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WO2016033754A1 - Uav及其清洁墙体的方法、采用该uav的墙体清洁系统 - Google Patents

Uav及其清洁墙体的方法、采用该uav的墙体清洁系统 Download PDF

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Publication number
WO2016033754A1
WO2016033754A1 PCT/CN2014/085832 CN2014085832W WO2016033754A1 WO 2016033754 A1 WO2016033754 A1 WO 2016033754A1 CN 2014085832 W CN2014085832 W CN 2014085832W WO 2016033754 A1 WO2016033754 A1 WO 2016033754A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
wall
uav
path
cleaned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2014/085832
Other languages
English (en)
French (fr)
Inventor
刘昂
吴育维
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201710639965.9A priority Critical patent/CN107260078B/zh
Priority to JP2017510517A priority patent/JP6429997B2/ja
Priority to CN201480021581.5A priority patent/CN105517476B/zh
Priority to PCT/CN2014/085832 priority patent/WO2016033754A1/zh
Publication of WO2016033754A1 publication Critical patent/WO2016033754A1/zh
Priority to US15/439,081 priority patent/US10518881B2/en
Anticipated expiration legal-status Critical
Priority to US16/729,452 priority patent/US11208209B2/en
Priority to US17/646,097 priority patent/US20220119111A1/en
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • 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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
    • B08B7/026—Using sound waves
    • B08B7/028—Using ultrasounds
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
    • B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/39—Battery swapping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling

Definitions

  • the present invention relates to a UVA (Unmanned Aerial Vehicle), and more particularly to a method for cleaning a UAV of a wall and a method for cleaning the same, and a wall cleaning system using the UAV.
  • UVA Unmanned Aerial Vehicle
  • the aerial work workers use the safety ropes to carry out the top-down cleaning of the outer wall at the height of the building, the danger is greater.
  • a robot for cleaning the wall has appeared.
  • the difficulty of cleaning the wall robot is to solve the problem of wall adsorption.
  • the general glass exterior wall can adopt the principle of vacuum adsorption, There is a problem that release movement is difficult, and there is almost no solution for ordinary walls.
  • the present invention to provide a method for cleaning a wall by a UAV, which can greatly reduce the risk of cleaning the wall of the building, and does not need to be adsorbed on the wall surface of the building, and the movement is convenient and applicable. For different types of walls.
  • a method for UAV to clean a wall comprising the following steps:
  • Step a obtaining a path to be cleaned
  • Step b according to the path to be cleaned, flying to the area to be cleaned;
  • Step c identifying a wall surface of the area to be cleaned
  • step d the wall surface is cleaned by a cleaning device carried by the UAV.
  • the above UAV method of cleaning the wall has at least the following advantages:
  • the above method uses the cleaning device carried by the UAV to clean the wall surface, and does not require the work of the aerial workers, thereby greatly reducing the risk of wall cleaning of the building.
  • the UAV can be suspended in the air freely, it does not need to be adsorbed on the wall of the building, and its movement is convenient, and it can be applied to different types of walls.
  • step a further comprises:
  • Step a1 obtaining a total cleaning path and a cleaned path
  • step a2 the path to be cleaned is planned according to the total cleaning path and the cleaned path.
  • the total cleaning path is obtained by a positioning sensor of the UAV itself;
  • Or/and the total cleaning path is obtained by a global positioning system located on the building.
  • the total cleaning path includes at least one of: a path along a vertical direction of a wall of the building, a path along a horizontal direction of the wall of the building.
  • the path along the vertical direction of the wall of the building is a vertical path from above to below the wall of the building.
  • step b further comprises:
  • step b1 it is determined whether there is a prohibited cleaning identifier
  • Step b2 if the prohibition cleaning indicator is present, identifying the current area as a prohibited cleaning area;
  • step b3 if the forbidden cleaning indicator does not exist, the current area is identified as the area to be cleaned.
  • the forbidden cleaning indicator comprises at least one of the following: a pattern disposed on the wall surface, and a signal for preventing cleaning provided by the signal generator disposed on the wall surface.
  • the pattern includes a forbidden start pattern and a forbidden end pattern, the forbidden start pattern and the forbidden end pattern being located at opposite edges of the forbidden cleaning area.
  • the signal generator is plural, and includes a start signal generator and a termination signal generator, and the start signal generator and the termination signal generator are disposed in a relative non-cleaning area. Both edges.
  • the signal generator is plural, the plurality of signal generators are disposed in a middle portion of the forbidden cleaning area, and signals from the plurality of signal generators cover the forbidden cleaning area.
  • the step c includes the step of identifying the spacing between the wall and the UAV or/and the step of identifying the type of the wall.
  • the type of the wall surface comprises at least one of the following: a glass wall surface, a common wall surface;
  • the common wall surface includes at least one of the following: a wall that can distinguish between textures, a wall that repeats texture, and a wall that has no texture.
  • the spacing between the wall and the UAV is obtained by a wall distance sensor of the UAV.
  • the wall distance sensor comprises at least one of the following: an ultrasonic ranging sensor, a visual ranging sensor, a laser ranging sensor, an infrared ranging sensor, and a radar ranging sensor.
  • the type of wall is obtained by a wall type sensor of the UAV.
  • the wall sensing sensor comprises at least one of the following: an ultrasonic sensor, a laser sensor, and a visual sensor.
  • the step d further includes:
  • Step d1 acquiring the type of the wall surface
  • Step d2 selecting a cleaning mode corresponding to the type of the wall surface according to the type of the wall surface;
  • Step d3 controlling a spacing between the UAV and the wall surface according to the selected cleaning manner
  • step d4 the wall surface is cleaned by the selected cleaning method.
  • the cleaning method comprises at least one of: ultrasonic vibration cleaning, spray cleaning cleaning.
  • the manner in which the spray cleaner is cleaned includes at least one of: sliding back and forth, rotating wiping, and wiping in one direction.
  • the method further comprises the step of: stopping cleaning the wall and automatically returning to the landing point along the return path.
  • step e further includes the following steps:
  • step e1 it is determined whether the current remaining amount of power energy of the UAV is greater than the amount of energy required to return from the current location;
  • step e2 if the current remaining amount of power energy of the UAV is not greater than the amount of energy required to return from the current position, the wall is immediately stopped to be cleaned and automatically returned along the return path.
  • step e further includes the following steps:
  • Step e3 if the current remaining amount of power energy of the UAV is greater than the amount of energy required to return from the current position, determining whether the cleaning device can continue to work;
  • step e4 if the cleaning device cannot continue to work, immediately stop cleaning the wall surface and automatically return along the return path.
  • step e further includes the following steps:
  • Step e5 if the cleaning device is capable of continuing to work, determining whether the path to be cleaned is completed;
  • Step e6 if the path to be cleaned has been completed, immediately stop cleaning the wall surface, and automatically return along the return path;
  • step e7 if the path to be cleaned is not completed, the cleaning is continued according to the path to be cleaned.
  • the UAV stops cleaning the wall when receiving at least one of the following information: the current remaining power energy of the UAV is insufficient for returning information, and the cleaning device cannot continue to work, the The UAV completes the information of the path to be cleaned.
  • the information that the cleaning device is incapable of continuing to operate includes at least one of: information on insufficient power of the cleaning device, information on insufficient cleaning material of the cleaning device.
  • the power source of the cleaning device and the power source of the UAV are both electrical energy, and both share a power source.
  • the cleaning material of the cleaning device is a detergent or water.
  • the power source of the UAV is electrical energy or fuel.
  • the drop point is a base station.
  • the method further includes the step f after the step e: the base station performs power energy or/and cleaning material replenishment on the UAV.
  • the wall is an exterior wall of a building, the base station being located in the air or at the top of the building;
  • the wall is an inner wall of a building
  • the base station is provided on a floor of the interior of the building.
  • the return path is a user preset path, a cleaned path, or an automatically planned path.
  • the automatically planned path includes at least one of the following:
  • the path that consumes the least amount of power the path with the shortest return journey, and the path with the shortest return time.
  • the step d further comprises the step of cleaning the wall surface by ultrasonic vibration.
  • the wall area of the ultrasonic vibration is adjusted by a spacing between the cleaning device and the wall surface;
  • the wall area of the ultrasonic vibration is adjusted by the cleaning device itself.
  • the step d further comprises the step of simultaneously recording the cleaned path while cleaning the wall.
  • the step d further comprises the step of cleaning the wall with a spray cleaner cleaning.
  • the wall area of the detergent spray is adjusted by the spacing between the cleaning device and the wall surface
  • the wall area of the cleaning agent spray is adjusted by the cleaning device itself.
  • the landing point is a user preset location, or a location automatically set by the UAV.
  • a UAV for cleaning a wall comprising:
  • a memory for storing a path to be cleaned
  • a positioning sensor for acquiring current location information of the UAV
  • Wall recognition sensor for obtaining information on the wall
  • a controller configured to communicate with the memory, the positioning sensor, the wall recognition sensor, and the controller to obtain the information to be cleaned, the information of the wall surface, and the current location information;
  • the controller sends a flight control signal to the area to be cleaned according to the to-be-cleaned path and the current position information; the controller issues a cleaning control for cleaning the wall according to the information of the wall surface. signal.
  • the above-mentioned UAV-carrying cleaning device can clean the wall surface without the need for aerial workers to work, thereby greatly reducing the risk of wall cleaning of the building.
  • the UAV can be suspended in the air freely, it does not need to be adsorbed on the wall of the building, and its movement is convenient, and it can be applied to different types of walls.
  • the UAV can automatically find the area to be cleaned according to its own positioning sensor and the path to be cleaned in the memory, and identify the wall surface of the cleaning area according to its own wall surface recognition sensor, the automation degree of the wall surface of the cleaning building is greatly improved. .
  • the positioning sensor comprises at least one of: a GPS, an IMU, an altimeter sensor;
  • the height sensor includes at least one of the following: a barometric altimeter, an infrared ranging sensor, an ultrasonic ranging sensor, a visual ranging sensor, a laser ranging sensor, and a radar ranging sensor.
  • the wall recognition sensor includes a wall distance sensor for measuring a spacing between the UAV and the wall.
  • the wall distance sensor comprises at least one of the following: an ultrasonic ranging sensor, a visual ranging sensor, a laser ranging sensor, an infrared ranging sensor, and a radar ranging sensor.
  • the wall recognition sensor includes a wall type sensor for identifying the type of the wall.
  • the wall type sensor comprises at least one of the following: an ultrasonic sensor, a laser sensor, a visual sensor.
  • the type of the wall surface comprises at least one of the following: a glass wall surface, a common wall surface;
  • the common wall surface includes at least one of the following: a wall that can distinguish between textures, a wall that repeats texture, and a wall that has no texture.
  • the wall type sensor includes a forbidden identification sensor for identifying a no-cleaning identification on the wall.
  • the forbidden identification recognition sensor comprises at least one of the following: a signal receiver, a visual sensor.
  • the memory further stores a total cleaning path and a cleaned path, the controller obtaining the path to be cleaned according to the total cleaning path and the cleaned path.
  • the total cleaning path is obtained by the positioning sensor
  • Or/and the total cleaning path is obtained by a global positioning system located on the building.
  • the total cleaning path includes at least one of: a path along a vertical direction of a wall of the building, a path along a horizontal direction of the wall of the building.
  • the path along the vertical direction of the wall of the building is a vertical path from above to below the wall of the building.
  • the memory is further configured to store a return path, and the controller controls the UAV to return to a landing point according to the return path.
  • the return path is a user preset path, a cleaned path, or an automatically planned path.
  • the automatically planned path includes at least one of the following: a path that consumes the least amount of power energy, a path that has the shortest return journey, and a path that has the shortest return time.
  • the UAV further includes a cleaning device for cleaning the wall.
  • the cleaning device comprises at least one of: a liquid spraying mechanism for spraying a cleaning agent, an ultrasonic transducer for generating an ultrasonic vibration, and a rotary driving mechanism for driving the cleaning member to rotate. a sliding drive mechanism for driving the cleaning member to slide back and forth, and a drag mechanism for dragging the cleaning member.
  • the ultrasonically oscillated wall area is adjusted by a spacing between the ultrasonic transducer and the wall surface;
  • the ultrasonically oscillated wall area is adjusted by the ultrasonic transducer.
  • the wall area of the detergent spray is adjusted by the spacing between the liquid discharge mechanism and the wall surface;
  • the wall area of the detergent spray is adjusted by the liquid discharge mechanism.
