CN108921257A - A kind of cleaning unmanned plane and storage medium - Google Patents
A kind of cleaning unmanned plane and storage medium Download PDFInfo
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- CN108921257A CN108921257A CN201811015741.1A CN201811015741A CN108921257A CN 108921257 A CN108921257 A CN 108921257A CN 201811015741 A CN201811015741 A CN 201811015741A CN 108921257 A CN108921257 A CN 108921257A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 128
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- 238000004590 computer program Methods 0.000 claims description 4
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- 238000012795 verification Methods 0.000 abstract description 3
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- G—PHYSICS
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- 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
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Abstract
The application discloses a kind of cleaning unmanned plane and storage medium, wherein the unmanned plane obtains cleaning task instruction, identification mission instruction, acquisition instruction information；Unmanned plane generates interim two dimensional code according to the interim identifying code that subscriber data and assignment instructions information generate, and the interim two dimensional code is sent to user to retain；Unmanned plane carries out route planning according to the position of user, and navigation flight arrives at user location；Unmanned plane scans the interim two dimensional code that user retains, and authenticates to user；The cleaning request of unmanned plane execution user.The application is instructed by the instruction identification module of unmanned plane, two-dimensional code generation module and scan module identification mission and obtains user request information and location information, generate interim identifying code and interim two dimensional code, unmanned plane carries out the scanning certification and cleaning operation of interim two dimensional code according to programme path flight up to user location, improves the confidentiality of safety and the user's request of Authority Verification password.
Description
Technical field
This application involves unmanned plane field more particularly to a kind of cleaning unmanned planes and storage medium.
Background technique
With the rapid development of unmanned air vehicle technique, unmanned plane starts to be put to more and more fields.Unmanned plane is most opened
Beginning is to be applied to army, very convenient as one kind, and the unmanned machine of low-risk, is usually used to and does unmanned plane investigation, is supervised
Depending on the work that combats terrorism, for example " predator " in the U.S., Chinese " pterosaur " etc. are all military unmanned air vehicles.When nobody
After machine enters civil field, welcome the climax of Development of UAV, as China Shenzhen great Jiang Science and Technology Ltd. develop it is big
Boundary unmanned plane is even more the fame whole world, has also driven the development of unmanned plane type, there is agricultural watering unmanned plane, and forest fire monitors nothing
It is man-machine, unmanned plane of taking photo by plane etc., express delivery with take out industry all in the corresponding unmanned plane of exploitation.
In built-up today, enterprise also is cleaned for high building and brings new business opportunity, traditional artificial high-altitude cleaning operation
With very high risk, occurs new cleaning robot-high-altitude cleaning unmanned plane under the drive of development in science and technology.Cleaning
Unmanned plane is also classified into many kinds, is broadly divided into manual control cleaning unmanned plane and intelligence cleaning unmanned plane, the intelligence of the prior art
Unmanned plane authentication mode is setting web-privilege password Web, and web-privilege password Web is fixed setting, and confidentiality is relatively low, easily stolen to take, and is led
Cause user demand that cannot effectively realize.
Apply for content
The purpose of the application is in view of the above-mentioned drawbacks of the prior art, providing a kind of positioning side for cleaning unmanned plane
Method, system, unmanned plane and storage medium.
The application the technical solution adopted is that, provide it is a kind of clean unmanned plane localization method, the method includes：
Unmanned plane obtains cleaning task instruction；
The instruction of unmanned plane identification mission, acquisition instruction information；
The subscriber data in unmanned plane called data library merges subscriber data and assignment instructions finish message；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and will be described interim
Two dimensional code is sent to user to retain；
Unmanned plane gets the location information of user according to command information, carries out route planning, is navigated by programme path
User location is arrived in flight；
Unmanned plane scans the interim two dimensional code that user retains, and identifies the letter for the interim two dimensional code that the user retains
Breath, the interim two dimensional code retained to user are verified；
It is verified, unmanned plane executes the cleaning request of user by cleaning device.
Preferably, the unmanned plane identification mission, which instructs, includes：
It instructs to obtain the cleaning content of user's request by the instruction identification device identification mission being arranged in unmanned plane；
Described instruction further includes：The better address of user's positioning position information and user location.
Clean outer wall material and cleaning region are needed comprising user in the request content of user, and the outer wall material can be with
It is glass outer wall, is also possible to ceramic tile exterior wall, be also possible to the exterior wall that glass and ceramic tile have, unmanned plane needs clear according to user
Clean material configures corresponding cleaning device, and specific aim cleaning can improve cleaning effect；The cleaning region is user according to clear
The clean small range exterior wall for needing to delimit；The customer position information and position better address be unmanned plane planning flight path according to
According to.
