-04-29 Drohnenbasiertes Reinigungssystem

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GB2578489A (en) 2020-05-13
CN110769728A (zh) 2020-02-07
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