  • the cleaning member comprises at least one of: a cleaning cloth, a cleaning sponge.
  • the UAV further includes a pan/tilt
  • the cleaning device is coupled to the body of the UAV via the pan/tilt
  • the posture of the cleaning device is adjusted by the pan/tilt.
  • a wall cleaning system comprising:
  • a base station for supplying power or/and cleaning materials to the UAV.
  • the power source of the UAV is electrical energy
  • the base station includes a battery exchange device for replacing a battery of the UAV, and a battery charging device for charging a battery of the UAV.
  • the power source of the UAV is fuel
  • the base station includes a fuel supply device for refueling the UAV.
  • the base station further includes a cleaning material replenishing device for replenishing the UAV with the cleaning material.
  • the wall is an exterior wall of a building, the base station being located in the air or at the top of the building;
  • the wall is an inner wall of a building
  • the base station is provided on a floor of the interior of the building.
  • the UAV is multiple, and the base station can supply power and cleaning materials to a plurality of the UAVs simultaneously or sequentially;
  • the number of the base stations is multiple, and the UAV can automatically select one of the base stations to perform power energy and cleaning material replenishment.
  • the base station further includes a general controller for controlling the UAV, and a wireless signal transmitter for transmitting a control signal, the UAV further including a wireless signal receiver.
  • FIG. 1 is a flow chart of a method of cleaning a wall by a UAV according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of obtaining a total cleaning path in the first step of the method for cleaning a wall by the UAV shown in FIG. 1;
  • Figure 4 (a) is a schematic view showing one embodiment of the total cleaning path in the first step of the method of cleaning the wall by the UAV shown in Figure 1;
  • Figure 4 (b) is a schematic view showing another embodiment of the total cleaning path in the first step of the method of cleaning the wall by the UAV shown in Figure 1;
  • Figure 5 is a specific flow chart in the second step of the method for cleaning the wall by the UAV shown in Figure 1;
  • Figure 6 is a schematic view showing one of the embodiments of the no-cleaning label in the second step of the method for cleaning a wall of the UAV shown in Figure 1;
  • Figure 7 is a schematic view showing another embodiment of the no-cleaning mark in the second step of the method of cleaning the wall by the UAV shown in Figure 1;
  • Figure 8 is a specific flow chart in the fourth step of the method for cleaning the wall by the UAV shown in Figure 1;
  • Figure 9 is a specific flow chart in the fifth step of the method for cleaning the wall by the UAV shown in Figure 1;
  • FIG. 10 is a schematic structural view of a wall cleaning system according to an embodiment of the present invention.
  • FIG 11 is a circuit schematic diagram of the UAV of the wall cleaning system shown in Figure 10;
  • Figure 12 is a circuit schematic diagram of a base station of the wall cleaning system shown in Figure 10;
  • Figure 13 is a schematic structural view of a liquid discharge mechanism of the cleaning device of the UAV shown in Figure 11;
  • Figure 14 is a schematic structural view of a sliding drive mechanism of the cleaning device of the UAV shown in Figure 11;
  • Figure 15 is a schematic structural view of a rotary drive mechanism of the cleaning device of the UAV shown in Figure 11;
  • Figure 16 is a schematic structural view of a drag mechanism of the cleaning device of the UAV shown in Figure 11;
  • FIG. 17 is a schematic structural view of the UAV shown in FIG.
  • Embodiments of the present invention disclose a method of UAV cleaning a wall that cleans a wall of a building by a cleaning device carried by the UAV, and then replenishes the UAV through a dock.
  • the cleaning device can be integrated on the body of the UAV, or it can be manufactured separately and then assembled together.
  • the wall surface may be an exterior wall surface of the building or an inner wall surface of the building.
  • the height of the inner chamber is higher, and the above may also be adopted. The cleaning method cleans the interior walls of the building.
  • the base station may be located on the roof of a building.
  • the base station may be located on the roof of the building or hovering in the air for convenience.
  • the UAV is cleaned from the top of the building.
  • the base station may also be located on the floor of the building's interior. For example, when cleaning the interior walls of some tower buildings, the base station may be located on the indoor floor of the building.
  • the UAV flies to the area to be cleaned according to the path to be cleaned, and the wall of the area to be cleaned is cleaned.
  • the path to be cleaned may be planned in real time or may be preset.
  • the path to be cleaned may be calculated based on the total cleaning path and the recorded cleaned path.
  • the total cleaning path of the UAV may be stratified from the vertical direction of the building, for example, the total cleaning path of the UAV is a plurality of parallel intervals from above to below the building. Set the vertical path.
  • the total cleaning path of the UAV may also be layered for cleaning along the horizontal direction of the wall of the building. For example, the total cleaning path of the UAV is set at a plurality of parallel intervals from the left to the right of the building. Horizontal path.
  • the cleaning method of the UAV may be a cleaning method of spraying a cleaning agent, or a cleaning method using ultrasonic vibration.
  • the area in which the UAV-loaded cleaning device is cleaned at one time may be adjusted by the spacing between the cleaning device and the wall or by the cleaning device itself.
  • the spray cleaner can be cleaned in a variety of ways, for example, sliding back and forth, rotary wiping, one-way drag wiping, and the like.
  • sliding back and forth that is, driving the cleaning parts to wipe back and forth on the wall surface, for example, rubbing up and down, and rubbing back and forth.
  • Rotating and wiping that is, driving the cleaning member to rotate, so that the cleaning member wipes the wall surface.
  • One-way drag wiping that is, driving the cleaning component to drag on the wall surface to wipe the wall surface, for example, dragging from top to bottom along the wall surface, or dragging from bottom to top along the wall surface.
  • the wall surface is provided with a forbidden cleaning sign to identify which areas on the wall surface are areas that do not need to be cleaned, and the UAV senses the no-cleaning sign and immediately flies Other areas that need cleaning.
  • the forbidden cleaning indicator may be an entity identifier attached to the wall surface, for example, the pattern of the non-cleaning label disposed on the wall surface.
  • the forbidden cleaning indicator may also be a virtual identifier covering the wall surface.
  • the forbidden cleaning indicator is a prohibition cleaning signal issued by a signal generator disposed on the wall surface.
  • the wall may be of a variety of types, such as a glass wall, a normal wall, and the like.
  • the common wall surface is a wall that can distinguish texture, a wall surface that repeats texture, a wall that has no texture, and the like.
  • the landing point may be a preset location of the user.
  • the landing point may be a default location set by the user in advance, such as a base station or the like, or may be a location temporarily set by the user according to the current environment.
  • the landing point may also be a location that is automatically set by the UAV.
  • the landing point may be a landing position that the UAV automatically selects according to the current environment.
  • an embodiment of the present invention also provides a UAV capable of implementing the above method.
  • the UAV includes a memory for storing a path to be cleaned and a return path, a positioning sensor for acquiring current position information of the UAV, and a wall recognition sensor for acquiring information of the wall for controlling the flight path of the UAV. And a controller for the operating state of the cleaning device.
  • the UAV carries a cleaning device through the pan/tilt.
  • the attitude of the cleaning device can be adjusted by the pan/tilt.
  • the UAV directly carries the cleaning device, the attitude of the cleaning device being adjusted by the attitude of the UAV.
  • the cleaning device comprises at least one of: a liquid spraying mechanism for spraying a cleaning agent, an ultrasonic transducer for generating an ultrasonic vibration, and a rotary driving mechanism for driving the cleaning member to rotate. a sliding drive mechanism for driving the cleaning member to slide back and forth, and a drag mechanism for dragging the cleaning member.
  • the wall recognition sensor comprises at least one of the following: a wall distance sensor, a wall type sensor, and a sign recognition sensor.
  • the wall distance sensor is for sensing a distance between the UAV and the wall surface.
  • the wall type sensor is used to identify the type of the wall.
  • the forbidden identification recognition sensor is configured to identify a no-cleaning identification on the wall.
  • an embodiment of the present invention also provides a wall cleaning system.
  • the wall cleaning system includes the UAV described above and a base station for replenishing the UAV with power energy or/and cleaning materials.
  • the base station may be located outside of the building, for example, the wall is the exterior wall of the building, and the base station is located in the air or at the top of the building.
  • the base station may also be provided inside the building, for example, the wall surface is an inner wall surface of the building, and the base station is provided on the floor of the room of the building.
  • one of the base stations can supply power and cleaning materials to a plurality of the UAVs simultaneously or sequentially.
  • one of the UAVs can automatically select one of the base stations to perform power energy and cleaning material replenishment.
  • the power source of the UAV may share an energy device with the cleaning device, or may use different energy sources.
  • a method for cleaning a wall of a UAV includes the following steps S11 to S15.
  • step S11 a path to be cleaned is obtained.
  • step S11 can be obtained in different manners.
  • step S11 further includes steps S111 and S112.
  • Step S111 obtaining a total cleaning path and a cleaned path.
  • the total cleaning path can be obtained in different ways.
  • the total cleaning path can be obtained by the UAV's own positioning sensor.
  • the UAV can fly around the building's area to be cleaned before planning the total cleaning path.
  • the positioning sensor of the UAV itself knows the position information of all the areas to be cleaned, thereby obtaining the total cleaning path.
  • the UAV After taking off from the base station at the top of the building, the UAV passes the pre-recorded flight trajectory (as indicated by the dotted line in the figure) according to its own positioning sensor (such as GPS), through the ultrasonic sensor, the camera, and The accelerometer's direction of gravity allows vertical wall surfaces to be identified for a total cleaning path.
  • its own positioning sensor such as GPS
  • the total cleaning path is obtained by a global positioning system located on the building.
  • a global positioning system is set in all areas to be cleaned on the building, and the total cleaning path can be known through the global positioning system and uploaded to the UAV through the global positioning system.
  • the total cleaning path can be known by cooperating with the positioning sensor of the UAV itself and the global positioning system on the building.
  • the total cleaning path may be planned according to the actual environment of the building.
  • the total cleaning path may include at least one of: a path along a vertical direction of a wall of the building, a path along a horizontal direction of the wall of the building.
  • the path along the vertical direction of the wall of the building may be a vertical path from above to below the wall of the building.
  • the horizontal path along the wall of the building may be a horizontal path from the left side to the right side of the wall of the building.
  • Step S112 planning a path to be cleaned according to the total cleaning path and the cleaned path.
  • the path to be cleaned can be updated in real time. For example, when the UAV is cleaned to the corner of the building, the cleaning path with the least amount of power energy required for returning can be selected in time to save power.
  • the path to be cleaned may also be updated at a preset time, for example, when the UAV returns to the base station, the path to be cleaned is updated.
  • Step S12 according to the path to be cleaned, flying to the area to be cleaned.
  • the UAV flight to be cleaned area is controlled in different ways depending on the different conditions of the path to be cleaned. For example, when there are a few areas in the path to be cleaned that are prohibited from cleaning, such as a balcony, window, etc. of a residential building, the UAV can be controlled to fly to the area to be cleaned by automatically identifying the prohibited cleaning area.
  • step S12 when there are a few areas in the path to be cleaned that are prohibited from cleaning, step S12 further includes steps S121 to S123.
  • step S121 it is determined whether there is a prohibition of the cleaning indicator.
  • the prohibition of the cleaning label can be designed according to the actual situation.
  • the prohibition of the cleaning label includes at least one of the following: a pattern disposed on the wall surface, and a cleaning signal issued by a signal generator disposed on the wall surface.
  • the pattern may be arranged in different ways.
  • the pattern includes a forbidden start pattern and a forbidden end pattern, the forbidden start pattern and the forbidden end pattern being located at opposite edges of the forbidden cleaning area.
  • the prohibition start pattern of the “Stop” mark may be affixed on the wall without cleaning, and the prohibition of the “Continue” mark is ended. pattern.
  • the signal generator can be arranged in different ways.
  • the signal generator is plural, and includes an initial signal generator and a termination signal generator, a start signal generator and a termination signal.
  • the generators are located on opposite edges of the no-clean area.
  • the signal generator is plural, a plurality of signal generators are disposed in the middle of the forbidden cleaning area, and signals from the plurality of signal generators cover the prohibited cleaning area.
  • the UAV senses the signal from the signal generator, the cleaning operation is stopped until the signal from the signal generator disappears, and the cleaning operation is resumed, thereby avoiding the prohibited cleaning area.
  • a short-distance signal generator is installed inside the building, and the drone stops the cleaning operation when receiving the signal from the signal generator until the signal from the signal generator disappears.