Preferably, the interim identifying code generated according to subscriber data and assignment instructions information generates interim two dimensional code,
And by the interim two dimensional code be sent to user to retain including：
Unmanned plane by data communication equipment connect network, transfer cleaning unmanned plane base station database user's registration when
Individual subscriber data；
The interim identifying code is the password that letter is combined with digital random, and the interim identifying code is used as to be retained with user
Interim two dimensional code in interim identifying code do matching and compare；
Unmanned plane passes through two-dimentional code converting apparatus and generates interim identifying code, and root according to individual subscriber data and command information
Interim two dimensional code is generated according to interim identifying code, the interim two dimensional code is sent to user body of user's retention as rescan
Part certification；
The interim two dimensional code completes cleaning to effect is just lost after user feedback in unmanned plane, cannot make again
With.
The safety that verifying password is improved by the interim identifying code and interim two dimensional code of generation, interim identifying code and faces
When two dimensional code unmanned plane complete cleaning task after just fail, further improve user request confidentiality；Unmanned plane is raw
At the interim two dimensional code retained of interim identifying code and user in interim identifying code carry out matching comparison, it is ensured that operation requests are
User's behavior.
Preferably, unmanned plane gets the location information of user's positioning according to command information, carries out route planning, passes through rule
Drawing route guidance flight arrival user location includes：
Unmanned plane is provided with 3D analog map platform and navigation positioning system, by the position of user's positioning position information and positioning
Better address is set to be identified on 3D analog map；
Unmanned plane position is positioned by navigation positioning system and obtains unmanned plane position, unmanned plane position is specified with user
Position carries out route planning on map platform, is flown according to the route guidance of planning and arrives at user location.
Location information can be accurately obtained using GPS navigation positioning system, can be provided when doing route planning effectively
Geographical location information, improve the accuracy of route；3D analog map can show the specific floor of user, keep unmanned function primary
It arrives at, does not need repeatedly to contact user.
A kind of positioning system for cleaning unmanned plane is provided, the system comprises：
Assignment instructions module is obtained, the assignment instructions sent for receiving cleaning unmanned plane base station；
Instruction identification module cleans the assignment instructions that unmanned plane base station is sent for identification；
Two-dimensional code generation module, for according in database individual subscriber data and assignment instructions information generate it is interim
Identifying code generates interim two dimensional code, and the interim two dimensional code completes cleaning to just losing effect after user feedback in unmanned plane
Fruit can not be used again；
Sending module, the interim two dimensional code for generating two-dimensional code generation module are sent to user, and user receives institute
State interim two dimensional code, and the interim two dimensional code received described in retention；
Navigation positioning module, the designated position and unmanned plane position for getting user's positioning according to user information are on ground
Route planning is carried out on figure platform, and user location is arrived at by programme path navigation flight；
Scanning recognition module identifies what the user retained for being scanned to the interim two dimensional code that user retains
Interim identifying code in interim two dimensional code, with unmanned plane according to the individual subscriber data and the generation of assignment instructions information in database
Interim identifying code do matching and compare；
Respond module, for after being verified, executing the cleaning request of user.
Preferably, described instruction identification module includes：
Request identifies submodule, for identification the request cleaning material and cleaning area of user；
Position identifies submodule, for identification the better address of the location information and user location of user's positioning.
The outer wall material information that unmanned plane is provided according to user is using corresponding cleaning device, to improve the effect of cleaning
Fruit, the location information of the positioning and the better address of user location plan that flight path provides foundation for unmanned plane, are convenient for nothing
Man-machine energy flight arrives at user location.
Preferably, the navigation positioning module includes：
Positioning submodule, the designated position for positioning user are identified on map platform, are arranged in unmanned plane
Internal GPS positioning device positions unmanned plane position, by unmanned plane station location marker on map platform, obtains unmanned plane and user
The positional distance of positioning；
D navigation submodule carries out route planning for the position by positioning on map platform to unmanned plane and user,
A plurality of route is obtained, selects an optimal route as unmanned plane during flying route, unmanned plane is reached according to optimal route navigation flight
The position of user's positioning.
Preferably, the scanning recognition module includes：
Submodule is scanned, for scanning the interim two dimensional code of user's retention, the user scanned is retained interim
Two dimensional code is sent to identification matched sub-block；
Identify matched sub-block, the interim two dimensional code that user retains for identification obtains the user retains interim two
The interim identifying code in code is tieed up, the interim identifying code in interim two dimensional code and unmanned plane that the user is retained are according to database
In individual subscriber data and assignment instructions information generate interim identifying code matched, matching correctly is carried out cleaning appoint
Business matches incorrect just to cleaning unmanned plane base station and user feedback.
The paired comparisons of the interim identifying code as determine user whether be my operation important evidence, only with passing through
The case where unmanned plane could need the region cleaned to clean, avoid the occurrence of maloperation user after identifying code paired comparisons.
