WO2018000736A1 - 基于无人机的外墙清洗方法及无人机 - Google Patents

基于无人机的外墙清洗方法及无人机 Download PDF

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Publication number
WO2018000736A1
WO2018000736A1 PCT/CN2016/109146 CN2016109146W WO2018000736A1 WO 2018000736 A1 WO2018000736 A1 WO 2018000736A1 CN 2016109146 W CN2016109146 W CN 2016109146W WO 2018000736 A1 WO2018000736 A1 WO 2018000736A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
drone
building
cleaned
information
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Application number
PCT/CN2016/109146
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English (en)
French (fr)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018000736A1 publication Critical patent/WO2018000736A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for

Definitions

  • the invention relates to the technical field of drones, in particular to an external wall cleaning method based on a drone and a drone.
  • the wall cleaning robot has been used to clean the exterior wall of the building, but usually the wall cleaning robot is cleaned by crawling on the outer wall surface of the building, and the cleaning efficiency is low. An efficient method of cleaning the exterior walls of buildings is needed.
  • the main object of the present invention is to provide an external wall cleaning method based on a drone and a drone, which aims to achieve an efficient cleaning of the exterior wall of the building.
  • an unmanned aerial vehicle based external wall cleaning method includes the following steps:
  • the drone When the drone receives the instruction to clean the external wall of the building, confirm the geographical location information of the building to be cleaned, and fly to the designated location of the building to be cleaned according to the geographical location information;
  • the cleaning device of the drone is controlled to clean the cleaning area according to the environmental information.
  • the obtaining the environmental information of the cleaning area comprises:
  • the environment information is generated based on the dust information and/or the image information analysis.
  • the cleaning device that controls the cleaning device of the drone according to the environmental information to clean the cleaning area comprises:
  • the cleaning device of the drone is controlled to clean the cleaning area according to the cleaning policy.
  • the cleaning strategy comprises a cleaning route and a cleaning method
  • the cleaning device comprises a brushing device and a detergent nozzle device
  • Controlling the cleaning device of the drone according to the cleaning policy to clean the cleaning area including:
  • the method further includes:
  • the next designated position is acquired to cause the drone to fly to the next designated position of the building to be cleaned for cleaning.
  • the invention further provides an external wall cleaning method based on a drone comprising the following steps:
  • the drone When the drone receives an instruction to clean the exterior wall of the building, it flies to the designated location of the building to be cleaned;
  • the cleaning device of the drone is controlled to clean the cleaning area according to the environmental information.
  • the obtaining the environmental information of the cleaning area comprises:
  • the environment information is generated based on the dust information and/or the image information analysis.
  • the cleaning device that controls the cleaning device of the drone according to the environmental information to clean the cleaning area comprises:
  • the cleaning device of the drone is controlled to clean the cleaning area according to the cleaning policy.
  • the cleaning strategy comprises a cleaning route and a cleaning method
  • the cleaning device comprises a brushing device and a detergent nozzle device
  • Controlling the cleaning device of the drone according to the cleaning policy to clean the cleaning area including:
  • the method further includes:
  • the next designated position is acquired to cause the drone to fly to the next designated position of the building to be cleaned for cleaning.
  • the present invention also provides a drone, the drone comprising:
  • a flight module for flying to a designated location of a building to be cleaned when the drone receives an instruction to clean the exterior wall of the building
  • An obtaining module configured to determine a cleaning area corresponding to the specified location on the outer wall of the building to be cleaned, and obtain environmental information of the cleaning area
  • a cleaning control module configured to control the cleaning device of the drone to clean the cleaning area according to the environmental information.
  • the obtaining module comprises:
  • An acquiring unit configured to detect the cleaning area based on the environmental monitoring device and/or the camera of the drone, and acquire the detected dust information and/or image information;
  • an analyzing unit configured to generate environment information according to the dust information and/or the image information.
  • the cleaning control module comprises:
  • a confirmation unit configured to confirm a cleaning policy according to the environmental information
  • a cleaning control unit for controlling the cleaning device of the drone to clean the cleaning area according to the cleaning policy.
  • the cleaning strategy comprises a cleaning route and a cleaning method
  • the cleaning device comprises a brushing device and a detergent nozzle device
  • the cleaning control unit is specifically configured to control the drone to fly according to the cleaning route, and control the brushing device to scrub the outer wall and/or the detergent nozzle device to the unmanned The cleaner carried by the machine is sprayed onto the surface of the cleaning area.
  • the drone further comprises:
  • a position obtaining module configured to: after the drone finishes cleaning the cleaning area, acquire a next designated position, so that the drone flies to a next designated position of the building to be cleaned for cleaning.
  • the embodiment of the present invention flies to a designated location of the building to be cleaned; and determines a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned, Obtaining environmental information of the cleaning area; and controlling the cleaning device of the drone to clean the cleaning area according to the environmental information. Since the UAV cleans the external wall by means of flight, it can quickly reach the designated location and clean, and the cleaning efficiency of the external wall is higher, thereby achieving the purpose of efficiently cleaning the external wall of the building.
  • FIG. 1 is a schematic flow chart of a first embodiment of an external wall cleaning method based on a drone according to the present invention
  • step S20 is a schematic flow chart of the refinement step of step S20 in the embodiment shown in FIG. 1 according to the present invention
  • step S30 is a schematic flowchart of a refinement step of step S30 in the embodiment shown in FIG. 1 according to the present invention
  • FIG. 4 is a schematic diagram of functional modules of a first embodiment of the drone of the present invention.
  • FIG. 5 is a schematic diagram of functional modules of an acquisition module in the embodiment shown in FIG. 4 of the present invention.
  • FIG. 6 is a schematic diagram of functional modules of a cleaning control module in the embodiment shown in FIG. 4;
  • FIG. 7 is a schematic diagram of functional modules added in the embodiment shown in FIG. 4 of the present invention.
  • the invention provides an external wall cleaning method based on a drone.
  • the method includes:
  • Step S10 when the drone receives the instruction to clean the external wall of the building, the drone flies to the designated position of the building to be cleaned;
  • Step S20 determining a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned, and acquiring environmental information of the cleaning area;
  • Step S30 controlling the cleaning device of the drone to clean the cleaning area according to the environmental information.
  • the external wall cleaning method based on the drone provided by the present invention is a method for cleaning the outer wall of a building by a drone.
  • the drone can be a fixed wing drone or a multi-rotor drone.
  • the cleaning device of the drone is a cleaning device loaded on the drone.
  • the cleaning device can be a tool for cleaning the exterior wall such as a brush, a scraper, a cleaner container, and a nozzle.