  • the area covered by the signal from the signal generator is the area where the cleaning is prohibited.
  • Step S122 if there is a prohibition of the cleaning indicator, the current area is identified as a prohibited cleaning area.
  • the UAV When the UAV recognizes that the current area is a prohibited cleaning area, the UAV stops cleaning the current area.
  • Step S123 If there is no prohibited cleaning indicator, the current area is identified as the area to be cleaned.
  • the UAV When the UAV recognizes that the current area is the area to be cleaned, the UAV can clean the current area.
  • step S13 the wall surface of the area to be cleaned is identified.
  • Step S13 may include the steps of identifying the spacing between the wall surface and the UAV and identifying the type of wall surface.
  • the distance between the wall and the UAV can be obtained by the UAV wall distance sensor.
  • the wall distance sensor can be an ultrasonic distance measuring sensor, a visual distance measuring sensor, a laser ranging sensor, an infrared ranging sensor, and a radar ranging sensor. and many more.
  • step S14 the wall surface is cleaned by using a cleaning device carried by the UAV.
  • the cleaning device includes an ultrasonic transducer for generating ultrasonic oscillations.
  • the cleaning device includes a spray mechanism for spraying the detergent.
  • Ultrasonic vibration is cleaned, that is, ultrasonic waves are generated by the ultrasonic transducer toward the wall surface, and ultrasonic waves are used to oscillate the dust on the wall surface.
  • the wall area of the ultrasonic vibration can be controlled in different ways.
  • the wall area of the ultrasonic vibration is adjusted by the distance between the cleaning device and the wall surface. For example, when the ultrasonic wave generated by the ultrasonic transducer is fanned out, the larger the distance between the ultrasonic transducer and the wall surface, the larger the wall area of the ultrasonic vibration, and vice versa, the smaller the wall area of the ultrasonic vibration. .
  • the wall area of the ultrasonic vibration is adjusted by the cleaning device itself.
  • the ultrasonic outlet size of the ultrasonic transducer can be adjusted, the larger the ultrasonic outlet, the larger the wall area of the ultrasonic vibration, and the smaller the wall area of the ultrasonic vibration.
  • Spray the cleaner clean that is, spray the cleaner toward the wall, and then use the cleaning unit to remove dirt from the wall.
  • the wall area of the detergent spray can be controlled in different ways.
  • the wall area of the detergent spray is adjusted by the spacing between the cleaning device and the wall.
  • the spray mechanism is fan-shaped to spray the detergent, the greater the distance between the cleaning device and the wall surface, the larger the wall area of the detergent spray, and vice versa, the smaller the wall area of the detergent spray. .
  • the wall area of the detergent spray is adjusted by the cleaning device itself. For example, when the size of the liquid discharge port of the liquid discharge mechanism can be adjusted, the larger the liquid discharge port of the liquid discharge mechanism, the larger the wall area of the detergent sprayed, and the smaller the wall area of the detergent sprayed. .
  • Spray cleaners can be cleaned in a variety of ways, for example, swiping back and forth, swiping, and wiping in one direction.
  • Rotating wiping that is, driving the cleaning member to rotate around the drive shaft, causing the cleaning member to tap the wall surface, thereby wiping the dirt on the wall surface.
  • Drag the wipe in one direction that is, drag the cleaning part along the wall to make the cleaning part wipe the dirt on the wall.
  • Step S14 can be implemented in different manners. For example, as shown in FIG. 8, in the embodiment, step S14 further includes steps S141-S144.
  • step S141 the type of the wall surface is obtained.
  • the type of the wall can be known by the UAV's own sensor, or according to the user preset information.
  • step S142 according to the type of the wall surface, the cleaning method corresponding to the type of the wall surface is selected.
  • Step S143 controlling the spacing between the UAV and the wall surface according to the selected cleaning mode.
  • the spacing between the UAV and the wall can be selectively controlled for different cleaning methods. For example, when cleaning by ultrasonic vibration, the distance between the UAV and the wall surface is controlled at the first preset distance. When cleaning by means of spray cleaning, the distance between the UAV and the wall surface is controlled in the second pre-control. The distance is set, and the second preset spacing is not equal to the first preset spacing.
  • the spacing between the UAV and the wall surface can be selectively controlled for different cleaning areas.
  • the specific control manner is as described in step S13, and details are not described herein again.
  • step S144 the wall surface is cleaned by using the selected cleaning method.
  • the wall can be cleaned once or repeatedly.
  • step S14 may further include the step of simultaneously recording the cleaned path while cleaning the wall surface, thereby updating the cleaned path in real time.
  • the method further includes the step S15: stopping cleaning the wall surface and automatically returning to the landing point along the return path.
  • the return path may be a path preset by the user, for example, a path preset by the user according to the current environment.
  • the return path can also be a cleaned path, ie, returning along a path that has flown during cleaning.
  • the return path can also be an automatically planned path.
  • the automatically planned path can be the path that consumes the least amount of power, the path with the shortest return path, and the path with the shortest return time.
  • the landing point is a preset location for the user, for example, the landing point is a base station for replenishing the UAV with power or/and cleaning materials. Alternatively, the landing point is the location that the UAV automatically selects.
  • the position of the base station can be set according to the position of the wall to be cleaned, for example, when the wall is the outer wall of the building, and the base station is located in the air or at the top of the building.
  • the base station is located on the floor of the building's interior.
  • the cleaning of the wall is stopped: the current remaining power of the UAV is insufficient for returning information, the cleaning device cannot continue to work, and the UAV completes the information of the path to be cleaned.
  • the information that the cleaning device cannot continue to work includes at least one of the following: information that the power source of the cleaning device is insufficient, and information that the cleaning device has insufficient cleaning materials.
  • the cleaning material of the cleaning device may be a detergent, water, or the like.
  • UAV's power source can be electric energy or fuel.
  • the power source of the cleaning device and the power source of the UAV are both electrical energy, and both share a power source.
  • step S15 further includes the following steps S151 to S157 .
  • step S151 it is determined whether the current remaining amount of power energy of the UAV is greater than the amount of energy required to return from the current position.
  • the UAV when the UAV is an electric UAV, it is determined whether the current remaining capacity of the UAV battery is greater than the required amount of power to return from the current position.
  • the UAV when the UAV is a fuel UAV, it is determined whether the current remaining amount of oil in the UAV's fuel tank is greater than the amount of oil required to return from the current position.
  • Step S152 if the current remaining amount of power energy of the UAV is not greater than the amount of energy required to return from the current position, immediately stop cleaning the wall surface and automatically return along the return path.
  • the wall is immediately stopped to be cleaned and automatically returned along the return path.
  • the wall is immediately stopped to be cleaned and automatically returned along the return path.
  • Step S153 if the current remaining amount of power energy of the UAV is greater than the amount of energy required to return from the current position, it is determined whether the cleaning device can continue to work.
  • the power source and the cleaning material of the cleaning device are sufficient.
  • the power source and the cleaning material of the cleaning device are sufficient.
  • Step S154 if the cleaning device cannot continue to work, immediately stop cleaning the wall surface and automatically return along the return path.
  • the wall surface is immediately stopped and automatically returned along the return path.
  • step S155 if the cleaning device can continue to work, it is determined whether the path to be cleaned is completed.
  • the power source and the cleaning material required for the cleaning device are sufficient, it is determined whether the path to be cleaned is completed.
  • step S156 if the path to be cleaned has been completed, the cleaning of the wall surface is immediately stopped, and the return is automatically performed along the return path.
  • the UAV determines whether the current location is located at the end position of the path to be cleaned according to the information of the path to be cleaned and the current location. If the current position is at the end position of the path to be cleaned, the wall is immediately stopped to be cleaned and automatically returned along the return path.
  • step S157 if the path to be cleaned is not completed, the cleaning is continued according to the path to be cleaned.
  • the cleaning is continued according to the path to be cleaned until reaching the end position of the path to be cleaned.
  • the method further includes a step S16 after the step S15: the base station performs power energy or/and cleaning material replenishment on the UAV.
  • the base station replaces the battery of the UAV and charges the replaced battery. If the detergent is insufficient, the base station supplies the UAV with a detergent.
  • the above UAV method of cleaning the wall has at least the following advantages:
  • the above method uses the cleaning device carried by the UAV to clean the wall surface, and does not require the work of the aerial workers, thereby greatly reducing the risk of wall cleaning of the building.
  • the UAV can be suspended in the air freely, it does not need to be adsorbed on the wall of the building, and its movement is convenient, and it can be applied to different types of walls.
  • the present invention also provides a wall cleaning system based on the above UAV method of cleaning a wall.
  • the wall cleaning system 10 of the present embodiment includes a UAV 100 for cleaning a wall, and a base station 200 for replenishing the UAV 100 with a power source or/and a cleaning material.
  • the UAV 100 includes a memory 110 , a positioning sensor 120 , a wall recognition sensor 130 , and a controller 140 .
  • the memory 110 is used to store a path to be cleaned.
  • the memory 110 may be a storage device such as a hard disk or a flash memory card.
  • the positioning sensor 120 is configured to acquire current location information of the UAV 100.
  • the positioning sensor 120 includes at least one of the following: a GPS, an IMU (Inertial Measurement Unit), an altimeter.
  • GPS is used to obtain the position coordinates of the UAV 100 in three-dimensional space.
  • the IMU is used to acquire the triaxial attitude angle and acceleration of the UAV 100.
  • the height sensor is used to obtain the absolute height or relative height of the UAV 100.
  • the height sensor includes at least one of the following: a barometric altimeter, an infrared ranging sensor, an ultrasonic ranging sensor, a visual ranging sensor, a laser ranging sensor, and a radar ranging sensor.
  • the wall recognition sensor 130 is used to acquire information of the wall surface.
  • the wall recognition sensor 130 includes at least one of the following: a wall distance sensor, a wall type sensor, and a sign recognition sensor.
  • the wall distance sensor is used to measure the distance between the UAV 100 and the wall.
  • the wall distance sensor includes at least one of the following: an ultrasonic distance measuring sensor, a visual distance measuring sensor, a laser ranging sensor, an infrared ranging sensor, and a radar ranging sensor.
  • Wall type sensors are used to identify the type of wall.
  • the wall type sensor includes at least one of the following: an ultrasonic sensor, a laser sensor, and a visual sensor.
  • the type of wall can be divided into glass walls and ordinary walls.
  • Ordinary walls can be divided into wall surfaces that can be distinguished from textures, walls with repeated textures, and walls without textures.
  • Different types of walls require different cleaning tasks (for example, with different cleaning reagents, etc.), and wall type sensors are required to identify the type of wall.
  • the glass wall has the characteristics of being able to reflect light and stabilize the reflected ultrasonic wave. If the UAV 100 sweeping yaw angle ( ⁇ 30°) is satisfied, the distance value sensed by the ultrasonic sensor is stable, and the binocular camera gets the depth map scene complex (glass Specular reflection of distant scenes) can identify the UAV 100's own shadow, combined with preset wall type information (for example, with or without glass wall) and continuous detection statistics, can more reliably identify the glass wall.
  • preset wall type information for example, with or without glass wall
  • Ordinary façades can be divided into distinguishable textures, repeating textures and untextured walls.
  • the distinguishable texture walls can be fitted to the wall plane in the image acquired by the binocular camera; the texture wall and the repeating texture are The untextured wall is combined with the ultrasonic information of the ultrasonic sensor for identification.
  • the identification recognition sensor is forbidden to identify the no-cleaning identification on the wall.
  • the prohibition of the identification recognition sensor includes at least one of the following: a signal receiver, a visual sensor.
  • the controller 140 is communicatively coupled to the memory 110, the positioning sensor 120, the wall recognition sensor 130, and the controller 140 to obtain information about the path to be cleaned, the wall surface, and the current location information.
  • the controller 140 can be a control chip, a control circuit board, or the like.
  • the controller 140 sends a flight control signal to the area to be cleaned according to the path to be cleaned and the current position information.
  • the controller 140 issues a cleaning control signal for cleaning the wall based on the information of the wall.
  • the memory 110 also stores a total cleaning path and a cleaned path, and the controller 140 calculates a path to be cleaned according to the total cleaning path and the cleaned path.
  • the cleaned path can be recorded in real time as the UAV 100 begins cleaning and compared to the total cleaning path to obtain the path to be cleaned.
  • the total cleaning path can be obtained in different ways.
  • the total cleaning path can be acquired by the positioning sensor 120 of the UAV 100 itself, for example, the UAV 100 is around the building before planning the total cleaning path.