A kind of cleaning unmanned plane is provided, the unmanned plane includes：Memory, processor, communication device, image collecting device
And cleaning device, wherein the memory is for storing executable program code and data, and the communication device is for described
Unmanned plane and other equipment carry out communication interaction, and the processor is used to call the executable program generation of the memory storage
Code executes following steps：
Obtain cleaning task instruction；
Identification mission instruction, acquisition instruction information；
The subscriber data in the database of the memory storage is transferred, subscriber data and assignment instructions finish message are closed
And；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and is controlled described logical
The interim two dimensional code is sent to user to retain by T unit；
The location information of user is got according to command information, carries out route planning, the nothing is controlled by programme path
User location is arrived in man-machine flight；
The interim two dimensional code that described image acquisition device scanning user retains is controlled, identifies facing for user's retention
When two dimensional code information, to user retain interim two dimensional code verify；
It is verified, controls the cleaning request that the cleaning device executes user.
Preferably, the mode of the processor identification mission instruction includes：
Identification mission instructs to obtain the cleaning content of user's request；
The assignment instructions further include：The better address of user's positioning position information and user location.
Preferably, the processor generates interim two according to the interim identifying code that subscriber data and assignment instructions information generate
Code is tieed up, and controls the communication device the interim two dimensional code is sent to mode of the user to retain and include：
The unmanned plane connection network is controlled, the individual subscriber when user's registration of cleaning unmanned plane base station database is transferred
Data；
Interim identifying code is generated according to individual subscriber data and command information, and interim two dimension is generated according to interim identifying code
Code controls the communication device for the interim two dimensional code and is sent to user identity authentication of user's retention as rescan；
Wherein, the interim identifying code is the password that combines with digital random of letter, the interim identifying code as with
The interim identifying code in interim two dimensional code that family is retained does matching and compares；The interim two dimensional code completes cleaning in unmanned plane
Effect is just lost after to user feedback, can not be used again.
Preferably, the unmanned plane further includes positioning device, and the processor gets user according to command information and positions
Location information, carry out route planning, controlled by way of the unmanned plane during flying arrives at user location programme path and include：
The position better address of the location information of user's positioning and positioning is identified on 3D analog map；
It controls the positioning device and acquisition unmanned plane position is positioned to unmanned plane position, unmanned plane position and user are positioned
Location information route planning is carried out on map platform, the unmanned plane during flying is controlled according to the route of planning and arrives at user position
It sets.
A kind of computer readable storage medium is provided, the storage medium is stored with computer program, the computer journey
Following steps are realized when sequence is executed by processor：
Obtain cleaning task instruction；
Identification mission instruction, acquisition instruction information；
The subscriber data in called data library merges subscriber data and assignment instructions finish message；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and will be described interim
Two dimensional code is sent to user to retain；
The location information of user is got according to command information, carries out route planning, unmanned plane is controlled by programme path
User location is arrived in flight；
Scan the interim two dimensional code that user retains, identify the information for the interim two dimensional code that the user retains, to
The interim two dimensional code that family is retained is verified；
It is verified, the cleaning request of user is executed by the cleaning device in the unmanned plane.
Preferably, the mode of the processor identification mission instruction includes：
Identification mission instructs to obtain the cleaning content of user's request；
The assignment instructions further include：The better address of user's positioning position information and user location.
Preferably, the processor generates interim two according to the interim identifying code that subscriber data and assignment instructions information generate
Code is tieed up, and the interim two dimensional code is sent to mode of the user to retain and includes：
The unmanned plane connection network is controlled, the individual subscriber when user's registration of cleaning unmanned plane base station database is transferred
Data；
Interim identifying code is generated according to individual subscriber data and command information, and interim two dimension is generated according to interim identifying code
The interim two dimensional code is sent to user identity authentication of user's retention as rescan by code；
Wherein, the interim identifying code is the password that combines with digital random of letter, the interim identifying code as with
The interim identifying code in interim two dimensional code that family is retained does matching and compares；The interim two dimensional code completes cleaning in unmanned plane
Effect is just lost after to user feedback, can not be used again.
Preferably, the processor gets the location information of user's positioning according to command information, carries out route planning, leads to
Cross programme path control unmanned plane during flying arrive at user location mode include：
The position better address of the location information of user's positioning and positioning is identified on 3D analog map；
Unmanned plane position is positioned by the positioning device in unmanned plane and obtains unmanned plane position, by unmanned plane position and is used
The location information of family positioning carries out route planning on map platform, controls the unmanned plane during flying according to the route of planning and arrives at
User location.