  • the specific cleaning device can be a tool or a plurality of integrated cleaning tools for cleaning the exterior wall of the building.
  • the above-mentioned command for cleaning the external wall of the building is a preset command, and the command can be triggered in various manners, for example, the remote terminal or the monitoring terminal of the drone can send an instruction to the drone.
  • the drone receives an instruction to clean the exterior of the building, it flies to the designated location of the building to be cleaned.
  • the algorithm performs image analysis on the screen to confirm that a certain building is a building to be cleaned, and then acquires geographical location information of the building according to the stored map information.
  • the camera acquires a plurality of buildings in the screen, and confirms that the highest building is the building to be cleaned, and then acquires the geographical location information of the building.
  • the acquired image may also be analyzed, and the analyzed building is prompted at the terminal, and then the building to be cleaned is confirmed according to the received confirmation of the building to be cleaned by the control terminal or the monitoring terminal, and then the building is acquired.
  • Geographic location information At the same time, it can also directly fly to the execution position of the building to be cleaned according to the position information contained in the received clean building exterior wall instruction, specifically after receiving the instruction to clean the external wall of the building, fly to the building to be cleaned.
  • the method of specifying the location is not limited to the ones described above, and can be selected as needed.
  • a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned is determined. For example, when the drone flies to the A position, the outer wall area at the point A is the cleaning area corresponding to the designated position.
  • the size range of the cleaning area can be preset.
  • the environmental information of the cleaning area is then obtained in order to understand the environmental condition of the area to be cleaned before cleaning the outer wall of the building for better cleaning.
  • the cleaning device of the drone is controlled to clean the external wall according to the environmental information.
  • the specific cleaning method can remove the dust from the outer wall through the brush. When dust is removed, it can be cleaned in the zigzag direction or in other preset directions. At the same time, it can also be cleaned by spraying water or spraying other cleaning agents and then brushing by brush.
  • the specific way of cleaning can be determined according to the environmental information of the external wall. Specifically, the cleaning method can be set to a plurality of types, and different cleaning methods are adopted according to each façade information.
  • the embodiment of the present invention flies to a designated location of the building to be cleaned; and determines a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned, Obtaining environmental information of the cleaning area; and controlling the cleaning device of the drone to clean the cleaning area according to the environmental information. Since the UAV cleans the external wall by means of flight, it can quickly reach the designated location and clean, and the cleaning efficiency of the external wall is higher, thereby achieving the purpose of efficiently cleaning the external wall of the building.
  • step S20 it is a schematic flowchart of the refinement step of step S20, where the foregoing step S20 includes:
  • Step S210 detecting the cleaning area based on the environment monitoring device and/or the camera of the drone, and acquiring the detected dust information and/or image information;
  • Step S220 analyzing and generating environment information according to the dust information and/or the image information.
  • the environment information of the area to be cleaned is obtained.
  • the specific control drone is flying in the belt cleaning area according to the preset route within the preset distance, and the cleaning area is detected based on the environmental monitoring device and/or the camera of the drone.
  • the preset distance can be set as needed, for example, set to 10 meters, and can be detected by an ultrasonic range finder, an infrared sensing device with a ranging function, or a distance measuring device such as a radar to detect the drone and the building to be cleaned.
  • the distance of the external wall and control the drone to keep a certain distance from the outer wall of the building to be cleaned during flight to ensure safety.
  • the preset route can be set as needed during flight detection, for example, the flight route of the frequently cleaned building can be saved, or the flight route can be determined according to the shape of the identified building to be cleaned, etc.
  • the flight route can be from left to right or from top to bottom.
  • a flight test can be performed when the flight area is in flight detection, and since the drone will generate a large airflow during the flight, the dust or suspended particles on the surface of the outer wall will be cleaned, or a flight test may be performed. Not accurate enough, you can also perform one or more flight tests as needed, which can be pre-defined as needed.
  • the environment detecting device of the above-mentioned drone is an environment detecting device for detecting dust on the drone device.
  • the dust sensor can detect dust on the surface of the external wall
  • the camera of the drone can be a panoramic camera or can be loaded on the A normal camera on a multi-axis pan/tilt.
  • the dust information detected by the environment detecting device of the drone and/or the image information detected by the camera are acquired, and the specific dust information may be information such as the presence of dust and dust thickness.
  • the obtained dust information and image information may be all information detected in real time, or may be acquired image information and dust information at preset intervals.
  • the environment information may be generated according to a preset algorithm, and the area map in which dust exists may be simulated according to whether dust is present, and the area where the dust is larger than the preset thickness may be marked, and the acquired image may be processed and recognized.
  • environmental detection is performed on the cleaning area, and dust information and/or image information of the cleaning area is acquired, and then environmental information is generated according to the dust information and/or analysis, so that the drone can be cleaned before cleaning.
  • Environmental information on the clean areas of the building to avoid blind cleaning and further improve the efficiency of cleaning.
  • step S30 it is a schematic flowchart of the refinement step of step S30, where the foregoing step S30 includes:
  • Step S310 confirming a cleaning policy according to the environmental information
  • Step S320 controlling the cleaning device of the drone to clean the cleaning area according to the cleaning policy.
  • the cleaning policy is confirmed according to the environmental information.
  • the specific cleaning policy may be a preset cleaning policy, or the recommended cleaning policy may be calculated by a real-time algorithm.
  • Specific cleaning strategies may include cleaning routes, cleaning sequences, cleaning methods, etc., and specific cleaning strategies may be set as desired.
  • the cleaning device of the drone is controlled to clean the cleaning area.
  • the cleaning area is cleaned by controlling a corresponding cleaning tool in the cleaning device according to a cleaning policy. For example, use a brush to wipe all exterior walls of a building according to the cleaning strategy.
  • the cleaning strategy is confirmed according to the environmental information, and then the cleaning device of the drone is controlled according to the cleaning policy to clean the cleaning area, so that the cleaning is more efficient, and the operation of the drone also avoids the danger of manual work.
  • the cleaning strategy includes a cleaning route and a cleaning mode
  • the cleaning device includes a brushing device and a detergent nozzle device
  • the step S320 includes:
  • the cleaning strategy includes a cleaning route and a cleaning mode.
  • the specific cleaning route refers to route information from top to bottom, left to right, and cleaning one or more times.
  • the cleaning method refers to which cleaning tool is used. Cleaning can also include information on how to use the cleaning tool to clean, wipe one or more times.