  • the cleaning area is flowed once, and the position information of all the areas to be cleaned is known through the positioning sensor 120 of the UAV 100 itself, thereby obtaining the total cleaning path.
  • the total cleaning path is obtained by a global positioning system located on the building.
  • a global positioning system is provided in all areas to be cleaned on the building, and the total cleaning path can be known through the global positioning system and uploaded to the UAV 100 through the global positioning system.
  • the total cleaning path is known by the positioning sensor 120 of the UAV 100 itself and the global positioning system on the building.
  • the total cleaning path may be planned according to the actual environment of the building.
  • the total cleaning path may include at least one of: a path along a vertical direction of a wall of the building, a path along a horizontal direction of the wall of the building.
  • the path along the vertical direction of the wall of the building may be a vertical path from above the wall of the building to the lower side, and the path along the horizontal direction of the wall of the building may be the wall from the building.
  • the memory 110 is further configured to store a return path, and the controller 140 controls the UAV 100 to return to the landing point according to the return path.
  • the return path may be a path preset by the user, for example, the path preset by the user to the base station 200.
  • the return path can also be a cleaned path, ie, returning along the original path of the cleaned path.
  • the return path can also be the path automatically planned by the UAV 100.
  • the automatically planned path includes at least one of the following: a path that consumes the least amount of power, a path that has the shortest return journey, and a path that has the shortest return time.
  • the UAV 100 can also integrate a cleaning device 150 for cleaning the wall.
  • the UAV 100 can also be separately designed from the cleaning device 150.
  • the cleaning device 150 includes at least one of the following: a liquid ejecting mechanism 191 for spraying a cleaning agent, an ultrasonic transducer for generating ultrasonic vibration, and a sliding driving for driving the cleaning member 195 to slide back and forth.
  • the mechanism 192 is a rotary drive mechanism 193 for driving the cleaning member 195 to rotate, and is used to drag the drag mechanism 194 of the cleaning member 195.
  • the specific structure of the liquid ejecting mechanism 191 may be various.
  • the liquid ejecting mechanism 191 may include a container 191a for containing a cleaning agent, and a nozzle 191b for ejecting a cleaning agent for inputting air pressure.
  • Air tube 191c Air tube 191c.
  • the atomizing mechanism 191 can also adopt an atomizing structure, which will not be described in detail herein.
  • the ultrasonic transducer can be of various types of structures, for example, it can be a MEMS ultrasonic transducer, and the specific structure thereof will not be described in detail herein.
  • the specific structure of the slide drive mechanism 192 can be designed according to actual needs.
  • the pulley 192a can be used to drive the belt 192b to rotate back and forth, and the cleaning member 195 can be fixed to the belt 192b and moved back and forth with the belt 192b.
  • the specific structure of the rotary drive mechanism 193 can be designed according to actual needs.
  • the motor 193a can be used to drive the rotary disk 193b to rotate, and the cleaning member 195 can be fixed to the rotary disk 193b and rotated with the rotary disk 193b. Or swing around the axis of the rotary disk 193b.
  • the specific structure of the drag mechanism 194 can be designed according to actual needs.
  • the drag mechanism 194 can drag the bracket on the body connected to the UAV 100, and the cleaning component 195 is fixed on the drag bracket, and Move with the drag bracket.
  • the drag bracket can adjust its tilt angle with respect to the wall surface.
  • the cleaning member 195 can be a general wiping member such as a cleaning cloth, a cleaning sponge, or the like.
  • the area of the cleaning device 150 for a single cleaning can be adjusted according to the spacing between the cleaning device 150 and the wall.
  • the ultrasonically oscillated wall area is adjusted by the distance between the ultrasonic transducer and the wall surface. For example, when the ultrasonic wave generated by the ultrasonic transducer is fanned out, the larger the distance between the ultrasonic transducer and the wall surface, the larger the wall area of the ultrasonic vibration, and vice versa, the smaller the wall area of the ultrasonic vibration. .
  • the wall area of the detergent spray is adjusted by the distance between the liquid discharge mechanism 191 and the wall surface.
  • the liquid discharging mechanism 191 sprays the cleaning agent in a fan shape, the larger the distance between the cleaning device 150 and the wall surface, the larger the wall area of the cleaning agent sprayed, and vice versa, the wall area of the cleaning agent sprayed. The smaller.
  • the wall area of the ultrasonic vibration is adjusted by the ultrasonic transducer itself.
  • the ultrasonic outlet of the ultrasonic transducer can be adjusted in size, the larger the ultrasonic outlet, the larger the wall area of the ultrasonic vibration, and vice versa, the smaller the wall area of the ultrasonic vibration.
  • the wall area of the detergent spray is adjusted by the liquid discharge mechanism 191 itself.
  • the larger the liquid discharge port of the liquid discharge mechanism 191 the larger the wall area of the detergent sprayed, and the smaller the wall area of the detergent sprayed. .
  • the UAV 100 further includes a pan/tilt 160, and the cleaning device 150 is connected to the body of the UAV 100 through the pan/tilt 160, and the posture of the cleaning device 150 is adjusted by the pan/tilt head 160.
  • pan/tilt 160 can also be omitted.
  • the cleaning device 150 is directly connected to the body of the UAV 100, and the posture of the cleaning device 150 is adjusted by the posture of the UAV 100.
  • the specific structure of the base station 200 can be designed according to different requirements.
  • the power source of the UAV 100 is electrical energy
  • the base station 200 includes a battery replacing device 210 for replacing the battery of the UAV 100.
  • a battery charging device 220 for charging the battery of the UAV 100.
  • the power source of the UAV 100 is fuel
  • the base station 200 includes fuel supply means for refueling the UAV 100.
  • the base station 200 further includes a cleaning material replenishing device 230 for replenishing the UAV 100 with cleaning materials.
  • the position of the base station 200 can be set according to the location of the wall to be cleaned.
  • the wall is the exterior of the building and the base station 200 is located in the air or at the top of the building.
  • the wall is the interior wall of the building and the base station 200 is located on the floor of the interior of the building.
  • the manner in which the UAV 100 cooperates with the base station 200 can be designed according to the number of UAVs 100 or the number of base stations 200.
  • there are a plurality of UAVs 100 and the base station 200 can replenish power and cleaning materials to a plurality of UAVs 100 simultaneously or sequentially. That is, the plurality of UAVs 100 can be replenished by sharing one base station 200, and the plurality of UAVs 100 can be sequentially replenished by the base station 200, or the plurality of UAVs 100 can be simultaneously replenished by the base station 200.
  • the UAV 100 can automatically select one of the base stations 200 for power energy and cleaning material replenishment.
  • a plurality of base stations 200 may be respectively disposed at different locations, and the UAV 100 may select the base station 200 with the shortest return route for replenishment.
  • the number of the UAVs 100 is multiple, and the number of the base stations 200 is multiple, and the two methods are used for the replenishment.
  • the specific cooperation manner is as described above, and details are not described herein again.
  • the base station 200 further includes a general controller 240 for controlling the UAV 100, and wireless signal transmission for transmitting control signals.
  • the UAV 100 includes a wireless signal receiver 170.
  • the user can input a control command to the overall controller 240, and the overall controller 240 transmits a control signal to all the UAVs 100 through the wireless signal transmitter 250, thereby simultaneously Controlling all UAVs 100 to return to the base station 200, that is, enabling the simultaneous recovery of all UAVs 100 functions.
  • the overall controller 240 is further configured to control the battery exchange device 210, the battery charging device 220, and the cleaning material supply device 230.
  • the UAV 100 acquires the total cleaning path AF and the cleaned path AB, thereby obtaining the path BF to be cleaned.
  • the UAV 100 flies to point B according to the path to be cleaned BF, and the wall recognition sensor 130 of the UAV 100 identifies the type of the wall surface, and selects a corresponding cleaning mode according to the type of the wall surface, and controls between the UAV 100 and the wall surface. Spacing, starting to clean the wall.
  • the wall recognition sensor 130 of the UAV 100 recognizes that the cleaning signal is prohibited, and stops the cleaning operation until the UAV 100 flies to the D point, and the CD segment is the prohibited cleaning work area.
  • the UAV 100 continues the cleaning operation from point D until the point E, the battery of the UAV 100 is insufficient.
  • the UAV 100 automatically returns from the point E to the base station 200 for replenishment along the return path.
  • the wall cleaning system 10 described above uses the cleaning device 150 carried by the UAV 100 to clean the wall surface, and does not require the work of the aerial workers, thereby greatly reducing the risk of wall cleaning of the building.
  • the UAV 100 can be freely suspended in the air, it does not need to be adsorbed on the wall of the building, and its movement is convenient, and it can be applied to different types of walls.
  • the UAV 100 can automatically find the area to be cleaned according to the self-positioning sensor 120 and the path to be cleaned in the memory 110, and identify the wall surface of the cleaning area according to the wall recognition sensor 130 of its own, the wall of the cleaned building is greatly improved.
