CN109102051A - It is a kind of for cleaning the unmanned plane and storage medium of glass - Google Patents
It is a kind of for cleaning the unmanned plane and storage medium of glass Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 141
- 239000011521 glass Substances 0.000 title claims abstract description 122
- 238000003860 storage Methods 0.000 title claims abstract description 18
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- G—PHYSICS
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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- 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
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Abstract
The application discloses a kind of for cleaning the unmanned plane and storage medium of glass, wherein the unmanned plane obtains glass cleaning task two dimensional code；Unmanned plane identification mission two dimensional code obtains user information；Unmanned plane gets the designated position of user's positioning according to user information, carries out route planning, arrives at user location by programme path navigation flight；The fixation two dimensional code that unmanned plane scanning user is stayed, identification obtain web-privilege password Web and need clean area information；Unmanned plane carries out the glass in the region that cleaning user requires by glass discrimination apparatus and window wiping systems.The application executes cleaning instruction up to user location by unmanned plane recognition user information and user location, according to programme path flight, realizes that user can not need clean position to send request and reservation cleaning, improve the convenience of cleaning glass and reduce cleaning cost.
Description
Technical field
This application involves unmanned plane fields more particularly to a kind of for cleaning the unmanned plane and storage medium of glass.
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, many high buildings are all the panorama glass of assembly, and traditional brick wall glass structure is very
It applies on high building less.Traditional brick wall glass structure is unfavorable for carrying out cleaning, is also unfavorable for installation and replacement, panorama
Glass has the advantages of energy whole face cleaning, moreover it is possible to be easily installed and replace, high-altitude cleaning risk is very high, and panorama glass also can be opposite
Reduce the workload of cleanup crew, reduces risk.
Traditional high-altitude glass-cleaning technology has the high-altitude cleaning work being commonly called as " spider-man ", and tower crane cleaner is scientific and technological
Development also brings change to high-altitude glass-cleaning, high-altitude cleaning unmanned plane occurs, and previous cleaning glass unmanned plane needs
Operator scene remote controlled drone, and user can only cannot provide the reservation clothes being absent from the scene by call request cleaning service
Business, user needs to do necessary prompt at the scene when cleaning is implemented, this is just unfavorable for saving cleaning cost, is unfavorable for the time of user
Distribution, weakens the convenience of unmanned plane.
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 of glass cleaning unmanned plane
Method, system and unmanned plane, storage medium.
The application the technical solution adopted is that, a kind of localization method of glass cleaning unmanned plane is provided, which comprises
Unmanned plane obtains glass cleaning task two dimensional code；
Unmanned plane identification mission two dimensional code obtains user information；
Unmanned plane gets the designated position of user's positioning according to user information, carries out route planning, passes through programme path
Navigation flight arrives at user location；
The fixation two dimensional code that unmanned plane scanning user is stayed, identification obtain web-privilege password Web and need clean area information；
Unmanned plane carries out the glass in the region that cleaning user requires by glass discrimination apparatus and window wiping systems.
Preferably, the unmanned plane acquisition glass cleaning task two dimensional code includes:
User sends cleaning request to cleaning glass unmanned plane base station, and cleaning glass unmanned plane base station receives request, glass
It cleans unmanned plane base station and extracts subscriber data to database, and task two dimension is made in the request of user's transmission and subscriber data
Code；
Cleaning glass unmanned plane base station starts unmanned plane, and sends glass cleaning task two dimensional code, unmanned plane to unmanned plane
Obtain the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
User sends cleaning request to cleaning unmanned plane base station by equipment such as terminals, and the terminal is equipped with can be with cleaning
The application software of unmanned plane base station communication does a mark at once after cleaning unmanned plane base station receives the request of user for user
Note file simultaneously starts standby unmanned plane, and the data of user in the request content and database of user is stored in label
By two-dimension code generator task two dimensional code is made in the data of tab file by file；The cleaning unmanned plane base station will be made
Task two dimensional code be sent on unmanned plane, reception device on unmanned plane is set and receives task two dimensional code, while unmanned plane
Take off preparation, such as battery capacity, the intact equal inspection of circuit.