  • the cleaning device comprises a brushing device and a detergent nozzle device
  • the brushing device can be a brush
  • the detergent nozzle device can be a preset size nozzle
  • the pressure nozzle can be a high pressure nozzle, a low pressure nozzle, etc., and different nozzles can be operated according to the working principle.
  • Corresponding cleaning tasks such as high pressure nozzles, can be sprayed with high temperature (high pressure) water column or water vapor.
  • the cleaning device may also include other means for cleaning the exterior wall, such as a squeegee.
  • the drone is controlled to fly according to the cleaning route in the cleaning strategy, and the brushing device is controlled to scrub the external wall, and the detergent nozzle device can also be controlled to spray the cleaning agent carried by the drone to the cleaning device.
  • the surface of the area, or the detergent nozzle device is first controlled to spray the cleaning agent carried by the drone to the surface of the cleaning area, and then the drone is controlled to wipe the outer wall.
  • the distance between the drone and the outer wall can be detected by the distance measuring device, and the specific and external walls of the drone are always kept at a certain distance to ensure that the drone is not cleaned. Collisions on the exterior walls of buildings improve safety.
  • the monitoring device of the drone can monitor the operation of the drone in real time, so that adjustment can be made when necessary. And it can be implemented to detect the working power of the drone. When the power is too low, alarm the drone monitoring device, or control the drone to enter the automatic return mode, so that the drone returns to the preset location, and the drone is improved. The safety of cleaning work.
  • the drone is controlled to follow the cleaning route to improve the cleaning efficiency, and at the same time, the brushing device is controlled to brush the external wall surface and/or the detergent nozzle device sprays the cleaning agent carried by the drone to the surface of the cleaning area. This enables the drone to complete the task of cleaning the exterior walls of the building to be cleaned.
  • the method for cleaning an exterior wall of an unmanned aerial vehicle according to the present invention further comprises:
  • the next designated position is acquired to cause the drone to fly to the next designated position of the building to be cleaned for cleaning.
  • the next designated position is acquired, so that the drone can complete the cleaning in one area, and can fly to the next designated position to obtain the next one.
  • the specific designated position can control the drone to fly to the designated position by receiving the position command sent by the monitoring terminal or by the position obtained by the built-in calculation algorithm.
  • the second position is acquired at this time, so that the drone can fly to the second position to clean the outer wall area corresponding to the second position, thereby Make the drone sub-region gradually clean.
  • the next designated position is acquired, so that the drone can fly to the next designated position for cleaning, so that the drone can complete the entire building in a sub-area. clean.
  • the present invention also provides a drone, and with reference to FIG. 4, a first embodiment of the drone of the present invention is provided.
  • the drone includes:
  • the flight module 10 is configured to fly to a designated location of the building to be cleaned when the drone receives an instruction to clean the exterior wall of the building;
  • the obtaining module 20 is configured to determine a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned, and obtain environmental information of the cleaning area;
  • the cleaning control module 30 is configured to control the cleaning device of the drone to clean the cleaning area according to the environmental information.
  • the drone provided by the present invention can be used to clean the exterior wall of a building.
  • the drone can be a fixed wing drone or a multi-rotor drone.
  • the cleaning device of the drone is a cleaning device loaded on the drone.
  • the cleaning device can be a tool for cleaning the exterior wall such as a brush, a scraper, a cleaner container, and a nozzle.
  • the specific cleaning device can be a tool or a plurality of integrated cleaning tools for cleaning the exterior wall of the building.
  • the above-mentioned command for cleaning the external wall of the building is a preset command, and the command can be triggered in various manners, for example, the remote terminal or the monitoring terminal of the drone can send an instruction to the drone.
  • the flight module 10 controls the drone to fly to a designated location of the building to be cleaned.
  • the algorithm performs image analysis on the screen to confirm that a certain building is a building to be cleaned, and then acquires geographical location information of the building according to the stored map information.
  • the camera acquires a plurality of buildings in the screen, and confirms that the highest building is the building to be cleaned, and then acquires the geographical location information of the building.
  • the acquired image may also be analyzed, and the analyzed building is prompted at the terminal, and then the building to be cleaned is confirmed according to the received confirmation of the building to be cleaned by the control terminal or the monitoring terminal, and then the building is acquired.
  • Geographic location information At the same time, it can also directly fly to the execution position of the building to be cleaned according to the position information contained in the received clean building exterior wall instruction, specifically after receiving the instruction to clean the external wall of the building, fly to the building to be cleaned.
  • the method of specifying the location is not limited to the ones described above, and can be selected as needed.
  • a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned is determined. For example, when the drone flies to the A position, the outer wall area at the point A is the cleaning area corresponding to the designated position.
  • the size range of the cleaning area can be preset.
  • the obtaining module 20 obtains environmental information of the cleaning area, in order to understand the environmental condition of the area to be cleaned before cleaning the outer wall of the building, so as to better clean.
  • the cleaning control module 30 controls the cleaning device of the drone to clean the external wall according to the environmental information.
  • the specific cleaning method can remove the dust from the outer wall through the brush. When dust is removed, it can be cleaned in the zigzag direction or in other preset directions. At the same time, it can also be cleaned by spraying water or spraying other cleaning agents and then brushing by brush.
  • the specific way of cleaning can be determined according to the environmental information of the external wall. Specifically, the cleaning method can be set to a plurality of types, and different cleaning methods are adopted according to each façade information.
  • the embodiment of the present invention flies to a designated location of the building to be cleaned; and determines a cleaning area corresponding to the designated location on the outer wall of the building to be cleaned, Obtaining environmental information of the cleaning area; and controlling the cleaning device of the drone to clean the cleaning area according to the environmental information. Since the UAV cleans the external wall by means of flight, it can quickly reach the designated location and clean, and the cleaning efficiency of the external wall is higher, thereby achieving the purpose of efficiently cleaning the external wall of the building.
  • the foregoing obtaining module 20 includes:
  • the acquiring unit 210 is configured to detect the cleaning area based on the environment monitoring device and/or the camera of the drone, and acquire the detected dust information and/or image information;
  • the analyzing unit 220 is configured to generate environment information according to the dust information and/or the image information.
  • the environment information of the area to be cleaned is obtained.
  • the specific control drone is flying in the belt cleaning area according to the preset route within the preset distance, and the cleaning area is detected based on the environmental monitoring device and/or the camera of the drone.
  • the preset distance can be set as needed, for example, set to 10 meters, and can be detected by an ultrasonic range finder, an infrared sensing device with a ranging function, or a distance measuring device such as a radar to detect the drone and the building to be cleaned.
  • the distance of the external wall and control the drone to keep a certain distance from the outer wall of the building to be cleaned during flight to ensure safety.