Compared with prior art, the application at least has the advantages that：The application is known by the instruction in unmanned plane
Other module, two-dimensional code generation module, scan module and the instruction of respond module identification mission obtain user request information and user is fixed
The location information of position, generates interim identifying code and interim two dimensional code, and unmanned plane plans road according to unmanned plane position and user location
Line flight carries out the scanning certification and cleaning operation of interim two dimensional code up to user location, and unmanned plane cleaning is completed, interim identifying code
It fails with interim two dimensional code, improves the confidentiality of safety and the user's request of Authority Verification.
Detailed description of the invention
Fig. 1 is a kind of localization method flow chart for cleaning unmanned plane of the embodiment of the present application；
Fig. 2 is a kind of positioning system modules block diagram for cleaning unmanned plane of the embodiment of the present application；
Fig. 3 is the inside submodule block diagram of 12 parts in Fig. 2；
Fig. 4 is the inside submodule block diagram of 14 parts in Fig. 2；
Fig. 5 is the inside submodule block diagram of 15 parts in Fig. 2；
Fig. 6 is a kind of structural schematic diagram for cleaning unmanned plane of the embodiment of the present application.
Specific embodiment
The preferred embodiment of the application is described below, those of ordinary skill in the art will be according to described below with this
The relevant technologies in field are realized, and can be more clearly understood that the innovation and bring benefit of the application.
Present applicant proposes a kind of localization method for cleaning unmanned plane, the localization method of the cleaning unmanned plane is implemented in one kind
The environment of city high-altitude washing and cleaning operation, the environment include a kind of mobile terminal, serving BS and unmanned plane.
Wherein, the mobile terminal can be smart phone, Intelligent bracelet and smartwatch etc.；The serving BS can be with
It is signal processing relay centre and the data storage center as mobile terminal and unmanned plane, is also possible to only conduct and monitors nobody
Machine and offer data storage center, but it is not involved in the processing transfer of mobile terminal and unmanned plane signal；The unmanned plane can be
Multi-rotor unmanned aerial vehicle, helicopter unmanned plane and fixed-wing unmanned plane, the application is not to the mobile terminal product type and nobody
Machine type does specific restriction；The mobile terminal and unmanned plane are fitted with social or interactive class application, effect be send and
Receive instruction.
As shown in Figure 1, in the embodiment of the present application, using unmanned plane as processing center, the mobile terminal is preferably intelligence
Mobile phone, the service station is as starting unmanned plane, monitoring unmanned plane and provides data storage center, is not involved in the flight of unmanned plane
Control and instruction execution control, the unmanned plane is preferably quadrotor drone, and camera, thunder are provided in the unmanned plane
It reaches, network signal connection can be carried out with the serving BS for providing unmanned plane as unmanned plane.
The method includes：
S11, unmanned plane obtain assignment instructions；User sends cleaning request using mobile phone, and cleaning unmanned plane base station receives institute
State the request of user's transmission；
It cleans unmanned plane base station and starts unmanned plane, and send cleaning task instruction to unmanned plane, unmanned plane obtains cleaning nothing
The cleaning task instruction that man-machine base station is sent.
Unmanned plane obtains the cleaning task instruction that the cleaning unmanned plane base station is sent, and unmanned plane obtains assignment instructions conduct
The key of unmanned plane program operation, unmanned plane does flight preparation after obtaining assignment instructions automatically, for example checks battery capacity, circuit
The state of feedback and cleaning device.
In some possible embodiments, user directly can send cleaning request to unmanned plane, and unmanned plane passes through data
Communication device directly does data exchange to cleaning unmanned plane base station database calling and obtaining user data, user and unmanned plane, and user asks
Ask the not cleaned unmanned plane base station transfer of data.
S12, the instruction of unmanned plane identification mission；Unmanned plane divides the cleaning task instruction that cleaning unmanned plane base station is sent
Analysis identification, the instruction identification device identification mission being arranged in unmanned plane instruct to obtain the solicited message of user, the request letter
Location information and location information of the breath including the clean outer wall material of user's needs and cleaning region and user's positioning are in detail
Location.
Further, unmanned plane connects internet by data communication equipment, and acquisition is stored in cleaning unmanned plane base station number
According to library user's registration when personal information, the assignment instructions information of the individual subscriber data and identification that will acquire arranged
Merge.
Further, the designated position of user's positioning and the better address of designated position are obtained, the specified of user is obtained
Position and designated position better address be in order to do information collection to programme path and navigation, some location ambiguities can basis
Better address is found, and can accurately obtain user in the number of floor levels of high building by the 3D analog map platform being arranged in nobody.
S13, unmanned plane are according to the individual subscriber data and the interim identifying code of assignment instructions information generation in database, then root
Interim two dimensional code is generated by two-dimentional code converting apparatus according to the interim identifying code, the interim two dimensional code of generation is led to by data
T unit is sent to user for retaining.
Further, the interim identifying code is raw by arranging the individual subscriber data after merging and assignment instructions information
At, identifying code is made of at random six letter and numbers, the number of each position or letter represent corresponding subscriber data or
Assignment instructions information, it is associated with subscriber data for making identifying code.