Preferably, the unmanned plane identification mission two dimensional code, obtaining user information includes:
The two-dimension code recognition device identification mission two dimensional code being arranged in unmanned plane obtains the personal information of user；
Preset web-privilege password Web when user's registration；
The designated position of user's positioning and the better address of designated position.
The personal information of user is obtained for doing data storage label, loss of data is avoided, obtains the permission of user preset
Password matches comparison as the web-privilege password Web in the fixation two dimensional code stayed with user, does and recognizes to the designated position of user's positioning
Card, the designated position and designated position better address for obtaining user be in order to do information collection to navigation, some location ambiguities
Can be found according to better address, and for high building the number of plies be it needs to be determined that.
Preferably, preset permission code includes: when the user's registration
The preset web-privilege password Web is different from the web-privilege password Web of modification logging, institute for preset one in registration by user
Stating web-privilege password Web is the password that letter is combined with number；
The cleaning task two dimension for being sent to unmanned plane is arranged in the web-privilege password Web by cleaning glass unmanned plane base station
In code, the web-privilege password Web is used to match with unmanned plane in the web-privilege password Web that the fixation two dimensional code that scanning user stays obtains.
Pass through the certification of web-privilege password Web, it is ensured that unmanned plane cleaning is the glass for sending request user, avoids the occurrence of and accidentally grasps
The case where making has the purview certification code of fixed two dimensional code, and user may exit off building, do not need building without with man-machine progress
Purview certification.
Preferably, unmanned plane gets the designated position of user's positioning according to user information, carries out route planning, passes through rule
Drawing route flight arrival user location includes:
Unmanned plane is provided with map platform and navigation positioning system, by user positioning designated position and designated position it is detailed
Thin address is labeled on 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 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.
A kind of positioning system of glass cleaning unmanned plane is provided, the system comprises:
Acquisition task two dimensional code module, for receiving the task two dimensional code of cleaning glass unmanned plane base station transmission；
Two dimensional code identification module, the two dimensional code and identification scanning that cleaning glass unmanned plane base station is sent for identification arrive user
The fixation two dimensional code stayed；
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；
Scan module, the fixation two dimensional code for being stayed to user are scanned, and the fixation two dimensional code scanned is transmitted
To two dimensional code identification module；
Execution module, the glass in the region for cleaning user's requirement.
Preferably, the two dimensional code identification module includes:
User information identifies submodule, for identification the web-privilege password Web of the personal information and user preset of user；
Position identifies submodule, for identification the better address of the designated position and designated position of user's positioning；
Information identifies submodule, the web-privilege password Web and cleaning region letter in fixation two dimensional code that user is stayed for identification
Breath.
Preferably, the information identification submodule includes:
Web-privilege password Web matching unit, it is pre- for web-privilege password Web in the fixation two dimensional code that user is stayed and user will to be recognized
If web-privilege password Web matched, matching is correctly carried out clean up task, matches incorrect just to cleaning unmanned plane base station feedback；
Information acquisition unit is cleaned, for obtaining the cleaning area information in the two fixed dimension codes that user is stayed.
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 designated position distance of positioning；
D navigation submodule, for 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.
There is provided a kind of for cleaning the unmanned plane of glass, the unmanned plane includes: memory, processor, image collector
Set, glass discrimination apparatus and window wiping systems, wherein the memory for storing executable program code and data,
The processor is used to call the executable program code of the memory storage, executes following steps:
Obtain glass cleaning task two dimensional code；
Identification mission two dimensional code obtains user information；
The designated position of user's positioning is got according to user information, carries out route planning, institute is controlled by programme path
It states unmanned plane during flying and arrives at user location；
The fixation two dimensional code that control described image acquisition device scanning user is stayed, identification obtain web-privilege password Web and need to clean
Area information；
It controls the glass discrimination apparatus and the window wiping systems carries out the glass in the region that cleaning user requires.