  • the preset route can be set as needed during flight detection, for example, the flight route of the frequently cleaned building can be saved, or the flight route can be determined according to the shape of the identified building to be cleaned, etc.
  • the flight route can be from left to right or from top to bottom.
  • a flight test can be performed when the flight area is in flight detection, and since the drone will generate a large airflow during the flight, the dust or suspended particles on the surface of the outer wall will be cleaned, or a flight test may be performed. Not accurate enough, you can also perform one or more flight tests as needed, which can be pre-defined as needed.
  • the environment detecting device of the above-mentioned drone is an environment detecting device for detecting dust on the drone device.
  • the dust sensor can detect dust on the surface of the external wall
  • the camera of the drone can be a panoramic camera or can be loaded on the A normal camera on a multi-axis pan/tilt.
  • the acquiring unit 210 acquires the dust information detected by the environment detecting device of the drone and/or the image information detected by the camera, and the specific dust information may be whether there is dust and dust thickness. And other information.
  • the obtained dust information and image information may be all information detected in real time, or may be acquired image information and dust information at preset intervals.
  • the analysis unit 220 performs analysis to generate environmental information after the dust information and the image information are acquired.
  • the environment information may be generated according to a preset algorithm, and the area map in which dust exists may be simulated according to whether dust is present, and the area where the dust is larger than the preset thickness may be marked, and the acquired image may be processed and recognized.
  • environmental detection is performed on the cleaning area, and dust information and/or image information of the cleaning area is acquired, and then environmental information is generated according to the dust information and/or analysis, so that the drone can be cleaned before cleaning.
  • Environmental information on the clean areas of the building to avoid blind cleaning and further improve the efficiency of cleaning.
  • the above cleaning control module 30 includes:
  • the confirmation unit 310 is configured to confirm the cleaning policy according to the environmental information
  • the cleaning control unit 320 is configured to control the cleaning device of the drone to clean the cleaning area according to the cleaning policy.
  • the confirmation unit 310 confirms the cleaning policy according to the environment information.
  • the specific cleaning policy may be a preset cleaning policy, or may be a recommended cleaning policy by a real-time algorithm.
  • Specific cleaning strategies may include cleaning routes, cleaning sequences, cleaning methods, etc., and specific cleaning strategies may be set as desired.
  • the cleaning control unit 320 controls the cleaning device of the drone to clean the cleaning area. Specifically, the cleaning area is cleaned by controlling a corresponding cleaning tool in the cleaning device according to a cleaning policy. For example, use a brush to wipe all exterior walls of a building according to the cleaning strategy.
  • the cleaning strategy is confirmed according to the environmental information, and then the cleaning device of the drone is controlled according to the cleaning policy to clean the cleaning area, so that the cleaning is more efficient, and the operation of the drone also avoids the danger of manual work.
  • the cleaning strategy includes a cleaning route and a cleaning method
  • the cleaning device includes a brushing device and a detergent nozzle device
  • the cleaning control unit 320 is specifically configured to control the drone to fly according to the cleaning route, and control the brushing device to scrub the outer wall and/or the detergent nozzle device to the unmanned The cleaner carried by the machine is sprayed onto the surface of the cleaning area.
  • the cleaning strategy includes a cleaning route and a cleaning mode.
  • the specific cleaning route refers to route information from top to bottom, left to right, and cleaning one or more times.
  • the cleaning method refers to which cleaning tool is used. Cleaning can also include information on how to use the cleaning tool to clean, wipe one or more times.
  • the cleaning device comprises a brushing device and a detergent nozzle device
  • the brushing device can be a brush
  • the detergent nozzle device can be a preset size nozzle
  • the pressure nozzle can be a high pressure nozzle, a low pressure nozzle, etc., and different nozzles can be operated according to the working principle.
  • Corresponding cleaning tasks such as high pressure nozzles, can be sprayed with high temperature (high pressure) water column or water vapor.
  • the cleaning device may also include other means for cleaning the exterior wall, such as a squeegee.
  • the drone is controlled to fly according to the cleaning route in the cleaning strategy, and the brushing device is controlled to scrub the external wall, and the detergent nozzle device can also be controlled to spray the cleaning agent carried by the drone to the cleaning device.
  • the surface of the area, or the detergent nozzle device is first controlled to spray the cleaning agent carried by the drone to the surface of the cleaning area, and then the drone is controlled to wipe the outer wall.
  • the distance between the drone and the outer wall can be detected by the distance measuring device, and the specific and external walls of the drone are always kept at a certain distance to ensure that the drone is not cleaned. Collisions on the exterior walls of buildings improve safety.
  • the monitoring device of the drone can monitor the operation of the drone in real time, so that adjustment can be made when necessary. And it can be implemented to detect the working power of the drone. When the power is too low, alarm the drone monitoring device, or control the drone to enter the automatic return mode, so that the drone returns to the preset location, and the drone is improved. The safety of cleaning work.
  • the drone is controlled to follow the cleaning route to improve the cleaning efficiency, and at the same time, the brushing device is controlled to brush the external wall surface and/or the detergent nozzle device sprays the cleaning agent carried by the drone to the surface of the cleaning area. This enables the drone to complete the task of cleaning the exterior walls of the building to be cleaned.
  • the drone of the present invention further includes:
  • the location obtaining module 40 is configured to acquire a next designated location after the drone finishes cleaning the cleaning area, so that the drone flies to a next designated location of the building to be cleaned for cleaning.
  • the position obtaining module 40 acquires the next specified position, so that the drone can fly to the next designated position after cleaning in one area. Get environmental information for the next specified location to clean the next clean area.
  • the specific designated position can control the drone to fly to the designated position by receiving the position command sent by the monitoring terminal or by the position obtained by the built-in calculation algorithm.
  • the second position is acquired at this time, so that the drone can fly to the second position to clean the outer wall area corresponding to the second position, thereby Make the drone sub-region gradually clean.