  • the degree of automation is achieved.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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  • Aviation & Aerospace Engineering (AREA)

Abstract

一种UAV及其清洁墙体的方法、采用该UAV的墙体清洁系统，该UAV清洁墙体的方法包括如下步骤：步骤a，获取待清洁路径；步骤b，根据所述待清洁路径，飞行至待清洁区域；步骤c，识别所述待清洁区域的墙面；步骤d，采用UAV承载的清洁装置对所述墙面进行清洁。上述UAV清洁墙体的方法可以大大降低了建筑物的墙体清洁的危险性，并且无需吸附在建筑物的墙面上，其移动较为方便，可以适用于不同类型的墙体。

Description

UAV及其清洁墙体的方法、采用该UAV的墙体清洁系统 技术领域
本发明涉及一种UVA（Unmanned Aerial Vehicle，无人飞行器），特别涉及一种能够清洁墙体的UAV及其清洁墙体的方法、采用该UAV的墙体清洁系统。
背景技术
都市中的高楼大厦的外墙常年经历风吹雨淋日晒，通常情况下会被空气中的灰尘附着表面。为了城市的整体美观，在现代都市中滋生出一种新兴的行业，即，高楼外墙清洗行业。从事这种行业的人员通常为经过专业培训的高空操作工人，其利用安全绳进行自上而下的、针对大楼外墙材料进行喷涂清洁制剂、清洗污垢灰尘的工作。
由于高空作业工人在建筑物的高处利用安全绳进行自上而下的进行外墙清洁，其危险性较大。为了减小危险性，目前出现了一种用于清洁墙体的机器人，然而，清洁墙体的机器人的难点在于解决墙体吸附问题，虽然一般的玻璃外墙可以采用真空吸附的原理，但也存在释放移动困难的问题，并且普通墙体几乎没有解决方案。
发明内容
鉴于此，本发明有必要提供一种UAV清洁墙体的方法，其可以大大降低了建筑物的墙体清洁的危险性，并且无需吸附在建筑物的墙面上，其移动较为方便，可以适用于不同类型的墙体。
一种UAV清洁墙体的方法，包括如下步骤：
步骤a，获取待清洁路径；
步骤b，根据所述待清洁路径，飞行至待清洁区域；
步骤c，识别所述待清洁区域的墙面；以及
步骤d，采用UAV承载的清洁装置对所述墙面进行清洁。
相较于传统的墙体清洁方法，上述UAV清洁墙体的方法至少具有以下优点：
（1）上述方法采用UAV承载的清洁装置对墙面进行清洁，无需高空作业工人进行作业，从而大大降低了建筑物的墙体清洁的危险性。
（2）由于UAV可以自由的停悬在空中，无需吸附在建筑物的墙面上，其移动较为方便，可以适用于不同类型的墙体。
（3）由于UAV可以根据待清洁路径自动寻找待清洁区域，识别清洁区域的墙面，大大提高了清洁建筑物的墙面的自动化程度。
在其中一个实施例中，所述步骤a进一步包括：
步骤a1，获取总清洁路径及已清洁路径；
步骤a2，根据所述总清洁路径及所述已清洁路径，规划所述待清洁路径。
在其中一个实施例中，所述总清洁路径通过所述UAV自身的定位传感器获取；
或/及，所述总清洁路径通过设于建筑物上的全局定位系统获取。
在其中一个实施例中，所述总清洁路径包括如下至少一种：沿建筑物的墙体的竖直方向的路径，沿建筑物的墙体的水平方向的路径。
在其中一个实施例中，所述沿建筑物的墙体的竖直方向的路径为从所述建筑物的墙体的上方到下方的竖直路径。
在其中一个实施例中，所述步骤b进一步包括：
步骤b1，判断是否存在禁止清洁标识；
步骤b2，若存在所述禁止清洁标识，则识别当前区域为禁止清洁区域；
步骤b3，若不存在所述禁止清洁标识，则识别当前区域为所述待清洁区域。
在其中一个实施例中，所述禁止清洁标识包括如下至少一种：设于所述墙面上的图案，设于所述墙面上的信号发生器发出的禁止清洁信号。
在其中一个实施例中，所述图案包括禁止起始图案以及禁止结束图案，所述禁止起始图案及所述禁止结束图案位于禁止清洁区域的相对两边缘。
在其中一个实施例中，所述信号发生器为多个，并且包括起始信号发生器及终止信号发生器，所述起始信号发生器及所述终止信号发生器设于禁止清洁区域的相对两边缘。
在其中一个实施例中，所述信号发生器为多个，所述多个信号发生器设于禁止清洁区域的中部，并且所述多个信号发生器发出的信号覆盖所述禁止清洁区域。
在其中一个实施例中，所述步骤c包括识别所述墙面与所述UAV之间的间距的步骤或/及识别所述墙面的类型的步骤。
在其中一个实施例中，所述墙面的类型包括如下至少一种：玻璃墙面，普通墙面；
所述普通墙面包括如下至少一种：可区分纹理的墙面，重复纹理的墙面，无纹理的墙面。
在其中一个实施例中，所述墙面与所述UAV之间的间距通过所述UAV的墙面距离传感器获取。
在其中一个实施例中，所述墙面距离传感器包括如下至少一种：超声波测距传感器，视觉测距传感器，激光测距传感器，红外线测距传感器，雷达测距传感器。
在其中一个实施例中，所述墙面的类型通过所述UAV的墙面类型传感器获取。
在其中一个实施例中，所述墙面感测传感器包括如下至少一种：超声波传感器，激光传感器，视觉传感器。
在其中一个实施例中，所述步骤d进一步包括：
步骤d1，获取所述墙面的类型；
步骤d2，根据所述墙面的类型，选择与所述墙面的类型相对应的清洁方式；
步骤d3，根据选择的所述清洁方式，控制所述UAV与所述墙面之间的间距；
步骤d4，采用选择的所述清洁方式对所述墙面进行清洁。
在其中一个实施例中，所述清洁方式包括如下至少一种：超声波震荡清洁，喷涂清洁剂清洁。
在其中一个实施例中，所述喷涂清洁剂清洁的方式包括如下至少一种：来回滑动擦拭，旋转擦拭，单向拖动擦拭。
在其中一个实施例中，所述方法还包括步骤e：停止清洁所述墙面，自动沿返航路径返航至降落点。
在其中一个实施例中，所述步骤e进一步包括如下步骤：
步骤e1，判断所述UAV的当前剩余动力能源量是否大于从当前位置返航所需能源量；
步骤e2，若所述UAV的当前剩余动力能源量不大于从当前位置返航所需能源量，则立即停止清洁所述墙面，自动沿所述返航路径返回。
在其中一个实施例中，所述步骤e还包括如下步骤：
步骤e3，若所述UAV的当前剩余动力能源量大于从当前位置返航所需能源量，则判断所述清洁装置是否能够继续工作；
步骤e4，若所述清洁装置不能继续工作，则立即停止清洁所述墙面，自动沿所述返航路径返回。
在其中一个实施例中，所述步骤e还包括如下步骤：
步骤e5，若所述清洁装置能够继续工作，则判断是否完成所述待清洁路径；
步骤e6，若已完成所述待清洁路径，则立即停止清洁所述墙面，自动沿所述返航路径返回；
步骤e7，若未完成所述待清洁路径，则按照所述待清洁路径，继续清洁。
在其中一个实施例中，所述UAV收到如下至少一种信息时停止清洁所述墙面：所述UAV的当前剩余动力能源不足返航的信息，所述清洁装置不能继续工作的信息，所述UAV完成了所述待清洁路径的信息。
在其中一个实施例中，所述清洁装置不能继续工作的信息包括如下至少一种：所述清洁装置的动力能源不足的信息，所述清洁装置的清洁原料不足的信息。
在其中一个实施例中，所述清洁装置的动力能源及所述UAV的动力能源均为电能，并且二者共用一电源。
在其中一个实施例中，所述清洁装置的清洁原料为清洁剂或水。
在其中一个实施例中，所述UAV的动力能源为电能或燃油。
在其中一个实施例中，所述降落点为基站。
在其中一个实施例中，所述方法在所述步骤e之后还包括步骤f：所述基站对所述UAV进行动力能源或/及清洁原料补给。
在其中一个实施例中，所述墙面为建筑物的外墙，所述基站设于空中或所述建筑物的顶部；
或者，所述墙面为建筑物的内墙，所述基站设于所述建筑物的室内的地面。
在其中一个实施例中，所述返航路径为用户预设的路径，已清洁路径，或自动规划的路径。
在其中一个实施例中，所述自动规划的路径包括如下至少一种：
耗损动力能源最少的路径，返航行程最短的路径，返航时间最短的路径。
在其中一个实施例中，所述步骤d进一步包括步骤：采用超声波震动的方式对所述墙面进行清洁。
在其中一个实施例中，所述超声波震动的墙面面积通过所述清洁装置与所述墙面之间的间距调节；
或者，所述超声波震动的墙面面积通过所述清洁装置自身调节。
在其中一个实施例中，所述步骤d进一步还包括步骤：在清洁所述墙面时，同时记录已清洁路径。
在其中一个实施例中，所述步骤d进一步包括步骤：采用喷涂清洁剂清洁的方式对所述墙面进行清洁。
在其中一个实施例中，所述清洁剂喷涂的墙面面积通过所述清洁装置与所述墙面之间的间距调节；
或者，所述清洁剂喷涂的墙面面积通过所述清洁装置自身调节。
在其中一个实施例中，所述降落点为用户预设地点，或所述UAV自动设置的地点。
一种用于清洁墙体的UAV，其包括：
存储器，用于存储待清洗路径；
定位传感器，用于获取UAV的当前位置信息；
墙面识别传感器，用于获取墙面的信息；以及
控制器，与所述存储器、所述定位传感器、所述墙面识别传感器、及所述控制器通讯连接，以获取所述待清洗路径、所述墙面的信息、以及所述当前位置信息；
其中，所述控制器根据所述待清洗路径、所述当前位置信息发出飞行至待清洁区域的飞行控制信号；所述控制器根据所述墙面的信息，发出清洁所述墙面的清洁控制信号。
上述UAV至少具有如下优点：
（1）上述UAV 承载的清洁装置能够对墙面进行清洁，无需高空作业工人进行作业，从而大大降低了建筑物的墙体清洁的危险性。
（2）由于UAV可以自由的停悬在空中，无需吸附在建筑物的墙面上，其移动较为方便，可以适用于不同类型的墙体。
（3）由于UAV可以根据自身定位传感器以及存储器内的待清洁路径自动寻找待清洁区域，并且根据自身的墙面识别传感器识别清洁区域的墙面，大大提高了清洁建筑物的墙面的自动化程度。
在其中一个实施例中，所述定位传感器包括如下至少一种：GPS，IMU，高度计传感器；
所述高度传感器包括如下至少一种：气压高度计 ，红外测距传感器，超声波测距传感器，视觉测距传感器，激光测距传感器，雷达测距传感器。
在其中一个实施例中，所述墙面识别传感器包括用于测量所述UAV与所述墙面之间的间距的墙面距离传感器。
在其中一个实施例中，所述墙面距离传感器包括如下至少一种：超声波测距传感器，视觉测距传感器，激光测距传感器，红外测距传感器，雷达测距传感器。
在其中一个实施例中，所述墙面识别传感器包括用于识别所述墙面的类型的墙面类型传感器。
在其中一个实施例中，所述墙面类型传感器包括如下至少一种：超声波传感器，激光传感器，视觉传感器。
在其中一个实施例中，所述墙面的类型包括如下至少一种：玻璃墙面，普通墙面；
所述普通墙面包括如下至少一种：可区分纹理的墙面，重复纹理的墙面，无纹理的墙面。
在其中一个实施例中，所述墙面类型传感器包括用于识别所述墙面上的禁止清洗标识的禁止标识识别传感器。
在其中一个实施例中，所述禁止标识识别传感器包括如下至少一种：信号接收器，视觉传感器。
在其中一个实施例中，所述存储器还存储有总清洁路径以及已清洁路径，所述控制器根据所述总清洁路径以及所述已清洁路径获得所述待清洁路径。
在其中一个实施例中，所述总清洁路径通过所述定位传感器获取；
或/及，所述总清洁路径通过设于建筑物上的全局定位系统获取。
在其中一个实施例中，所述总清洁路径包括如下至少一种：沿建筑物的墙体的竖直方向的路径，沿建筑物的墙体的水平方向的路径。
在其中一个实施例中，所述沿建筑物的墙体的竖直方向的路径为从所述建筑物的墙体的上方到下方的竖直路径。
在其中一个实施例中，所述存储器还用于存储返航路径，所述控制器根据所述返航路径控制所述UAV返航至降落点。
在其中一个实施例中，所述返航路径为用户预设的路径、已清洁路径、或自动规划的路径。
在其中一个实施例中，所述自动规划的路径包括如下至少一种：耗损动力能源最少的路径，返航行程最短的路径，返航时间最短的路径。
在其中一个实施例中，所述UAV还包括用于对所述墙面进行清洁的清洁装置。
在其中一个实施例中，所述清洁装置包括如下至少一种：用于喷洒清洁剂的喷液机构，用于产生超声波震荡的超声波换能器，用于带动清洁部件旋转的旋转驱动机构，用于带动所述清洁部件来回滑动的滑动驱动机构，用于拖动所述清洁部件的拖动机构。
在其中一个实施例中，所述超声波震荡的墙面面积通过所述超声波换能器与所述墙面之间的间距调节；
或者，所述超声波震荡的墙面面积通过所述超声波换能器调节。
在其中一个实施例中，所述清洁剂喷洒的墙面面积通过所述喷液机构与所述墙面之间的间距来调节；