Preferably, the unmanned plane further includes communication device, and the processor obtains the side of glass cleaning task two dimensional code
Formula includes:
It controls the communication device and obtains the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
Preferably, the user information includes:
The personal information of user；
Preset web-privilege password Web when user's registration；
The designated position of user's positioning and the better address of designated position.
Preferably, preset web-privilege password Web is different from logging in for preset one by user in registration when the user's registration
The web-privilege password Web of password, the web-privilege password Web are the password that letter is combined with number；
The cleaning task two dimension for being sent to the unmanned plane is arranged in by cleaning glass unmanned plane base station for the web-privilege password Web
In code, the web-privilege password Web is used for the web-privilege password Web obtained with described image acquisition device in the fixation two dimensional code that scanning user stays
It matches.
Preferably, the unmanned plane further includes positioning device, and the processor gets user according to user information and positions
Designated position, carry out route planning, controlled by way of the unmanned plane during flying arrives at user location programme path and include:
The better address of the designated position of user's positioning and designated position is labeled on map；
Unmanned plane position is positioned by the positioning device and obtains unmanned plane position, unmanned plane position is specified with user
Position carries out route planning on map platform, controls the unmanned plane during flying according to the route of planning and arrives at user location.
A kind of computer readable storage medium is provided, the storage medium is stored with computer program, the computer journey
It is performed the steps of when sequence is executed by processor
Obtain glass cleaning task two dimensional code；
Identification mission two dimensional code obtains user information；
The designated position of user's positioning is got according to user information, carries out route planning, nothing is controlled by programme path
User location is arrived in man-machine flight；
The fixation two dimensional code that scanning user is stayed, identification obtain web-privilege password Web and need clean area information；
The region that cleaning user requires is carried out by glass discrimination apparatus in the unmanned plane and window wiping systems
Glass.
Preferably, the mode of the processor acquisition glass cleaning task two dimensional code includes:
Obtain the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
Preferably, the user information includes:
The personal information of user；
Preset web-privilege password Web when user's registration；
The designated position of user's positioning and the better address of designated position.
Preferably, preset web-privilege password Web is different from logging in for preset one by user in registration when the user's registration
The web-privilege password Web of password, the web-privilege password Web are the password that letter is combined with number；
The cleaning task two dimension for being sent to the unmanned plane is arranged in by cleaning glass unmanned plane base station for the web-privilege password Web
In code, the web-privilege password Web is used to do with the unmanned plane in the web-privilege password Web that the fixation two dimensional code that stays of scanning user obtains
Match.
Preferably, the processor gets the designated position of user's positioning according to user information, carries out route planning, leads to
Cross programme path control unmanned plane during flying arrive at user location mode include:
The better address of the designated position of user's positioning and designated position is labeled on 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
Family designated 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
It sets.
Compared with prior art, the application at least has the advantages that the application passes through the two dimensional code in unmanned plane
Identification module, navigation positioning module and execution module identification two dimensional code obtain the designated position of user information and user's positioning, root
Barcode scanning certification and clean operation are carried out up to user location according to unmanned plane and the flight of designated position programme path, allows users to strange land
Subscription services and be not required to scene and authenticate in person and can also carry out cleaning glass, improve the convenience of cleaning glass, reduce cleaning at
This.
Detailed description of the invention
Fig. 1 is a kind of localization method flow chart of glass cleaning unmanned plane of the embodiment of the present application；
Fig. 2 is a kind of positioning system modules block diagram of glass 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 23 parts in Fig. 3；
Fig. 5 is the inside submodule block diagram of 13 parts in Fig. 2；
Fig. 6 is that the embodiment of the present application is a kind of for cleaning the structural schematic diagram of the unmanned plane of glass.
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 of glass cleaning unmanned plane, the localization method of the glass cleaning unmanned plane is real
Apply the environment in a kind of city cleaning glass, the environment includes a kind of mobile terminal, serving BS and unmanned plane.