  • the next designated position is acquired, so that the drone can fly to the next designated position for cleaning, so that the drone can complete the entire building in a sub-area. clean.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Cleaning In General (AREA)

Abstract

一种基于无人机的外墙清洗方法，当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。以及一种无人机，包括飞行模块（10）、获取模块（20）、清洁控制模块（30）。该无人机以及该清洗方法实现了高效的对建筑物外墙进行清洗的目的。

Description

基于无人机的外墙清洗方法及无人机
技术领域
本发明涉及无人机技术领域，尤其涉及基于无人机的外墙清洗方法及无人机。
背景技术
目前很多建筑物外墙的清洗都是依靠人工完成，但是此种方法进行建筑物的外墙清洗效率较低，并且当建筑物属于高层建筑时，采用人工作业的方式效率低、安全隐患大。
现有技术中，已经有采用壁面清洁机器人的方法来实现对建筑物外墙进行清洁，但是通常这种壁面清洁机器人通过在建筑物外墙表面爬行的方式进行清洗，清洗效率较低，因此亟需一种高效的对建筑物外墙进行清洗的方法。
发明内容
本发明的主要目的在于提供一种基于无人机的外墙清洗方法及无人机，旨在实现高效的对建筑物外墙进行清洗的目的。
为实现上述目的，本发明提供的一种基于无人机的外墙清洗方法包括以下步骤：
通过无人机的遥控终端或监控终端对该无人机发送清洁建筑物外墙的指令；
当无人机接收到清洁建筑物外墙的指令时，确认待清洁建筑物的地理位置信息，根据所述地理位置信息飞行至待清洁建筑物的指定位置；
确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
优选地，所述获取所述清洁区域的环境信息，包括：
基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
根据所述灰尘信息和/或所述图像信息分析生成环境信息。
优选地，所述根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
根据所述环境信息确认清洁策略；
根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
优选地，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
所述根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
优选地，所述方法还包括：
当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
为实现上述目的，本发明还提供的一种基于无人机的外墙清洗方法包括以下步骤：
当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；
确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
优选地，所述获取所述清洁区域的环境信息，包括：
基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
根据所述灰尘信息和/或所述图像信息分析生成环境信息。
优选地，所述根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
根据所述环境信息确认清洁策略；
根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
优选地，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
所述根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
优选地，所述方法还包括：
当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
此外，为实现上述目的，本发明还提供一种无人机，所述无人机包括：
飞行模块，用于当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；
获取模块，用于确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
清洁控制模块，用于根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
优选地，所述获取模块包括：
获取单元，用于基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
分析单元，用于根据所述灰尘信息和/或所述图像信息分析生成环境信息。
优选地，所述清洁控制模块包括：
确认单元，用于根据所述环境信息确认清洁策略；
清洁控制单元，用于根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
优选地，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
所述清洁控制单元具体用于，控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
优选地，所述无人机还包括：
位置获取模块，用于当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
本发明实施例通过当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。由于无人机通过飞行的方式对外墙进行清洗，因此可以快速的到达指定位置并清洗，对外墙的清洗效率更高，从而实现了高效的对建筑物外墙进行清洗的目的。
附图说明
图1为本发明基于无人机的外墙清洗方法第一实施例的流程示意图；
图2为本发明图1所示实施例中步骤S20的细化步骤流程示意图；
图3为本发明图1所示实施例中步骤S30的细化步骤流程示意图；
图4为本发明无人机第一实施例的功能模块示意图；
图5为本发明图4所示实施例中获取模块的功能模块示意图
图6为本发明图4所示实施例中清洁控制模块的功能模块示意图；
图7为本发明图4所示实施例中追加的功能模块示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明提供一种基于无人机的外墙清洗方法。参照图1，在第一实施例中，该方法包括：
步骤S10，当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；
步骤S20，确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
步骤S30，根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
本发明提供的基于无人机的外墙清洗方法是通过无人机对建筑物的外墙进行清洗的方法。所述无人机可以为固定翼无人机、多旋翼无人机。无人机的清洁装置为无人机上装载的清洁装置。清洁装置可以为毛刷、刮条、清洁器容器及喷嘴等清洁外墙的工具，具体的清洁装置可以为一项工具或多项集成的清洁工具用于清洁建筑物的外墙。
上述清洁建筑物外墙的指令是预置的命令，该命令的触发方式有多种，例如可以通过无人机的遥控终端或监控终端对该无人机发送指令。当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置。