S14, unmanned plane get the location information of user's positioning according to command information, carry out route planning, pass through planning
User location is arrived in route guidance flight；Specifically, unmanned plane is provided with 3D analog map platform and navigation positioning system, will use
The position of family positioning and the better address of position are identified on map；Unmanned plane position is positioned by navigation positioning system
Unmanned plane position is obtained, the position of unmanned plane position and user's positioning is subjected to route planning, unmanned plane root on map platform
User location is arrived at according to the route flight of planning.
Location information can be accurately obtained using GPS navigation positioning system, can be provided when doing route planning effectively
Geographical location information, improve the accuracy of route.
Further, the unmanned plane planning optimal route is more specific location information of the unmanned plane according to user, by setting
The map platform set in unmanned plane calculates unmanned plane at a distance from user, by unmanned plane normal flight speed and it is described nobody
Machine and user distance calculate estimated time of arrival, to cleaning unmanned plane base station feedback estimated time of arrival.
Further, for unmanned plane in flight course, the radar of unmanned plane provides Obstacle Position in real time for unmanned plane,
Convenient for unmanned plane clear, unmanned plane collision damage is avoided.
The interim two dimensional code that S15, unmanned plane scanning recognition user retain；When unmanned plane reaches user location, unmanned plane is logical
The interim two dimensional code that camera scanning user retains is crossed, what the interim two dimensional code that the user retains was cleaned as unmanned plane
Finally authenticate.
Further, the interim two dimensional code that the user scanned retains two-dimension code recognition device is transferred to identify,
The interim identifying code in the interim two dimensional code of user's retention is identified by two-dimension code recognition device, interim two that user is retained
Interim identifying code and unmanned plane in dimension code are done according to the interim identifying code that individual subscriber data and assignment instructions information generate
With comparing.
Further, described to match the interim identifying code and unmanned plane compared be in the interim two dimensional code for retaining user
Matching comparison is carried out by turn according to the interim identifying code that individual subscriber data and assignment instructions information generate, when matching result is complete
The correct unmanned plane in portion, which suggests that, to be authenticated successfully, into the first link；When matching result is incorrect, unmanned plane is to user and cleaning
Unmanned plane base station sends authentication failure message, and unmanned plane enters the instruction of the armed state unmanned plane base station to be cleaned such as i.e. at this time.
S16, the cleaning request for responding user；The user's cleaning request information obtained, unmanned plane are instructed according to identification mission
The region that cleaning user requests cleaning is carried out by cleaning device, cleaning rear line is completed and is fed back.
As shown in Fig. 2, additionally provide it is a kind of clean unmanned plane positioning system, the unmanned plane can be more rotors nobody
Machine, fixed-wing unmanned plane and unmanned helicopter etc., the application does not do specific restriction to the product type of the unmanned plane.
The system comprises：
Assignment instructions module 11 is obtained, receives the assignment instructions that cleaning unmanned plane base station is sent for unmanned plane；Described
Business instruction is the request that user sends, and user sends request using smart phone, and cleaning unmanned plane base station receives request, and will use
Family request is sent to unmanned plane in the form instructed.
Instruction identification module 12 identifies the assignment instructions that cleaning unmanned plane base station is sent for unmanned plane；
Two-dimensional code generation module 13, for unmanned plane according to the individual subscriber data and the life of assignment instructions information in database
At interim identifying code generate interim two dimensional code, the interim two dimensional code unmanned plane complete cleaning to after user feedback just
Effect is lost, can not be used again；
Sending module 14, the interim two dimensional code for generating two-dimensional code generation module 13 are sent to user, and user receives
The interim two dimensional code received to the interim two dimensional code, and described in retaining；
Navigation positioning module 15, for according to user information get user positioning designated position and unmanned plane position exist
Route planning is carried out on map platform, and user location is arrived at by programme path navigation flight；
Scanning recognition module 16 is scanned the interim two dimensional code that user retains for unmanned plane, identifies the use
The interim identifying code in interim two dimensional code that family is retained, with unmanned plane according to the individual subscriber data and assignment instructions in database
The interim identifying code that information generates does matching and compares；
Respond module 17, after being verified, unmanned plane executes the cleaning request of user by cleaning device.
As shown in figure 3, the instruction identification module 12 in Fig. 2 includes：
Request identification submodule 21, for the cleaning information in the request of the user in the instruction of unmanned plane identification mission, institute
Stating cleaning information includes the outer wall material that need to be cleaned and cleaning area.
Position identifies submodule 22, for identification the better address of the location information and user location of user's positioning；It is described
The location information of positioning and the better address of user location plan that flight path provides foundation for unmanned plane, are convenient for unmanned function one
User location is arrived in secondary flight.