Wherein, the terminal can be smart phone, Intelligent bracelet and smartwatch etc.；The serving BS can be work
For the signal processing relay centre and data storage center of mobile terminal and unmanned plane, be also possible to only as monitoring unmanned plane and
Data storage center is provided, but is not involved in the processing transfer of mobile terminal and unmanned plane signal；The unmanned plane can be more rotations
Wing unmanned plane, helicopter unmanned plane and fixed-wing unmanned plane, the application is not to the mobile terminal product type and unmanned plane class
Type does specific restriction；It is to send and receive that the mobile terminal and unmanned plane, which are fitted with social or interactive class application, effect,
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 described method includes:
S11, unmanned plane obtain task two dimensional code；User sends cleaning request, clearing glass to cleaning glass unmanned plane base station
Clean unmanned plane base station receives request, and subscriber data is extracted to database in cleaning glass unmanned plane base station, and asks what user sent
Task two dimensional code is made in summation subscriber data；
Cleaning glass unmanned plane base station starts unmanned plane, and sends glass cleaning task two dimensional code, unmanned plane to unmanned plane
Obtain the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
Unmanned plane obtains the clean up task two dimensional code of cleaning glass unmanned plane base station transmission, and unmanned plane obtains task two
The key that dimension code is run as unmanned plane program, unmanned plane does flight preparation after obtaining task two dimensional code automatically, for example checks electricity
The state of pond electricity, electronic feedback and cleaning device.
In some possible embodiments, user directly can send request two dimensional code to unmanned plane, and unmanned plane is to cleaning
Unmanned plane base station database calls user information.
S12, unmanned plane identification mission two dimensional code；The clean up task two dimension that unmanned plane sends cleaning glass unmanned plane base station
Code carries out the two-dimension code recognition device identification mission two dimensional code that analysis identification is arranged in unmanned plane and obtains the personal information of user,
The personal information of user is obtained for doing data storage label, avoids loss of data；
Further, preset web-privilege password Web when user's registration, obtain the web-privilege password Web of user preset as with user institute
The web-privilege password Web in two dimensional code stayed does matching comparison, authenticates to the designated position of user's positioning, passes through recognizing for web-privilege password Web
Card, it is ensured that the case where being the glass for sending request user, avoid the occurrence of maloperation of unmanned plane cleaning.
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 for high building the number of plies be it needs to be determined that.
In some possible embodiments, unmanned plane can call the 3D of network by network connection device and network connection
Map platform determines the designated position of user's positioning.
S13, unmanned plane get the designated position of user's positioning according to user information, carry out route planning, pass through planning
User location is arrived in route guidance flight；Specifically, unmanned plane is provided with map platform and navigation positioning system, user is positioned
Designated position and the better address of designated position be labeled on map；It is fixed to unmanned plane position by navigation positioning system
Position obtains unmanned plane position, unmanned plane position and specified location in user is carried out route planning on map platform, according to planning
Route flight arrive 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.
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 fixation two dimensional code that S14, unmanned plane scanning recognition user are stayed；When unmanned plane reaches user location, unmanned plane is logical
It crosses camera scanning user and stays in fixation two dimensional code on glass, the fixation two dimensional code that the user is stayed is user by input
The data such as web-privilege password Web and cleaning area information are made in two-dimension code generator, and the fixation two dimensional code that the user is stayed is as nothing
The man-machine clean last certification of carry out.
Further, the fixation two dimensional code that the user scanned is stayed two-dimension code recognition device is transferred to identify,
The web-privilege password Web and need clean glassy zone that user is stayed are identified by two-dimension code recognition device.
S15, the cleaning request for executing user；According to the information identified, unmanned plane passes through glass discrimination apparatus and glass
Cleaning device carries out the glass in the region that cleaning user requires.
As shown in Figures 2 to 5, a kind of positioning system of glass cleaning unmanned plane is additionally provided, the unmanned plane can be
Multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane and unmanned helicopter etc., the application does not do specifically the product type of the unmanned plane
Restriction.