或者，所述清洁剂喷洒的墙面面积通过所述喷液机构调节。
在其中一个实施例中，所述清洁部件包括如下至少一种：清洁布，清洁海绵。
在其中一个实施例中，所述UAV还包括云台，所述清洁装置通过所述云台连接在所述UAV的机体上，并且所述清洁装置的姿态通过所述云台来调节。
一种墙体清洁系统，包括：
上述的UAV；以及
用于给所述UAV补给动力能源或/及清洁原料的基站。
在其中一个实施例中，所述UAV的动力能源为电能，所述基站包括用于更换所述UAV的电池的电池更换装置、以及用于给所述UAV的电池充电的电池充电装置。
在其中一个实施例中，所述UAV的动力能源为燃油，所述基站包括用于给所述UAV补给燃油的燃油补给装置。
在其中一个实施例中，所述基站还包括用于给所述UAV补给所述清洁原料的清洁原料补给装置。
在其中一个实施例中，所述墙面为建筑物的外墙，所述基站设于空中或所述建筑物的顶部；
或者，所述墙面为建筑物的内墙，所述基站设于所述建筑物的室内的地面。
在其中一个实施例中，所述UAV为多个，所述基站能够同时或依次对多个所述UAV补给动力能源及清洁原料；
或者，所述基站为多个，所述UAV能够自动选择其中一个所述基站进行动力能源及清洁原料补给。
在其中一个实施例中，所述基站还包括用于控制所述UAV的总控制器、以及用于发射控制信号的无线信号发射器，所述UAV还包括无线信号接收器。
 附图说明
图1为本发明的实施方式的UAV清洁墙体的方法的流程图；
图2为图1所示的UAV清洁墙体的方法的步骤一的具体流程图；
图3为图1所示的UAV清洁墙体的方法的步骤一中获取总清洁路径的示意图；
图4(a)为图1所示的UAV清洁墙体的方法的步骤一中的总清洁路径的其中一个实施例的示意图；
图4(b)为图1所示的UAV清洁墙体的方法的步骤一中的总清洁路径的另一个实施例的示意图；
图5为图1所示的UAV清洁墙体的方法的步骤二中的具体流程图；
图6为图1所示的UAV清洁墙体的方法的步骤二中的禁止清洁标识的其中一个实施例的示意图；
图7为图1所示的UAV清洁墙体的方法的步骤二中的禁止清洁标识的另一个实施例的示意图；
图8为图1所示的UAV清洁墙体的方法的步骤四中的具体流程图；
图9为图1所示的UAV清洁墙体的方法的步骤五中的具体流程图；
图10为本发明的实施方式的墙体清洁系统的结构示意图；
图11为图10所示的墙体清洁系统的UAV的电路原理图；
图12为图10所示的墙体清洁系统的基站的电路原理图；
图13为图11所示的UAV的清洁装置的喷液机构的结构原理图；
图14为图11所示的UAV的清洁装置的滑动驱动机构的结构原理图；
图15为图11所示的UAV的清洁装置的旋转驱动机构的结构原理图；
图16为图11所示的UAV的清洁装置的拖动机构的结构原理图；
图17为图11所示的UAV的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明的实施方式公开一种UAV清洁墙体的方法，所述方法通过UAV承载的清洁装置对建筑物的墙面进行清洁，然后，通过基站（dock）对所述UAV进行补给。
在其中一些实施例中，清洁装置可以集成在UAV的本体上，也可以分开制造，然后再装配在一起。
在其中一些实施例中，所述墙面可以为建筑物的外墙面，也可以为建筑物的内墙面，例如，对于一些塔类建筑，其内室的高度较高，同样可以采用上述清洁方法对建筑物的内墙面进行清洁。
在其中一些实施例中，所述基站可以设于建筑物的楼顶，例如，当对建筑物的外墙面进行清洁，基站可以设于建筑物的楼顶，或悬停在空中，以方便所述UAV从楼顶朝下进行清洁。
所述基站也可以设于建筑物的室内的地面，例如，对于一些塔类的建筑物的内墙面进行清洁时，基站可以设于建筑物的室内地面。
在其中一些实施例中，所述UAV根据待清洁路径飞行至待清洁区域，并且对待清洁区域的墙面进行清洁。
所述待清洁路径可以实时规划，也可以预先设置。所述待清洁路径可以根据总清洁路径以及记录的已清洁路径计算得到。
在其中一些实施例中，所述UAV的总清洁路径可以为从建筑物的竖直方向分层进行清洁，例如，所述UAV的总清洁路径为从建筑物的上方到下方的多个平行间隔设置的竖直路径。所述UAV的总清洁路径也可以为沿建筑物的墙体的水平方向分层进行清洁，例如，所述UAV的总清洁路径为从建筑物的左方到右方的多个平行间隔设置的水平路径。
在其中一些实施例中，所述UAV的清洁方式可以为喷涂清洁剂的清洁方式，也可以为采用超声波震荡的清洁方式。
在其中一些实施例中，所述UAV承载的清洁装置一次清洁的面积可以通过所述清洁装置与所述墙面之间的间距或者所述清洁装置自身调节。
在其中一些实施例中，所述喷涂清洁剂清洁的方式可以为多种，例如，来回滑动擦拭，旋转擦拭，单向拖动擦拭等等。来回滑动擦拭，即带动清洁部件在墙面上来回擦拭，例如，上下来回擦拭，左右来回擦拭。旋转擦拭，即带动清洁部件旋转，使清洁部件擦拭墙面。单向拖动擦拭，即带动清洁部件在墙面上拖动，以擦拭墙面，例如，沿所述墙面从上朝下拖动，或者，沿所述墙面从下朝上拖动。
在其中一些实施例中，所述墙面设有禁止清洁标识，以标识出所述墙面上哪些区域是不需要清洁的区域，所述UAV感测到所述禁止清洁标识之后，立即飞往其他需要清洁的区域。
所述禁止清洁标识可以为贴在所述墙面上的实体标识，例如，所述禁止清洁标识设于所述墙面上的图案。所述禁止清洁标识也可以为覆盖所述墙面的虚拟标识，例如，所述禁止清洁标识为设于所述墙面上的信号发生器发出的禁止清洁信号。
在其中一些实施例中，所述墙面的类型可以为多种，例如，玻璃墙面，普通墙面等等。所述普通墙面为可区分纹理的墙面，重复纹理的墙面，无纹理的墙面等等。
在其中一些实施例中，所述UAV完成清洁作业后，自动沿返航路径返航至降落点。降落点可以是用户预设地点，例如，降落点可以是用户事先设置的默认位置，如基站等等，或者，是用户根据当前的环境临时设定的位置。
所述降落点也可以为所述UAV自动设置的地点。例如，所述降落点可以是所述UAV根据当前的环境自动选择的降落位置。
基于上述UAV清洁墙体的方法，本发明的实施方式还提供一种能够实施上述方法的UAV。所述UAV包括用于存储待清洗路径及返航路径的存储器，用于获取UAV的当前位置信息的定位传感器，用于获取墙面的信息的墙面识别传感器，用于控制所述UAV的飞行路径以及所述清洁装置的工作状态的控制器。
在其中一些实施例中，所述UAV通过云台承载清洁装置。通过所述云台可以调节所述清洁装置的姿态。
在其中一些实施例中，所述UAV直接承载所述清洁装置，所述清洁装置的姿态通过所述UAV的姿态来调整。
在其中一些实施例中，所述清洁装置包括如下至少一种：用于喷洒清洁剂的喷液机构，用于产生超声波震荡的超声波换能器，用于带动清洁部件旋转的旋转驱动机构，用于带动所述清洁部件来回滑动的滑动驱动机构，用于拖动所述清洁部件的拖动机构。
在其中一些实施例中，所述墙面识别传感器包括如下至少一种：墙面距离传感器，墙面类型传感器，禁止标识识别传感器。所述墙面距离传感器用于感测所述UAV与所述墙面之间的间距。所述墙面类型传感器用于识别所述墙面的类型。所述禁止标识识别传感器用于识别所述墙面上的禁止清洗标识。
基于上述UAV，本发明的实施方式还提供一种墙体清洁系统。所述墙体清洁系统包括上述UAV以及基站，所述基站用于给所述UAV补给动力能源或/及清洁原料。
在其中一些实施例中，基站可以设于建筑物的外部，例如，所述墙面为建筑物的外墙面，所述基站设于空中或所述建筑物的顶部。基站也可以设于建筑物的内部，例如，所述墙面为建筑物的内墙面，所述基站设于所述建筑物的室内的地面。
在其中一些实施例中，一个所述基站可以同时或依次对多个所述UAV补给动力能源及清洁原料。当所述基站为多个时，一个所述UAV能够自动选择其中一个所述基站进行动力能源及清洁原料补给。
在其中一些实施例中，所述UAV的动力能源可以与清洁装置共用一个能源装置，也可以分别采用不同的能源。
下面结合附图，对本发明的一些实施方式作详细说明。
请参阅图1，本发明的实施方式的UAV清洁墙体的方法，包括如下步骤S11~S15。
步骤S11，获取待清洁路径。
所述步骤S11可以采用不同的方式来获取，例如，如图2所示，具体在本实施例中，步骤S11进一步包括步骤S111及S112。
步骤S111，获取总清洁路径及已清洁路径。
总清洁路径可以采用不同的方式获取，在其中一个实施例中，总清洁路径可以通过UAV自身的定位传感器获取，例如，UAV在规划总的清洁路径之前绕建筑物的待清洁区飞行一遍，通过UAV自身的定位传感器得知所有待清洁区域的位置信息，从而获得总清洁路径。
具体的，如图3所示，UAV从楼房顶部的基站起飞后，根据自身的定位传感器（如GPS），按照预先记录的飞行轨迹（如图示的虚线所示），通过超声波传感器、摄像头和加速度计的重力方向，可以识别出垂直的墙面，从而获取总的清洁路径。
在另外一个实施例中，总清洁路径通过设于建筑物上的全局定位系统获取。例如，在建筑物上的所有待清洁区域设置全局定位系统，通过全局定位系统即可得知总清洁径路，并通过全局定位系统上传给所述UAV。
在另外一个实施例中，总清洁路径可以通过所述UAV自身的定位传感器与建筑物上的全局定位系统共同配合得知。
总清洁路径可以根据建筑物的实际环境来规划，例如，总清洁路径可以包括如下至少一种：沿建筑物的墙体的竖直方向的路径，沿建筑物的墙体的水平方向的路径。
具体的，如图4（a）所示，沿建筑物的墙体的竖直方向的路径可以为从建筑物的墙体的上方到下方的竖直路径。如图4（b）所示，沿建筑物的墙体的水平方向的路径可以为从建筑物的墙体的左侧到右侧的水平路径。
步骤S112，根据总清洁路径及已清洁路径，规划待清洁路径。
待清洁路径可以实时更新，例如，当UAV清洁至所述建筑物的拐角处时，则可以及时选择返航所需动力能源量最少的清洁路径，以节省动力能源。
待清洁路径也可以间隔预设时间更新，例如，当UAV返航至基站时，开始更新所述待清洁路径。
步骤S12，根据待清洁路径，飞行至待清洁区域。
根据待清洁路径的不同情形采取不同的方式控制UAV飞行待清洁区域。例如，当待清洁路径中存在少数禁止清洁的区域时，如居民楼的阳台、窗口等等，可以通过自动识别禁止清洁区域控制UAV飞行至待清洁区域。
例如，如图5所示，具体在本实施例中，当待清洁路径中存在少数禁止清洁的区域，步骤S12进一步包括步骤S121~S123。
步骤S121，判断是否存在禁止清洁标识。
禁止清洁标识可以根据实际情况来设计，例如，禁止清洁标识包括如下至少一种：设于墙面上的图案，设于墙面上的信号发生器发出的禁止清洁信号。
所述图案可以采取不同的方式来设置，例如，在其中一个实施例中，图案包括禁止起始图案以及禁止结束图案，禁止起始图案及禁止结束图案位于禁止清洁区域的相对两边缘。当UAV感测到禁止起始图案时，停止清洁作业，直至感测到禁止结束图案时，又开始继续清洁作业，从而避开禁止清洁区域。
具体的，如图6所示，某些外墙由于特殊原因，无需进行清洗，则可以在无需清洗的墙体上方贴上“Stop”标志的禁止起始图案，以及“Continue”标志的禁止结束图案。
所述信号发生器可以采用不同的方式来设置，例如，在其中一个实施例中，信号发生器为多个，并且包括起始信号发生器及终止信号发生器，起始信号发生器及终止信号发生器设于禁止清洁区域的相对两边缘。当UAV感测到起始信号发生器发出的信号时，停止清洁作业，直至感测到终止信号发生器发出的信号时，又开始继续清洁作业，从而避开禁止清洁区域。
在另外一个实施例中，信号发生器为多个，多个信号发生器设于禁止清洁区域的中部，并且多个信号发生器发出的信号覆盖禁止清洁区域。当UAV感测到信号发生器发出的信号时，停止清洁作业，直至信号发生器发出的信号消失时，又开始继续清洁作业，从而避开禁止清洁区域。
具体的，如图7所示，在建筑物内部安装短距离的信号发生器，无人机收到信号发生器发出的信号时停止清洁作业，直至信号发生器发出的信号消失。信号发生器发出的信号覆盖的区域即为禁止清洁区域。
步骤S122，若存在禁止清洁标识，则识别当前区域为禁止清洁区域。
当UAV识别当前区域为禁止清洁区域时，则UAV停止对该当前区域进行清洁。
步骤S123，若不存在禁止清洁标识，则识别当前区域为所述待清洁区域。
当UAV识别当前区域为待清洁区域时，则UAV可以对当前区域进行清洁。
步骤S13，识别待清洁区域的墙面。
步骤S13可以包括识别墙面与UAV之间的间距以及识别墙面的类型的步骤。