As shown in figure 4, the navigation positioning module 14 in Fig. 2 includes：
Positioning submodule 31, by the better address of the location information of user's positioning and user location in 3D analog map platform
On be identified, unmanned plane position is positioned by the way that GPS positioning device inside unmanned plane is arranged in, by unmanned plane position in map
It is identified on platform, obtains the information such as the positional distance of unmanned plane and user's positioning.
D navigation submodule 32, by carrying out route rule to the designated position of unmanned plane and user's positioning on map platform
It draws, obtains a plurality of route, select an optimal route as unmanned plane during flying route, unmanned plane is according to optimal route navigation flight
The designated position positioned up to user.
As shown in figure 5, the scanning recognition module 15 in Fig. 2 includes：
Submodule 41 is scanned, the interim two dimensional code that user retains, the user that will be scanned are scanned by scanning means
The interim two dimensional code retained is sent to identification matched sub-block 42；
Identify matched sub-block 42, the interim two dimensional code that user retains for identification obtains the interim of user's retention
Interim identifying code in two dimensional code, the interim identifying code in interim two dimensional code and unmanned plane that the user is retained are according to data
The interim identifying code that individual subscriber data and assignment instructions information in library generate is matched, and matching is correctly carried out cleaning and appoints
Business matches incorrect just to cleaning unmanned plane base station and user feedback.
The paired comparisons of the interim identifying code as determine user whether be my operation important evidence, only with passing through
The case where unmanned plane could need the region cleaned to clean, avoid the occurrence of maloperation user after identifying code paired comparisons.
The embodiment of the present invention also provides a kind of cleaning unmanned plane, can be used to implement previous embodiment offer cleaning nobody
All or part of the steps in the localization method of machine.As shown in fig. 6, the unmanned plane at least may include：Memory 100, at least
One processor 200, such as CPU (Central Processing Unit, central processing unit), at least one communication device
300, communication interaction, at least one image collecting device 400, for sweeping are carried out for the unmanned plane and other equipment (such as user)
Two dimensional code is retouched, at least one cleaning device 500.Wherein, memory 100, processor 200, communication device 300, image collector
Set 400 and cleaning device 500 can be communicatively coupled by one or more bus.Those skilled in the art can manage
Solution, the structure of unmanned plane shown in Fig. 6 do not constitute the restriction to the embodiment of the present invention, it either busbar network,
It is also possible to hub-and-spoke configuration, can also includes perhaps combining certain components or different than illustrating more or fewer components
Component layout.
Wherein, memory 100 can be high speed RAM memory, be also possible to non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.It is remote that memory 100 optionally can also be that at least one is located at
Storage device from aforementioned processor 200.Memory 100 can be used for storing executable program code and data, and the present invention is real
Example is applied to be not construed as limiting.
In cleaning unmanned plane shown in Fig. 6, processor 200 can be used for calling the executable journey of the storage of memory 100
Sequence code executes following steps：
Obtain cleaning task instruction；
Identification mission instruction, acquisition instruction information；
The subscriber data in the database of the storage of memory 100 is transferred, subscriber data and assignment instructions finish message are closed
And；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and controls communication dress
It sets 300 and interim two dimensional code is sent to user to retain；
The location information of user is got according to command information, carries out route planning, unmanned plane is controlled by programme path
User location is arrived in flight；
It controls image collecting device 400 and scans the interim two dimensional code that user retains, identify user retains interim two
The information for tieing up code, the interim two dimensional code retained to user are verified；
It is verified, control cleaning device 500 executes the cleaning request of user.
Optionally, the mode of 200 identification mission of processor instruction may include：
Identification mission instructs to obtain the cleaning content of user's request；
The assignment instructions can also include：The better address of user's positioning position information and user location.
Optionally, processor 200 generates interim two according to the interim identifying code that subscriber data and assignment instructions information generate
Code is tieed up, and controls communication device 300 interim two dimensional code is sent to mode of the user to retain and may include：
It controls unmanned plane and connects network, transfer the individual subscriber money when user's registration of cleaning unmanned plane base station database
Material；
Interim identifying code is generated according to individual subscriber data and command information, and interim two dimension is generated according to interim identifying code
Interim two dimensional code is sent to user identity authentication of user's retention as rescan by code, control communication device 300；
Wherein, interim identifying code is the password that combines with digital random of letter, and interim identifying code with user as retaining
Interim identifying code in interim two dimensional code does matching and compares；Interim two dimensional code completes cleaning to after user feedback in unmanned plane
Effect is just lost, can not be used again.
Optionally, unmanned plane shown in fig. 6 can also include positioning device (not shown), and processor 200 is according to finger
The location information for enabling acquisition of information position to user carries out route planning, controls unmanned plane during flying by programme path and arrives at use
The mode of family position may include：
The position better address of the location information of user's positioning and positioning is identified on 3D analog map；
It controls positioning device and acquisition unmanned plane position is positioned to unmanned plane position, by the position of unmanned plane position and user's positioning
Confidence breath carries out route planning on map platform, controls unmanned plane during flying according to the route of planning and arrives at user location.