The system comprises:
Acquisition task two dimensional code module 11 receives the task two dimension that cleaning glass unmanned plane base station is sent for unmanned plane
Code；User to cleaning glass unmanned plane base station send cleaning request, cleaning glass unmanned plane base station receive request, cleaning glass without
Subscriber data is extracted to database in man-machine base station, and task two dimensional code is made in the request of user's transmission and subscriber data.
Two dimensional code identification module 12, the two dimensional code and identification sent for unmanned plane identification cleaning glass unmanned plane base station are swept
Retouch the two dimensional code that user stays；The two dimensional code identification module 12 includes user information identification submodule 21, position identification submodule
Block 22 and information identify submodule 23, the user information identification submodule 21 for unmanned plane obtain user personal information and
The web-privilege password Web of user preset, position identification submodule 22 are used to obtain the designated position and designated position of user's positioning
Better address, the information identify submodule 23, the web-privilege password Web and cleaning region that user is stayed for identification in two dimensional code
Information.
Further, the information identification submodule 23 includes web-privilege password Web matching unit 231 and cleaning acquisition of information list
Member 232, the web-privilege password Web matching unit 231 are used to that the web-privilege password Web and use in the fixation two dimensional code that user is stayed will to be recognized
The preset web-privilege password Web in family is matched, and matching is correctly carried out clean up task, is matched incorrect just to cleaning unmanned plane base station
Feedback, waits the instruction of unmanned plane base station to be cleaned；The cleaning information acquisition unit 232 is used to obtain that user to be stayed fixes two
Tie up the cleaning area information in code.
Navigation positioning module 13, 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；The navigation positioning module 13 is wrapped
Positioning submodule 31 and d navigation submodule 32 are included, the designated position that the positioning submodule 31 positions user is on map platform
It is identified, the GPS positioning device positioning unmanned plane position inside unmanned plane is set, unmanned plane station location marker is put down in map
On platform, the designated position distance of unmanned plane and user's positioning is obtained.
Further, the d navigation submodule 32 by map platform to unmanned plane and user positioning designated position
Route planning is carried out, a plurality of route is obtained, selects an optimal route as unmanned plane during flying route, unmanned plane is according to optimal road
Line navigation flight reaches the designated position of user's positioning.
Scan module 14, the fixation two dimensional code stayed for unmanned plane to user are scanned, and fix two for what is scanned
Dimension code is transferred to two dimensional code identification module；
Execution module 15 identifies the fixation two dimensional code that user is stayed according to two dimensional code identification module 12, obtains user's request
Clean glassy zone, unmanned plane carry out the glass in the region that cleaning user requires by glass discrimination apparatus and window wiping systems
Glass.
The embodiment of the present invention also provides a kind of for cleaning the unmanned plane of glass, can be used to implement previous embodiment offer
Glass cleaning unmanned plane localization method in all or part of the steps.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 image collecting device 300, for scanning the two-dimensional code, glass discrimination apparatus 400 and window wiping systems 500.Wherein, it deposits
Reservoir 100, processor 200, image collecting device 300, glass discrimination apparatus 400 and window wiping systems 500 can pass through
One or more bus is communicatively coupled.It will be understood by those skilled in the art that the structure of unmanned plane shown in Fig. 6 is not
The restriction to the embodiment of the present invention is constituted, it is also possible to hub-and-spoke configuration either busbar network, can also include than figure
Show more or fewer components, perhaps combines certain components or different component layouts.
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 unmanned plane shown in Fig. 6, processor 200 can be used for calling the executable program generation of the storage of memory 100
Code executes following steps:
Obtain glass cleaning task two dimensional code；
Identification mission two dimensional code obtains user information；
The designated position of user's positioning is got according to user information, carries out route planning, nothing is controlled by programme path
User location is arrived in man-machine flight；
Control image collecting device 300 scans the fixation two dimensional code that user is stayed, and identification obtains web-privilege password Web and needs to clean
Area information；
Control glass discrimination apparatus 400 and window wiping systems 500 carry out the glass in the region that cleaning user requires.