墙面与UAV之间的间距可以通过UAV的墙面距离传感器获取，例如，墙面距离传感器可以为超声波测距传感器，视觉测距传感器，激光测距传感器，红外线测距传感器，雷达测距传感器等等。
步骤S14，采用UAV承载的清洁装置对墙面进行清洁。
清洁墙面的方式有多种，例如，超声波震荡清洁，喷涂清洁剂清洁等等。当采用超声波震荡清洁的方式时，清洁装置包括用于产生超声波震荡的超声波换能器。当采用喷涂清洁剂清洁的方式，清洁装置包括用于喷洒清洁剂的喷液机构。
超声波震荡清洁，即，通过超声波换能器朝向墙面产生超声波，利用超声波震荡墙面上的灰尘。
其中，超声波震动的墙面面积可以采用不同的方式来控制，例如，在其中一个实施例中，超声波震动的墙面面积通过清洁装置与墙面之间的间距调节。例如，当超声波换能器产生的超声波呈扇形发出，则超声波换能器与墙面之间的间距越大，超声波震动的墙面面积就越大，反之，超声波震动的墙面面积就越小。
在另外一个实施例中，超声波震动的墙面面积通过清洁装置自身调节。例如，当可以调节超声波换能器的超声波的出口大小，则超声波出口越大，超声波震动的墙面面积就越大，反之，超声波震动的墙面面积就越小。
喷涂清洁剂清洁，即，朝向墙面喷涂清洁剂，然后再利用清洁部件擦除墙面的污垢。
其中，清洁剂喷涂的墙面面积可以采用不同的方式来控制，例如，在其中一个实施例中，清洁剂喷涂的墙面面积通过清洁装置与墙面之间的间距调节。例如，当喷液机构呈扇形喷出清洁剂时，则清洁装置与墙面之间的间距越大，清洁剂喷涂的墙面面积就越大，反之，清洁剂喷涂的墙面面积就越小。
在另外一个实施例中，清洁剂喷涂的墙面面积通过清洁装置自身调节。例如，当可以调节喷液机构的喷液口的大小时，则喷液机构的喷液口越大，清洁剂喷涂的墙面面积就越大，反之，清洁剂喷涂的墙面面积就越小。
喷涂清洁剂清洁的方式可以为多种，例如，来回滑动擦拭，旋转擦拭，单向拖动擦拭。
旋转擦拭，即，驱动清洁部件绕驱动轴转动，使清洁部件拍打墙面，从而擦除墙面的污垢。
来回滑动擦拭，即，驱动清洁部件在喷涂有清洁剂的墙面来回滑动，从而擦除墙面的污垢。
单向拖动擦拭，即，沿墙面拖动清洁部件，使清洁部件擦除墙面的污垢。
步骤S14可以采用不同的方式来实现，例如，如图8所示，在本实施例中，步骤S14进一步包括步骤S141~S144。
步骤S141，获取墙面的类型。
墙面的类型可以通过UAV自身的传感器得知，或者，根据用户预设信息得知。
步骤S142，根据墙面的类型，选择与墙面的类型相对应的清洁方式。
不同的墙面的类型，采用不同的清洁方式。例如，对于浮在墙面的灰尘，可以采用超声波震荡的方式进行清洁；对于固结在墙面的污垢，可以采用喷涂清洁剂的方式进行清洁。
步骤S143，根据选择的清洁方式，控制UAV与墙面之间的间距。
针对于不同的清洁方式，可以选择性控制UAV与墙面之间的间距。例如，采用超声波震荡的方式进行清洁时，UAV与墙面之间的间距控制在第一预设距离，采用喷涂清洁剂的方式进行清洁时，UAV与墙面之间的间距控制在第二预设距离，第二预设间距与第一预设间距不相等。
另外，针对于不同的清洁面积，也可以选择性控制UAV与墙面之间的间距，具体控制方式如步骤S13中所述，在此不再详细赘述。
步骤S144，采用选择的清洁方式对墙面进行清洁。
根据所选择的清洁方式，可以对墙面一次性清洁，或者反复多次清洁。
需要说明的是，步骤S14还可以进一步包括步骤：在清洁墙面时，同时记录已清洁路径，从而实时更新已清洁路径。
进一步地，方法还包括步骤S15：停止清洁所述墙面，自动沿返航路径返航至降落点。
返航路径可以为用户预设的路径，例如，用户根据当前的环境情况预设的路径。返航路径也可以为已清洁路径，即，沿着清洁时飞行过的路径返回。返航路径也可以自动规划的路径，例如，自动规划的路径可以为耗损动力能源最少的路径、返航行程最短的路径、返航时间最短的路径等等。
降落点为用户预设地点，例如，降落点为用于给UAV补给动力能源或/及清洁原料的基站。或者，降落点为UAV自动选择的地点。
另外，基站的位置可以根据待清洁的墙面的位置来设置，例如，当墙面为建筑物的外墙，基站设于空中或建筑物的顶部。当墙面为建筑物的内墙，基站设于建筑物的室内的地面。
UAV收到如下至少一种信息时停止清洁所述墙面：UAV的当前剩余动力能源不足返航的信息，清洁装置不能继续工作的信息，UAV完成了待清洁路径的信息。
其中，清洁装置不能继续工作的信息包括如下至少一种：清洁装置的动力能源不足的信息，清洁装置的清洁原料不足的信息。清洁装置的清洁原料可以为清洁剂、水等等。
UAV的动力能源可以为电能或燃油。在其中一个实施例中，清洁装置的动力能源及UAV的动力能源均为电能，并且二者共用一电源。
步骤S15的具体实施方式可以根据不同的飞行环境来设计，例如，如图9所示，具体在本实施方式中，步骤S15进一步包括如下步骤S151~ S157。
步骤S151，判断UAV的当前剩余动力能源量是否大于从当前位置返航所需能源量。
具体在本实施例中，当UAV为电动UAV时，则判断UAV的电池的当前剩余电量是否大于从当前位置返航所需电量。
在另外一个实施例中，当UAV为燃油UAV时，则判断UAV的油箱内的当前剩余油量是否大于从当前位置返航所需油量。
步骤S152，若UAV的当前剩余动力能源量不大于从当前位置返航所需能源量，则立即停止清洁所述墙面，自动沿返航路径返回。
具体在本实施例中，若UAV的电池的当前剩余电量不大于从当前位置返航所需电量，则立即停止清洁所述墙面，自动沿返航路径返回。
在另外一个实施例中，若UAV的油箱内的当前剩余油量不大于从当前位置返航所需油量，则立即停止清洁所述墙面，自动沿返航路径返回。
步骤S153，若UAV的当前剩余动力能源量大于从当前位置返航所需能源量，则判断清洁装置是否能够继续工作。
具体在本实施例中，若UAV的电池的当前剩余电量大于从当前位置返航所需电量时，则判断清洁装置的动力源及清洁原料是否充足。
在另外一个实施例中，若UAV的油箱内的当前剩余油量大于从当前位置返航所需油量时，则判断清洁装置的动力源及清洁原料是否充足。
步骤S154，若清洁装置不能继续工作，则立即停止清洁所述墙面，自动沿返航路径返回。
具体在本实施例中，若清洁装置所需的动力源或清洁原料不足，则立即停止清洁所述墙面，自动沿返航路径返回。
步骤S155，若清洁装置能够继续工作，则判断是否完成待清洁路径。
具体在本实施例中，若清洁装置所需的动力源及清洁原料足够，则判断是否完成了待清洁路径。
步骤S156，若已完成待清洁路径，则立即停止清洁所述墙面，自动沿返航路径返回。
具体在本实施例中，UAV根据待清洁路径以及当前位置的信息，判断当前位置是否位于待清洁路径的末端位置。若当前位置是位于待清洁路径的末端位置，则立即停止清洁所述墙面，自动沿返航路径返航。
步骤S157，若未完成待清洁路径，则按照待清洁路径，继续清洁。
具体在本实施例中，若当前位置不是位于待清洁路径的末端位置，则按照待清洁路径，继续清洁，直至到达待清洁路径的末端位置。
需要说明的是，如图1所示，若所述降落点为基站，则所述方法在步骤S15之后还包括步骤S16：基站对UAV进行动力能源或/及清洁原料补给。
具体在实施例中，若UAV的电池的电量不足，则基站更换UAV的电池，并对更换后的电池进行充电。若清洁剂不足，则基站对UAV补给清洁剂。
相较于传统的墙体清洁方法，上述UAV清洁墙体的方法至少具有以下优点：
（1）上述方法采用UAV承载的清洁装置对墙面进行清洁，无需高空作业工人进行作业，从而大大降低了建筑物的墙体清洁的危险性。
（2）由于UAV可以自由的停悬在空中，无需吸附在建筑物的墙面上，其移动较为方便，可以适用于不同类型的墙体。
（3）由于UAV可以根据待清洁路径自动寻找待清洁区域，识别清洁区域的墙面，大大提高了清洁建筑物的墙面的自动化程度。
基于上述UAV清洁墙体的方法，本发明还提供一种墙体清洁系统。
请参阅图10，本实施方式的墙体清洁系统10包括用于清洁墙体的UAV 100、以及用于给UAV 100补给动力能源或/及清洁原料的基站200。
请参阅图11，具体在本实施例中，UAV 100包括存储器110、定位传感器120、墙面识别传感器130、以及控制器140。
存储器110用于存储待清洗路径。存储器110可以为硬盘，闪存卡等存储装置。
定位传感器120用于获取UAV 100的当前位置信息。例如，定位传感器120包括如下至少一种：GPS，IMU（Inertial measurement unit, 惯性测量单元），高度计。GPS用于获取UAV 100在三维空间内的位置坐标。IMU用于获取UAV 100的三轴姿态角以及加速度。高度传感器用于获取UAV 100的绝对高度或相对高度。例如，所述高度传感器包括如下至少一种：气压高度计，红外测距传感器，超声波测距传感器，视觉测距传感器，激光测距传感器，雷达测距传感器。
墙面识别传感器130用于获取墙面的信息。例如，墙面识别传感器130包括如下至少一种：墙面距离传感器，墙面类型传感器，禁止标识识别传感器。
墙面距离传感器用于测量UAV 100与墙面之间的间距。例如，墙面距离传感器包括如下至少一种：超声波测距传感器，视觉测距传感器，激光测距传感器，红外测距传感器，雷达测距传感器。
墙面类型传感器用于识别墙面的类型。例如，墙面类型传感器包括如下至少一种：超声波传感器，激光传感器，视觉传感器。
由于同一建筑物可能会有不同类型的墙壁，墙面的类型可以分玻璃墙面，普通墙面。普通墙面可以分为可区分纹理的墙面，重复纹理的墙面，无纹理的墙面。不同类型的墙壁要求的清洗任务不同（例如，采用不同的清洗试剂等），需要采用墙面类型传感器对墙面的类型进行识别。
例如，玻璃墙壁具有能反光、反射超声波稳定等特点，若满足UAV 100扫转偏航角（<30°），则采用超声波传感器感测的距离数值稳定，双目摄像头得到深度图场景复杂（玻璃镜面反射远处景物）或能识别出UAV 100自身影子，再结合预设的墙面类型信息（例如，有无玻璃墙面）和持续的检测统计，能够比较可靠的识别出玻璃墙面。
普通外墙由于可以分为有可区分纹理，有重复纹理和无纹理墙面，其中可区分纹理墙面在双目摄像头获取的图像中，可以拟合出墙面平面；重复纹理的墙面和无纹理的墙面，结合超声波传感器的超声波信息，进而进行识别。
禁止标识识别传感器用于识别墙面上的禁止清洗标识。例如，禁止标识识别传感器包括如下至少一种：信号接收器，视觉传感器。
控制器140，与存储器110、定位传感器120、墙面识别传感器130、及控制器140通讯连接，以获取待清洗路径、墙面的信息、以及当前位置信息。例如，控制器140可以为控制芯片，控制电路板等等。
其中，控制器140根据待清洗路径、当前位置信息发出飞行至待清洁区域的飞行控制信号。控制器140根据墙面的信息，发出清洁墙面的清洁控制信号。
进一步的，存储器110还存储有总清洁路径以及已清洁路径，控制器140根据总清洁路径以及已清洁路径计算得出待清洁路径。
已清洁路径可以随着UAV 100开始清洁作业时候实时记录下来，并且与总清洁路径相比较，即可得出待清洁路径。
进一步的，总清洁路径可以采用不同的方式获取，在其中一个实施例中，总清洁路径可以通过UAV 100自身的定位传感器120获取，例如，UAV 100在规划总的清洁路径之前绕建筑物的待清洁区飞行一遍，通过UAV 100自身的定位传感器120得知所有待清洁区域的位置信息，从而获得总清洁路径。
在另外一个实施例中，总清洁路径通过设于建筑物上的全局定位系统获取。例如，在建筑物上的所有待清洁区域设有全局定位系统，通过全局定位系统即可得知总清洁径路，并通过全局定位系统上传给所述UAV 100。
在另外一个实施例中，总清洁路径通过所述UAV 100自身的定位传感器120与建筑物上的全局定位系统共同配合得知。
总清洁路径可以根据建筑物的实际环境来规划，例如，总清洁路径可以包括如下至少一种：沿建筑物的墙体的竖直方向的路径，沿建筑物的墙体的水平方向的路径。
例如，沿建筑物的墙体的竖直方向的路径可以为从建筑物的墙体的上方到下方的竖直路径，沿建筑物的墙体的水平方向的路径可以为从建筑物的墙体的左侧到右侧的水平路径。
进一步的，存储器110还用于存储返航路径，控制器140根据返航路径控制UAV 100返航至降落点。
返航路径可以为用户预设的路径，例如，用户预设降落到基站200的路径。返航路径也可以为已清洁路径，即，沿着走过的清洁路径原路返回。返航路径也可以为UAV 100自动规划的路径。例如，自动规划的路径包括如下至少一种：耗损动力能源最少的路径，返航行程最短的路径，返航时间最短的路径。