具体的先确认待清洁建筑物的地理位置信息，再飞行至清洁建筑物的指定位置，确认待清洁建筑物的地理位置信息可以通过获取无人机上装载的摄像头捕获到的画面，根据预置的算法对该画面进行图像分析确认某一建筑物为待清洁建筑物，再根据存储的地图信息获取该建筑物的地理位置信息。
例如摄像头获取到的画面中有多个建筑物，确认最高的建筑物为待清洁建筑物，再获取该建筑物的地理位置信息。也可以将获取到的图像进行分析，将分析得到的建筑物在终端进行提示，再根据接收到的控制终端或监控终端发送的确认待清洁建筑物指令确认待清洁建筑物，再获取该建筑物的地理位置信息。同时也可以直接根据接收到的清洁建筑物外墙指令中包含的位置信息飞行至待清洁建筑物的执行位置，具体的在接收到清洁建筑物外墙的指令后，飞行至待清洁建筑物的指定位置的方法也不限于以上介绍的几种，具体可以根据需要进行选择。
在飞行至待清洁建筑物的指定位置后，确定待清洁建筑物的外墙上与指定位置对应的清洁区域。例如，当无人机飞到A位置后，A点位置的外墙区域为与指定位置对应的清洁区域。该清洁区域的大小范围可以预设。然后获取该清洁区域的环境信息，目的是为了在清洁建筑物的外墙之前了解待清洁区域的环境状况，以便更好的进行清洁。
当获取了清洁区域环境信息后，根据环境信息控制无人机的清洁装置对外墙进行清洁。具体的清洁方式可以通过毛刷拂去外墙的灰尘，拂去灰尘时可以通过Z字型方向进行清洁，也可以通过其他预置的方向进行打扫。同时也可以通过喷水或喷其他清洁剂再通过毛刷刷洗的方式进行清洁，具体的通过何种方式进行清洁可以根据外墙环境信息进行确定。具体的可以将清洁方式设置为多种，根据每种外墙信息采用不同的清洁方式。
本发明实施例通过当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。由于无人机通过飞行的方式对外墙进行清洗，因此可以快速的到达指定位置并清洗，对外墙的清洗效率更高，从而实现了高效的对建筑物外墙进行清洗的目的。
优选地，参照图2，为步骤S20的细化步骤流程示意图，上述步骤S20包括：
步骤S210，基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
步骤S220，根据所述灰尘信息和/或所述图像信息分析生成环境信息。
本实施例中当确认待清洁区域后，获取待清洁区域环境信息。具体的控制无人机在预置距离内根据预置路线在带清洁区域飞行，基于无人机的环境监测装置和/或摄像头检测清洁区域。预置距离可以根据需要进行设置，例如设置为10米，可以通过超声波测距仪，或具有测距功能的红外线传感装置，又或雷达等测距装置检测无人机与待清洁建筑物的外墙的距离，并控制无人机在飞行中始终与待清洁的建筑物的外墙保持一定距离，以确保安全性。
可以理解的是，在飞行检测时预置路线可以根据需要进行设定，例如可以将常清洁的建筑物的飞行路线进行保存，或者根据识别到的待清洁建筑物的形状确定飞行路线等，具体的飞行路线可以为从左到右、也可以为从上到下等方式。
其中，在对清洁区域进行飞行检测时可以进行一次飞行检测，而由于无人机在飞行过程中本身会产生较大的气流，会清洁掉外墙表面的灰尘或悬浮颗粒，或者可能一次飞行检测不够准确，也可以根据需要进行一次或多次飞行检测，具体可以根据需要进行预先定义。
上述无人机的环境检测装置是无人机上装置的用于检测灰尘的环境检测装置，例如灰尘传感器可以检测外墙表面的灰尘，上述无人机的摄像头可以为全景摄像头，也可以为装载在多轴云台上的普通摄像头。
当无人机在对清洁区域进行扫描时，获取无人机的环境检测装置检测到的灰尘信息和/或摄像头检测到的图像信息，具体的灰尘信息可以为是否存在灰尘和灰尘厚度等信息。其中，获取的灰尘信息和图像信息可以为实时检测到的所有信息，也可以是预置间隔时间获取检测到的图像信息和灰尘信息。
当获取到灰尘信息和图像信息后进行分析生成环境信息。具体的可以根据预置的算法进行分析生成环境信息，可以根据是否存在灰尘模拟出存在灰尘的区域地图，并将灰尘大于预置厚度的区域标记颜色，也可以对获取到的图像进行处理，识别图像中建筑物外墙表面在预置大小内的待清洁物。可以理解的是，可以仅根据灰尘信息或图像信息分析环境信息，也可以将灰尘信息与图像信息进行结合分析环境信息。
本实施例通过对清洁区域进行环境检测，并获取该清洁区域的灰尘信息和/或图像信息，再根据灰尘信息和/或进行分析生成环境信息，使得在无人机在清洁前能够获取待清洁建筑物的清洁区域的环境信息，避免盲目清洁，进一步提高清洁的效率。
优选地，参照图3，为步骤S30的细化步骤流程示意图，上述步骤S30包括：
步骤S310，根据所述环境信息确认清洁策略；
步骤S320，根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
本实施例中当获取了清洁区域的环境信息后，根据环境信息确认清洁策略，具体的清洁策略可以为预置的清洁策略，也可以为通过实时的算法运算出推荐的清洁策略。
具体的清洁策略可以包括清洁路线、清洁顺序、清洁方法等，具体有哪些清洁策略可以根据需要设定。
当确定了清洁策略后，控制无人机的清洁装置对清洁区域进行清洁。具体的是根据清洁策略控制清洁装置中对应的清洁工具对清洁区域进行清洁。例如，根据清洁策略采用毛刷对建筑物的所有外墙进行擦拭。
本实施例通过根据环境信息确认清洁策略，再根据清洁策略控制无人机的清洁装置对清洁区域进行清洁，使得清洁更高效、同时无人机作业也避免了人工作业的危险性。
优选地，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；所述步骤S320包括：
控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
本实施例中上述清洁策略包括清洁路线和清洁方式，具体的清洁路线是指，从上到下、从左到右、清洁一次或多次等路线信息，清洁方式是指采用何种清洁工具进行清洁，还可以包括如何使用清洁工具进行清洁，擦拭一次或多次等信息。
上述清洁装置包括刷洗装置和清洁剂喷头装置，刷洗装置可以为毛刷，清洁剂喷头装置可以为预置尺寸的喷头，其中可以为高压喷头、低压喷头等，不同的喷头可以根据其工作原理进行相应的清洁工作，例如高压喷头可以喷高温（高压）水柱或水蒸气。可以理解的是清洁装置还可以包括刮板等其他用于清洁外墙的装置。
当获取到清洁策略后，控制无人机按照清洁策略中的清洁路线进行飞行，且控制所述刷洗装置对外墙进行刷洗，也可以控制清洁剂喷头装置将无人机携带的清洁剂喷至清洁区域表面，或者是先控制清洁剂喷头装置将无人机携带的清洁剂喷至清洁区域表面，再控制无人机对外墙进行擦拭。其中在无人机进行清洁时，可以结合测距装置对无人机与外墙的距离进行检测，控制无人机的具体与外墙始终保持在一定距离，以保证无人机不与待清洁建筑物的外墙发生碰撞，提高清洁的安全性。
可以理解的是，当无人机飞行时，无人机的监控装置可以实时的监控到无人机的作业情况，以便有需要时进行调整。并且可以实施检测无人机的工作电量，当电量过低时，向无人机监控装置进行报警，或控制无人机进入自动返航模式，使无人机返回至预置地点，提高无人机进行清洁工作的安全性。
本实施例通过控制无人机按照清洁路线进行飞行，提高清洁的效率，同时控制刷洗装置对外墙表面进行刷洗和/或将清洁剂喷头装置将无人机携带的清洁剂喷至清洁区域的表面，使得无人机能够完成对待清洁建筑物的外墙进行清洁的任务。
优选地，本发明提出的基于无人机的外墙清洗方法，还包括：
当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
本实施例中当无人机对指定位置对应的清洁区域完成清洁后，再获取下一指定位置，使得无人机可以在一个区域完成清洁后，可以通过飞行至下一个指定位置，获取下一个指定位置的环境信息，来对下一个清洁区域进行清洁。
具体的指定位置可以通过接收监控端发送的位置指令，也可以通过内置算算法得到的位置从而控制无人机飞行至指定位置。
例如，当无人机对第一位置的外墙的清洁区域完成清洁后，此时再获取第二位置，使无人机可以飞行至第二位置，清洁第二位置对应的外墙区域，从而使无人机分区域的逐步完成清洁。
本实施例通过当无人机对一个清洁区域完成清洁后，再获取下一个指定位置，使无人机能够飞行至下一个指定位置清洁，从而使得无人机能够分区域的对整个建筑物完成清洁。