Optionally, unmanned plane shown in fig. 6 can also include communication device (not shown), and processor 200 obtains glass
The mode of glass cleaning task two dimensional code may include:
It controls communication device and obtains the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
Optionally, which can include but is not limited to: the personal information of user；Preset permission when user's registration
Password；The designated position of user's positioning and the better address of designated position.
Optionally, when user's registration preset web-privilege password Web by user registration when it is preset one be different from modification logging
Web-privilege password Web, which is letter and the digital password combined；
The web-privilege password Web is arranged in the cleaning task two dimensional code for being sent to unmanned plane by cleaning glass unmanned plane base station, should
Web-privilege password Web is used to match with image collecting device 300 in the web-privilege password Web that the fixation two dimensional code that scanning user stays obtains.
Optionally, unmanned plane shown in fig. 6 can also include positioning device (not shown), processor 200 according to
The designated position that family acquisition of information is positioned 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 better address of the designated position of user's positioning and designated position is labeled on map；
Unmanned plane position is positioned by positioning device and obtains unmanned plane position, by unmanned plane position and specified location in user
Route planning is carried out on map platform, and unmanned plane during flying is controlled according to the route of planning and arrives at user location.
Implement unmanned plane shown in fig. 6, the designated position of user information and user's positioning is obtained by unmanned plane, according to nothing
It is man-machine to carry out barcode scanning certification and clean operation up to user location with the flight of designated position programme path, allow users to strange land reservation
Cleaning glass can also be carried out by servicing and be not required to live authenticate in person, improved the convenience of cleaning glass, reduced cleaning cost.
The embodiment of the invention also provides a kind of computer readable storage medium, which is stored with computer journey
The localization method of the glass cleaning unmanned plane of previous embodiment offer may be implemented in sequence, the computer program when being executed by processor
In all or part of the content.
Specifically, following steps may be implemented when being executed by processor in the computer program:
Obtain glass cleaning task two dimensional code；
Identification mission two dimensional code obtains user information；
The designated position of user's positioning is got according to user information, carries out route planning, nothing is controlled by programme path
User location is arrived in man-machine flight；
The fixation two dimensional code that scanning user is stayed, identification obtain web-privilege password Web and need clean area information；
The glass in the region that cleaning user requires is carried out by glass discrimination apparatus in unmanned plane and window wiping systems.
Optionally, the mode of processor acquisition glass cleaning task two dimensional code may include:
Obtain the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
Optionally, which can include but is not limited to: the personal information of user；Preset permission when user's registration
Password；The designated position of user's positioning and the better address of designated position.
Optionally, when user's registration preset web-privilege password Web by user registration when it is preset one be different from modification logging
Web-privilege password Web, which is letter and the digital password combined；
The web-privilege password Web is arranged in the cleaning task two dimensional code for being sent to unmanned plane by cleaning glass unmanned plane base station, should
Web-privilege password Web is used to match with unmanned plane in the web-privilege password Web that the fixation two dimensional code that scanning user stays obtains.
Optionally, processor gets the designated position of user's positioning according to user information, carries out route planning, passes through rule
Draw route control unmanned plane during flying arrive at user location mode may include:
The better address of the designated position of user's positioning and designated position is labeled on 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
Family designated position carries out route planning on map platform, controls unmanned plane during flying according to the route of planning and arrives at user location.
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 include: USB flash disk, it is 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 (10)
1. a kind of for cleaning the unmanned plane of glass, which is characterized in that the unmanned plane includes: that memory, processor, image are adopted
Acquisition means, glass discrimination apparatus and window wiping systems, wherein the memory is for storing executable program code sum number
According to, the processor is used to call the executable program code of the memory storage, execute following steps:
Obtain glass cleaning task two dimensional code；
Identification mission two dimensional code obtains user information；
The designated position of user's positioning is got according to user information, carries out route planning, the nothing is controlled by programme path
User location is arrived in man-machine flight；
The fixation two dimensional code that control described image acquisition device scanning user is stayed, identification obtain web-privilege password Web and need clean area
Domain information；
It controls the glass discrimination apparatus and the window wiping systems carries out the glass in the region that cleaning user requires.