Implement cleaning unmanned plane shown in fig. 6, is instructed by unmanned plane identification mission and obtain user request information and user
The location information of positioning generates interim identifying code and interim two dimensional code, is flown according to unmanned plane position and user location programme path
Row carries out the scanning certification and cleaning operation of interim two dimensional code up to user location, and no cleaning is completed, interim identifying code and interim two
Code failure is tieed up, the confidentiality of safety and the user's request of Authority Verification is improved.
The embodiment of the invention also provides a kind of computer readable storage medium, which is stored with computer journey
Sequence, the computer program are may be implemented when being executed by processor in the localization method of cleaning unmanned plane of previous embodiment offer
All or part of the content.
Specifically, following steps may be implemented when being executed by processor in the computer program：
Obtain cleaning task instruction；
Identification mission instruction, acquisition instruction information；
The subscriber data in called data library merges subscriber data and assignment instructions finish message；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and will interim two dimension
Code is sent to user to retain；
The location information of user is got according to command information, carries out route planning, unmanned plane is controlled by programme path
User location is arrived in flight；
The interim two dimensional code that user retains is scanned, the information for the interim two dimensional code that identification user retains retains user
Interim two dimensional code is verified；
It is verified, the cleaning request of user is executed by the cleaning device in unmanned plane.
Optionally, the mode of processor identification mission instruction may include：
Identification mission instructs to obtain the cleaning content of user's request；
The assignment instructions can also include：The better address of user's positioning position information and user location.
Optionally, processor generates interim two dimension according to the interim identifying code that subscriber data and assignment instructions information generate
Code, and interim two dimensional code is sent to mode of the user to retain and may include：
It controls unmanned plane and connects network, transfer the individual subscriber money when user's registration of cleaning unmanned plane base station database
Material；
Interim identifying code is generated according to individual subscriber data and command information, and interim two dimension is generated according to interim identifying code
Interim two dimensional code is sent to user identity authentication of user's retention as rescan by code；
Wherein, interim identifying code is the password that combines with digital random of letter, and interim identifying code with user as retaining
Interim identifying code in interim two dimensional code does matching and compares；Interim two dimensional code completes cleaning to after user feedback in unmanned plane
Effect is just lost, can not be used again.
Optionally, processor gets the location information of user's positioning according to command information, carries out route planning, passes through rule
Draw route control unmanned plane during flying arrive at user location mode may include：
The position better address of the location information of user's positioning and positioning is identified on 3D analog map；
Unmanned plane position is positioned by the positioning device in unmanned plane and obtains unmanned plane position, by unmanned plane position and is used
The location information of family positioning carries out route planning on map platform, controls unmanned plane during flying according to the route of planning and arrives at user
Position.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to alternative embodiment, related actions and modules not necessarily the application
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary
It, can also be in addition, the processor, chip in each embodiment of the application can integrate in one processing unit
It is to physically exist alone, it can also be with two or more hardware integrations in a unit.Computer readable storage medium or
Computer-readable program can store in a computer-readable access to memory.Based on this understanding, the technology of the application
Substantially all or part of the part that contributes to existing technology or the technical solution can be with software in other words for scheme
The form of product embodies, which is stored in a memory, including some instructions are used so that one
Platform computer equipment (can be personal computer, server or network equipment etc.) executes each embodiment the method for the application
All or part of the steps.And memory above-mentioned includes：It is USB flash disk, read-only memory (ROM, Read-Only Memory), random
Access memory (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. are various to can store program
The medium of code.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in a computer-readable memory, memory
May include：Flash disk, read-only memory (English：Read-Only Memory, referred to as：ROM), random access device (English：
Random Access Memory, referred to as：RAM), disk or CD etc..
The above content is combine specific preferred embodiment to made by the application further description, and it cannot be said that
The specific embodiment of the application is only limited to these instructions.The application person of an ordinary skill in the technical field is come
It says, without departing from the concept of this application, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this Shen
Protection scope please.
Claims (8)
1. a kind of cleaning unmanned plane, which is characterized in that the unmanned plane includes：Memory, processor, communication device, image are adopted
Acquisition means and cleaning device, wherein the memory is used for storing executable program code and data, the communication device
Communication interaction is carried out in the unmanned plane and other equipment, the processor is used to call the executable journey of the memory storage
Sequence code executes following steps：
Obtain cleaning task instruction；
Identification mission instruction, acquisition instruction information；
The subscriber data in the database of the memory storage is transferred, subscriber data and assignment instructions finish message are merged；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and controls the communication dress
It sets and the interim two dimensional code is sent to user to retain；
The location information of user is got according to command information, carries out route planning, the unmanned plane is controlled by programme path
User location is arrived in flight；
The interim two dimensional code that described image acquisition device scanning user retains is controlled, identifies the user retains interim two
The information for tieing up code, the interim two dimensional code retained to user are verified；
It is verified, controls the cleaning request that the cleaning device executes user.