本发明还提供一种无人机，参照图4，提供了本发明无人机第一实施例，该实施例中，无人机包括：
飞行模块10，用于当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；
获取模块20，用于确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
清洁控制模块30，用于根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
本发明提供的无人机可以用于对建筑物的外墙进行清洗。所述无人机可以为固定翼无人机、多旋翼无人机。无人机的清洁装置为无人机上装载的清洁装置。清洁装置可以为毛刷、刮条、清洁器容器及喷嘴等清洁外墙的工具，具体的清洁装置可以为一项工具或多项集成的清洁工具用于清洁建筑物的外墙。
上述清洁建筑物外墙的指令是预置的命令，该命令的触发方式有多种，例如可以通过无人机的遥控终端或监控终端对该无人机发送指令。当无人机接收到清洁建筑物外墙的指令时，飞行模块10控制无人机飞行至待清洁建筑物的指定位置。
具体的先确认待清洁建筑物的地理位置信息，再飞行至清洁建筑物的指定位置，确认待清洁建筑物的地理位置信息可以通过获取无人机上装载的摄像头捕获到的画面，根据预置的算法对该画面进行图像分析确认某一建筑物为待清洁建筑物，再根据存储的地图信息获取该建筑物的地理位置信息。
例如摄像头获取到的画面中有多个建筑物，确认最高的建筑物为待清洁建筑物，再获取该建筑物的地理位置信息。也可以将获取到的图像进行分析，将分析得到的建筑物在终端进行提示，再根据接收到的控制终端或监控终端发送的确认待清洁建筑物指令确认待清洁建筑物，再获取该建筑物的地理位置信息。同时也可以直接根据接收到的清洁建筑物外墙指令中包含的位置信息飞行至待清洁建筑物的执行位置，具体的在接收到清洁建筑物外墙的指令后，飞行至待清洁建筑物的指定位置的方法也不限于以上介绍的几种，具体可以根据需要进行选择。
在飞行至待清洁建筑物的指定位置后，确定待清洁建筑物的外墙上与指定位置对应的清洁区域。例如，当无人机飞到A位置后，A点位置的外墙区域为与指定位置对应的清洁区域。该清洁区域的大小范围可以预设。获取模块20获取该清洁区域的环境信息，目的是为了在清洁建筑物的外墙之前了解待清洁区域的环境状况，以便更好的进行清洁。
当获取了清洁区域环境信息后，清洁控制模块30根据环境信息控制无人机的清洁装置对外墙进行清洁。具体的清洁方式可以通过毛刷拂去外墙的灰尘，拂去灰尘时可以通过Z字型方向进行清洁，也可以通过其他预置的方向进行打扫。同时也可以通过喷水或喷其他清洁剂再通过毛刷刷洗的方式进行清洁，具体的通过何种方式进行清洁可以根据外墙环境信息进行确定。具体的可以将清洁方式设置为多种，根据每种外墙信息采用不同的清洁方式。
本发明实施例通过当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。由于无人机通过飞行的方式对外墙进行清洗，因此可以快速的到达指定位置并清洗，对外墙的清洗效率更高，从而实现了高效的对建筑物外墙进行清洗的目的。
优选地，参照图5，上述获取模块20包括：
获取单元210，用于基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
分析单元220，用于根据所述灰尘信息和/或所述图像信息分析生成环境信息。
本实施例中当确认待清洁区域后，获取待清洁区域环境信息。具体的控制无人机在预置距离内根据预置路线在带清洁区域飞行，基于无人机的环境监测装置和/或摄像头检测清洁区域。预置距离可以根据需要进行设置，例如设置为10米，可以通过超声波测距仪，或具有测距功能的红外线传感装置，又或雷达等测距装置检测无人机与待清洁建筑物的外墙的距离，并控制无人机在飞行中始终与待清洁的建筑物的外墙保持一定距离，以确保安全性。
可以理解的是，在飞行检测时预置路线可以根据需要进行设定，例如可以将常清洁的建筑物的飞行路线进行保存，或者根据识别到的待清洁建筑物的形状确定飞行路线等，具体的飞行路线可以为从左到右、也可以为从上到下等方式。
其中，在对清洁区域进行飞行检测时可以进行一次飞行检测，而由于无人机在飞行过程中本身会产生较大的气流，会清洁掉外墙表面的灰尘或悬浮颗粒，或者可能一次飞行检测不够准确，也可以根据需要进行一次或多次飞行检测，具体可以根据需要进行预先定义。
上述无人机的环境检测装置是无人机上装置的用于检测灰尘的环境检测装置，例如灰尘传感器可以检测外墙表面的灰尘，上述无人机的摄像头可以为全景摄像头，也可以为装载在多轴云台上的普通摄像头。
当无人机在对清洁区域进行扫描时，获取单元210获取无人机的环境检测装置检测到的灰尘信息和/或摄像头检测到的图像信息，具体的灰尘信息可以为是否存在灰尘和灰尘厚度等信息。其中，获取的灰尘信息和图像信息可以为实时检测到的所有信息，也可以是预置间隔时间获取检测到的图像信息和灰尘信息。
当获取到灰尘信息和图像信息后分析单元220进行分析生成环境信息。具体的可以根据预置的算法进行分析生成环境信息，可以根据是否存在灰尘模拟出存在灰尘的区域地图，并将灰尘大于预置厚度的区域标记颜色，也可以对获取到的图像进行处理，识别图像中建筑物外墙表面在预置大小内的待清洁物。可以理解的是，可以仅根据灰尘信息或图像信息分析环境信息，也可以将灰尘信息与图像信息进行结合分析环境信息。
本实施例通过对清洁区域进行环境检测，并获取该清洁区域的灰尘信息和/或图像信息，再根据灰尘信息和/或进行分析生成环境信息，使得在无人机在清洁前能够获取待清洁建筑物的清洁区域的环境信息，避免盲目清洁，进一步提高清洁的效率。
优选地，参照图6，上述清洁控制模块30包括：
确认单元310，用于根据所述环境信息确认清洁策略；
清洁控制单元320，用于根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
本实施例中当获取了清洁区域的环境信息后，确认单元310根据环境信息确认清洁策略，具体的清洁策略可以为预置的清洁策略，也可以为通过实时的算法运算出推荐的清洁策略。
具体的清洁策略可以包括清洁路线、清洁顺序、清洁方法等，具体有哪些清洁策略可以根据需要设定。
当确定了清洁策略后，清洁控制单元320控制无人机的清洁装置对清洁区域进行清洁。具体的是根据清洁策略控制清洁装置中对应的清洁工具对清洁区域进行清洁。例如，根据清洁策略采用毛刷对建筑物的所有外墙进行擦拭。
本实施例通过根据环境信息确认清洁策略，再根据清洁策略控制无人机的清洁装置对清洁区域进行清洁，使得清洁更高效、同时无人机作业也避免了人工作业的危险性。
优选地，本实施例中，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
上述清洁控制单元320具体用于，控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
本实施例中上述清洁策略包括清洁路线和清洁方式，具体的清洁路线是指，从上到下、从左到右、清洁一次或多次等路线信息，清洁方式是指采用何种清洁工具进行清洁，还可以包括如何使用清洁工具进行清洁，擦拭一次或多次等信息。
上述清洁装置包括刷洗装置和清洁剂喷头装置，刷洗装置可以为毛刷，清洁剂喷头装置可以为预置尺寸的喷头，其中可以为高压喷头、低压喷头等，不同的喷头可以根据其工作原理进行相应的清洁工作，例如高压喷头可以喷高温（高压）水柱或水蒸气。可以理解的是清洁装置还可以包括刮板等其他用于清洁外墙的装置。
当获取到清洁策略后，控制无人机按照清洁策略中的清洁路线进行飞行，且控制所述刷洗装置对外墙进行刷洗，也可以控制清洁剂喷头装置将无人机携带的清洁剂喷至清洁区域表面，或者是先控制清洁剂喷头装置将无人机携带的清洁剂喷至清洁区域表面，再控制无人机对外墙进行擦拭。其中在无人机进行清洁时，可以结合测距装置对无人机与外墙的距离进行检测，控制无人机的具体与外墙始终保持在一定距离，以保证无人机不与待清洁建筑物的外墙发生碰撞，提高清洁的安全性。