2. according to claim 1 for cleaning the unmanned plane of glass, which is characterized in that the unmanned plane further includes communication
Device, the mode that the processor obtains glass cleaning task two dimensional code include:
It controls the communication device and obtains the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
3. according to claim 1 for cleaning the unmanned plane of glass, which is characterized in that the user information includes:
The personal information of user；
Preset web-privilege password Web when user's registration；
The designated position of user's positioning and the better address of designated position.
4. according to claim 3 for cleaning the unmanned plane of glass, which is characterized in that preset when the user's registration
Web-privilege password Web by user registration when it is preset one be different from modification logging web-privilege password Web, the web-privilege password Web be letter with
The password of number combination；
The web-privilege password Web is arranged in the cleaning task two dimensional code for being sent to the unmanned plane by cleaning glass unmanned plane base station,
The web-privilege password Web is used to do with described image acquisition device in the web-privilege password Web that the fixation two dimensional code that stays of scanning user obtains
Match.
5. according to claim 1 to 4 for cleaning the unmanned plane of glass, which is characterized in that the unmanned plane also wraps
Positioning device is included, the processor gets the designated position of user's positioning according to user information, carries out route planning, passes through rule
It draws route and controls the unmanned plane during flying and arrive at the mode of user location and include:
The better address of the designated position of user's positioning and designated position is labeled on map；
Unmanned plane position is positioned by the positioning device and obtains unmanned plane position, by unmanned plane position and specified location in user
Route planning is carried out on map platform, and the unmanned plane during flying is controlled according to the route of planning and arrives at user location.
6. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the calculating
Machine program performs the steps of when being executed by processor
Obtain glass cleaning task two dimensional code；
Identification mission two dimensional code obtains user information；
The designated position of user's positioning is got according to user information, carries out route planning, unmanned plane is controlled by programme path
User location is arrived in flight；
The fixation two dimensional code that scanning user is stayed, identification obtain web-privilege password Web and need clean area information；
The glass in the region that cleaning user requires is carried out by glass discrimination apparatus in the unmanned plane and window wiping systems.
7. computer readable storage medium according to claim 6, which is characterized in that the processor obtains glass cleaning
The mode of task two dimensional code includes:
Obtain the glass cleaning task two dimensional code that cleaning glass unmanned plane base station is sent.
8. computer readable storage medium according to claim 6, which is characterized in that the user information includes:
The personal information of user；
Preset web-privilege password Web when user's registration；
The designated position of user's positioning and the better address of designated position.
9. computer readable storage medium according to claim 8, which is characterized in that preset power when the user's registration
It limits password and is different from the web-privilege password Web of modification logging for preset one in registration by user, the web-privilege password Web is letter and number
The password of word combination；
The web-privilege password Web is arranged in the cleaning task two dimensional code for being sent to the unmanned plane by cleaning glass unmanned plane base station,
The web-privilege password Web is used to match with the unmanned plane in the web-privilege password Web that the fixation two dimensional code that scanning user stays obtains.
10. according to any computer readable storage medium of claim 6-9, which is characterized in that the processor according to
User information gets the designated position of user's positioning, carries out route planning, controls unmanned plane during flying by programme path and arrives at
The mode of user location includes:
The better address of the designated position of user's positioning and designated position is labeled on map；
Unmanned plane position is positioned by the positioning device in unmanned plane and obtains unmanned plane position, unmanned plane position is referred to user
Positioning is set carries out route planning on map platform, controls the unmanned plane during flying according to the route of planning and arrives at user location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811015734.1A CN109102051A (en) | 2018-08-31 | 2018-08-31 | It is a kind of for cleaning the unmanned plane and storage medium of glass |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811015734.1A CN109102051A (en) | 2018-08-31 | 2018-08-31 | It is a kind of for cleaning the unmanned plane and storage medium of glass |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111080211A (en) * | 2019-12-30 | 2020-04-28 | 宁波市永恒的鸟笼软件科技有限公司 | Logistics information identification method based on two-dimensional code |
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