2. cleaning unmanned plane according to claim 1, which is characterized in that the mode packet of the processor identification mission instruction
It includes：
Identification mission instructs to obtain the cleaning content of user's request；
The assignment instructions further include：The better address of user's positioning position information and user location.
3. cleaning unmanned plane according to claim 1, which is characterized in that the processor refers to according to subscriber data and task
The interim identifying code for enabling information generate generates interim two dimensional code, and controls the communication device and be sent to the interim two dimensional code
User includes to the mode retained：
The unmanned plane connection network is controlled, the individual subscriber money when user's registration of cleaning unmanned plane base station database is transferred
Material；
Interim identifying code is generated according to individual subscriber data and command information, and interim two dimensional code is generated according to interim identifying code,
It controls the communication device and the interim two dimensional code is sent to user identity authentication of user's retention as rescan；
Wherein, the interim identifying code is the password that letter is combined with digital random, and the interim identifying code is used as to be stayed with user
The interim identifying code in interim two dimensional code deposited does matching and compares；The interim two dimensional code unmanned plane complete cleaning to
Effect is just lost after the feedback of family, can not be used again.
4. cleaning unmanned plane according to claim 1 to 3, which is characterized in that the unmanned plane further includes positioning dress
It sets, the processor gets the location information of user's positioning according to command information, carries out route planning, passes through programme path control
It makes the unmanned plane during flying and arrives at the mode of user location and include：
The position better address of the location information of user's positioning and positioning is identified on 3D analog map；
It controls the positioning device and acquisition unmanned plane position is positioned to unmanned plane position, by the position of unmanned plane position and user's positioning
Confidence breath carries out route planning on map platform, controls the unmanned plane during flying according to the route of planning and arrives at user location.
5. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the calculating
Machine program realizes following steps when being executed by processor：
Obtain cleaning task instruction；
Identification mission instruction, acquisition instruction information；
The subscriber data in called data library merges subscriber data and assignment instructions finish message；
Interim two dimensional code is generated according to the interim identifying code that subscriber data and assignment instructions information generate, and by the interim two dimension
Code is sent to user to retain；
The location information of user is got according to command information, carries out route planning, unmanned plane during flying is controlled by programme path
Arrive at user location；
The interim two dimensional code that user retains is scanned, the information for the interim two dimensional code that the user retains is identified, user is stayed
The interim two dimensional code deposited is verified；
It is verified, the cleaning request of user is executed by the cleaning device in the unmanned plane.
6. computer readable storage medium according to claim 5, which is characterized in that the processor identification mission instruction
Mode include：
Identification mission instructs to obtain the cleaning content of user's request；
The assignment instructions further include：The better address of user's positioning position information and user location.
7. computer readable storage medium according to claim 5, which is characterized in that the processor is according to subscriber data
And the interim identifying code that generates of assignment instructions information generates interim two dimensional code, and by the interim two dimensional code be sent to user to
The mode of retention includes：
The unmanned plane connection network is controlled, the individual subscriber money when user's registration of cleaning unmanned plane base station database is transferred
Material；
Interim identifying code is generated according to individual subscriber data and command information, and interim two dimensional code is generated according to interim identifying code,
The interim two dimensional code is sent to user identity authentication of user's retention as rescan；
Wherein, the interim identifying code is the password that letter is combined with digital random, and the interim identifying code is used as to be stayed with user
The interim identifying code in interim two dimensional code deposited does matching and compares；The interim two dimensional code unmanned plane complete cleaning to
Effect is just lost after the feedback of family, can not be used again.
8. according to any computer readable storage medium of claim 5-7, which is characterized in that the processor is according to finger
The location information for enabling acquisition of information position to user carries out route planning, controls unmanned plane during flying by programme path and arrives at use
The mode of family position includes：
The position better address of the location information of user's positioning and positioning is identified on 3D analog map；
Unmanned plane position is positioned by the positioning device in unmanned plane and obtains unmanned plane position, unmanned plane position is determined with user
The location information of position carries out route planning on map platform, controls the unmanned plane during flying according to the route of planning and arrives at user
Position.
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| CN201811015741.1A CN108921257A (en) | 2018-08-31 | 2018-08-31 | A kind of cleaning unmanned plane and storage medium |
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Cited By (1)
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| CN114502292A (en) * | 2019-07-15 | 2022-05-13 | 腾狮国际私人有限公司 | Collaborative cleaning system and device |
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