可以理解的是，当无人机飞行时，无人机的监控装置可以实时的监控到无人机的作业情况，以便有需要时进行调整。并且可以实施检测无人机的工作电量，当电量过低时，向无人机监控装置进行报警，或控制无人机进入自动返航模式，使无人机返回至预置地点，提高无人机进行清洁工作的安全性。
本实施例通过控制无人机按照清洁路线进行飞行，提高清洁的效率，同时控制刷洗装置对外墙表面进行刷洗和/或将清洁剂喷头装置将无人机携带的清洁剂喷至清洁区域的表面，使得无人机能够完成对待清洁建筑物的外墙进行清洁的任务。
优选地，参照图7，本实施例中，本发明提出的无人机还包括：
位置获取模块40，用于当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
本实施例中当无人机对指定位置对应的清洁区域完成清洁后，位置获取模块40获取下一指定位置，使得无人机可以在一个区域完成清洁后，可以通过飞行至下一个指定位置，获取下一个指定位置的环境信息，来对下一个清洁区域进行清洁。
具体的指定位置可以通过接收监控端发送的位置指令，也可以通过内置算算法得到的位置从而控制无人机飞行至指定位置。
例如，当无人机对第一位置的外墙的清洁区域完成清洁后，此时再获取第二位置，使无人机可以飞行至第二位置，清洁第二位置对应的外墙区域，从而使无人机分区域的逐步完成清洁。
本实施例通过当无人机对一个清洁区域完成清洁后，再获取下一个指定位置，使无人机能够飞行至下一个指定位置清洁，从而使得无人机能够分区域的对整个建筑物完成清洁。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (20)

  1. 一种基于无人机的外墙清洗方法，其特征在于，所述方法包括以下步骤：
    通过无人机的遥控终端或监控终端对该无人机发送清洁建筑物外墙的指令；
    当无人机接收到清洁建筑物外墙的指令时，确认待清洁建筑物的地理位置信息，根据所述地理位置信息飞行至待清洁建筑物的指定位置；
    确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
    根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
  2. 如权利要求1所述的方法，其特征在于，所述获取所述清洁区域的环境信息，包括：
    基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
    根据所述灰尘信息和/或所述图像信息分析生成环境信息。
  3. 如权利要求2所述的方法，其特征在于，所述根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
    根据所述环境信息确认清洁策略；
    根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
  4. 如权利要求3所述的方法，其特征在于，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
    所述根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
    控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
  5. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  6. 一种基于无人机的外墙清洗方法，其特征在于，所述方法包括以下步骤：
    当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；
    确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
    根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
  7. 如权利要求6所述的方法，其特征在于，所述获取所述清洁区域的环境信息，包括：
    基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
    根据所述灰尘信息和/或所述图像信息分析生成环境信息。
  8. 如权利要求7所述的方法，其特征在于，所述根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
    根据所述环境信息确认清洁策略；
    根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
  9. 如权利要求8所述的方法，其特征在于，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
    所述根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁，包括：
    控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
  10. 如权利要求6所述的方法，其特征在于，所述方法还包括：
    当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  11. 如权利要求7所述的方法，其特征在于，所述方法还包括：
    当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  12. 如权利要求8所述的方法，其特征在于，所述方法还包括：
    当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  13. 如权利要求9所述的方法，其特征在于，所述方法还包括：
    当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  14. 一种无人机，其特征在于，所述无人机包括：
    飞行模块，用于当无人机接收到清洁建筑物外墙的指令时，飞行至待清洁建筑物的指定位置；
    获取模块，用于确定所述待清洁建筑物外墙上与所述指定位置对应的清洁区域，获取所述清洁区域的环境信息；
    清洁控制模块，用于根据所述环境信息控制所述无人机的清洁装置对所述清洁区域进行清洁。
  15. 如权利要求14所述的无人机，其特征在于，所述获取模块包括：
    获取单元，用于基于所述无人机的环境监测装置和/或摄像头检测所述清洁区域，获取检测到的灰尘信息和/或图像信息；
    分析单元，用于根据所述灰尘信息和/或所述图像信息分析生成环境信息。
  16. 如权利要求15所述的无人机，其特征在于，所述清洁控制模块包括：
    确认单元，用于根据所述环境信息确认清洁策略；
    清洁控制单元，用于根据所述清洁策略控制所述无人机的清洁装置对所述清洁区域进行清洁。
  17. 如权利要求16所述的无人机，其特征在于，所述清洁策略包括清洁路线和清洁方式，所述清洁装置包括刷洗装置和清洁剂喷头装置；
    所述清洁控制单元具体用于，控制所述无人机按照所述清洁路线进行飞行，且控制所述刷洗装置对所述外墙进行刷洗和/或所述清洁剂喷头装置将所述无人机携带的清洁剂喷至所述清洁区域的表面。
  18. 如权利要求14所述的无人机，其特征在于，所述无人机还包括：
    位置获取模块，用于当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  19. 如权利要求15所述的无人机，其特征在于，所述无人机还包括：
    位置获取模块，用于当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
  20. 如权利要求16所述的无人机，其特征在于，所述无人机还包括：
    位置获取模块，用于当所述无人机对所述清洁区域完成清洁后，获取下一个指定位置，以使所述无人机飞行至待清洁建筑物的下一个指定位置进行清洁。
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