进一步的，UAV 100还可以集成用于对墙面进行清洁的清洁装置150。当然，在本发明中，UAV 100还可以与清洁装置150分别单独设计。
请参阅图13至图16，清洁装置150包括如下至少一种：用于喷洒清洁剂的喷液机构191，用于产生超声波震荡的超声波换能器，用于带动清洁部件195来回滑动的滑动驱动机构192，用于带动清洁部件195旋转的旋转驱动机构193，用于拖动清洁部件195的拖动机构194。
喷液机构191的具体结构可以为多种，例如，如图13所示，喷液机构191可以包括用于盛装清洁剂的容器191a，用于喷出清洁剂的喷嘴191b，用于输入气压的气管191c。喷液机构191也可以采用雾化结构，在此不再详细赘述。
超声波换能器可以为各种类型的结构，例如，可以为MEMS超声换能器，其具体结构在此不再详细赘述。
滑动驱动机构192的具体结构可以根据实际需要来设计，例如，如图14所示，可以采用皮带轮192a带动皮带192b来回转动，清洁部件195可以固定在皮带192b上，并且随皮带192b来回移动。
旋转驱动机构193的具体结构可以根据实际需要来设计，例如，如图15所示，可以采用电机193a驱动旋转盘193b转动，清洁部件195可以固定在旋转盘193b上，并且随着旋转盘193b转动，或者绕旋转盘193b的轴心摆动。
拖动机构194的具体结构可以根据实际需要来设计，例如，如图16所示，拖动机构194可以为连接在UAV 100的机体上拖动支架，清洁部件195固定在拖动支架上，并且随着拖动支架移动。其中，拖动支架可以调节其相对于墙面的倾斜角度。
清洁部件195可以为一般的擦拭部件，例如，清洁布，清洁海绵等等。
清洁装置150单次清洁的面积可以根据清洁装置150与墙面之间的间距来调节。当采用超声波换能器产生超声波震荡时，超声波震荡的墙面面积通过超声波换能器与墙面之间的间距调节。例如，当超声波换能器产生的超声波呈扇形发出，则超声波换能器与墙面之间的间距越大，超声波震动的墙面面积就越大，反之，超声波震动的墙面面积就越小。
当采用喷液机构191喷涂清洁剂时，清洁剂喷洒的墙面面积通过喷液机构191与墙面之间的间距来调节。例如，当喷液机构191将清洁剂呈扇形喷出，则清洁装置150与墙面之间的间距越大，清洁剂喷涂的墙面面积就越大，反之，清洁剂喷涂的墙面面积就越小。
在另外一个实施例中，超声波震动的墙面面积通过超声波换能器自身调节。例如，当超声波换能器的超声波出口可以调节大小，则超声波出口越大，超声波震动的墙面面积就越大，反之，超声波震动的墙面面积就越小。
清洁剂喷涂的墙面面积通过喷液机构191自身调节。例如，当喷液机构191的喷液口可以调节时，则喷液机构191的喷液口越大，清洁剂喷涂的墙面面积就越大，反之，清洁剂喷涂的墙面面积就越小。
进一步的，如图17所示，UAV 100还包括云台160，清洁装置150通过云台160连接在UAV 100的机体上，并且清洁装置150的姿态通过云台160来调节。
需要说明的是，云台160也可省略，此时清洁装置150直接与UAV 100的机体固定连接，通过UAV 100的姿态来调节清洁装置150的姿态。
基站200的具体结构可以根据不同的需求来设计，例如，如图12所示，在本实施例中，UAV 100的动力能源为电能，基站200包括用于更换UAV 100的电池的电池更换装置210、以及用于给UAV 100的电池充电的电池充电装置220。
在其他实施例中，UAV 100的动力能源为燃油，基站200包括用于给UAV 100补给燃油的燃油补给装置。
进一步的，基站200还包括用于给UAV 100补给清洁原料的清洁原料补给装置230。
基站200的位置可以根据待清洁墙面的所在位置来设置。例如，在其中一个实施例中，墙面为建筑物的外墙，基站200设于空中或建筑物的顶部。
在另外一个实施例中，墙面为建筑物的内墙，基站200设于建筑物的室内的地面。
UAV 100与基站200的配合方式可以根据UAV 100的数量，或者基站200的数量的不同来设计。例如，在其中一个实施例中，UAV 100为多个，基站200能够同时或依次对多个UAV 100补给动力能源及清洁原料。即，多个UAV 100可以共用一个基站200来补给，通过基站200可以对多个UAV 100依次进行补给，或者，通过基站200可以对多个UAV 100同时进行补给。
在另外一个实施例中，基站200为多个，UAV 100能够自动选择其中一个基站200进行动力能源及清洁原料补给。例如，可以将多个基站200分别设于不同位置，UAV 100可以选择最短的返航路程的基站200进行补给。
在另外一个实施例中，UAV 100为多个，基站200为多个，可以同时结合上述两种方式进行补给，具体配合方式如上述所述，在此不再详细赘述。
进一步的，如图12所示，为了便于控制UAV 100，特别是同时控制多个UAV 100时，基站200还包括用于控制UAV 100的总控制器240、以及用于发射控制信号的无线信号发射器250，所述UAV 100包括无线信号接收器170。例如，当需要同时召回所有UAV 100回基站200时，则用户可以输入控制指令给所述总控制器240，所述总控制器240通过无线信号发射器250发送控制信号给所有UAV 100，从而同时控制所有UAV 100返航至基站200，即，能够实现了同时回收所有UAV 100的功能。
进一步的，总控制器240还用于控制电池更换装置210、电池充电装置220、以及清洁原料补给装置230。
以下结合图10具体说明上述墙体清洁系统10。
首先，UAV 100获取总清洁路径AF以及已清洁路径AB，从而获取待清洁路径BF。
接着，UAV 100根据待清洁路径BF飞行至B点，UAV 100的墙面识别传感器130识别墙面的类型，并根据墙面的类型选择相应的清洁方式，并控制UAV 100与墙面之间的间距，开始对墙面进行清洁。
接着，UAV 100清洁至C点时，UAV 100的墙面识别传感器130识别到禁止清洁信号，停止清洁作业，直至UAV 100飞行至D点，CD段即为禁止清洁作业区域。
然后，UAV 100从D点继续开始清洁作业，直至E点，UAV 100的电池的电量不足。
最后，UAV 100从E点自动沿返航路径返回至基站200进行补给。
上述墙体清洁系统至少具有如下优点：
（1）上述墙体清洁系统10采用UAV 100承载的清洁装置150对墙面进行清洁，无需高空作业工人进行作业，从而大大降低了建筑物的墙体清洁的危险性。
（2）由于UAV 100可以自由的停悬在空中，无需吸附在建筑物的墙面上，其移动较为方便，可以适用于不同类型的墙体。
（3）由于UAV 100可以根据自身定位传感器120以及存储器110内的待清洁路径自动寻找待清洁区域，并且根据自身的墙面识别传感器130识别清洁区域的墙面，大大提高了清洁建筑物的墙面的自动化程度。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器（processor）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，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 (67)

  1. 一种UAV清洁墙体的方法，其特征在于，包括如下步骤：
    步骤a，获取待清洁路径；
    步骤b，根据所述待清洁路径，飞行至待清洁区域；
    步骤c，识别所述待清洁区域的墙面；以及
    步骤d，采用UAV承载的清洁装置对所述墙面进行清洁。
  2. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤a进一步包括：
    步骤a1，获取总清洁路径及已清洁路径；
    步骤a2，根据所述总清洁路径及所述已清洁路径，规划所述待清洁路径。
  3. 根据权利要求2所述的UAV清洁墙体的方法，其特征在于，所述总清洁路径通过所述UAV自身的定位传感器获取；
    或/及，所述总清洁路径通过设于建筑物上的全局定位系统获取。
  4. 根据权利要求4所述的UAV清洁墙体的方法，其特征在于，所述沿建筑物的墙体的竖直方向的路径为从所述建筑物的墙体的上方到下方的竖直路径。
  5. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤b进一步包括：
    步骤b1，判断是否存在禁止清洁标识；
    步骤b2，若存在所述禁止清洁标识，则识别当前区域为禁止清洁区域；
    步骤b3，若不存在所述禁止清洁标识，则识别当前区域为所述待清洁区域。
  6. 根据权利要求6所述的UAV清洁墙体的方法，其特征在于，所述禁止清洁标识包括如下至少一种：设于所述墙面上的图案，设于所述墙面上的信号发生器发出的禁止清洁信号。
  7. 根据权利要求7所述的UAV清洁墙体的方法，其特征在于，所述图案包括禁止起始图案以及禁止结束图案，所述禁止起始图案及所述禁止结束图案位于禁止清洁区域的相对两边缘。
  8. 根据权利要求7所述的UAV清洁墙体的方法，其特征在于，所述信号发生器为多个，并且包括起始信号发生器及终止信号发生器，所述起始信号发生器及所述终止信号发生器设于禁止清洁区域的相对两边缘。
  9. 根据权利要求7所述的UAV清洁墙体的方法，其特征在于，所述信号发生器为多个，所述多个信号发生器设于禁止清洁区域的中部，并且所述多个信号发生器发出的信号覆盖所述禁止清洁区域。
  10. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤c包括识别所述墙面与所述UAV之间的间距的步骤或/及识别所述墙面的类型的步骤。
  11. 根据权利要求11所述的UAV清洁墙体的方法，其特征在于，所述墙面的类型包括如下至少一种：玻璃墙面，普通墙面；
    所述普通墙面包括如下至少一种：可区分纹理的墙面，重复纹理的墙面，无纹理的墙面。
  12. 根据权利要求11所述的UAV清洁墙体的方法，其特征在于，所述墙面与所述UAV之间的间距通过所述UAV的墙面距离传感器获取。
  13. 根据权利要求13所述的UAV清洁墙体的方法，其特征在于，所述墙面距离传感器包括如下至少一种：超声波测距传感器，视觉测距传感器，激光测距传感器，红外线测距传感器，雷达测距传感器。
  14. 根据权利要求11所述的UAV清洁墙体的方法，其特征在于，所述墙面的类型通过所述UAV的墙面类型传感器获取。
  15. 根据权利要求15所述的UAV清洁墙体的方法，其特征在于，所述墙面感测传感器包括如下至少一种：超声波传感器，激光传感器，视觉传感器。
  16. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤d进一步包括：
    步骤d1，获取所述墙面的类型；
    步骤d2，根据所述墙面的类型，选择与所述墙面的类型相对应的清洁方式；
    步骤d3，根据选择的所述清洁方式，控制所述UAV与所述墙面之间的间距；
    步骤d4，采用选择的所述清洁方式对所述墙面进行清洁。
  17. 根据权利要求17所述的UAV清洁墙体的方法，其特征在于，所述清洁方式包括如下至少一种：超声波震荡清洁，喷涂清洁剂清洁。
  18. 根据权利要求18所述的UAV清洁墙体的方法，其特征在于，所述喷涂清洁剂清洁的方式包括如下至少一种：来回滑动擦拭，旋转擦拭，单向拖动擦拭。
  19. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述方法还包括步骤e：停止清洁所述墙面，自动沿返航路径返航至降落点。
  20. 根据权利要求20所述的UAV清洁墙体的方法，其特征在于，所述步骤e进一步包括如下步骤：
    步骤e1，判断所述UAV的当前剩余动力能源量是否大于从当前位置返航所需能源量；
    步骤e2，若所述UAV的当前剩余动力能源量不大于从当前位置返航所需能源量，则立即停止清洁所述墙面，自动沿所述返航路径返回。
  21. 根据权利要求21所述的UAV清洁墙体的方法，其特征在于，所述步骤e还包括如下步骤：
    步骤e3，若所述UAV的当前剩余动力能源量大于从当前位置返航所需能源量，则判断所述清洁装置是否能够继续工作；
    步骤e4，若所述清洁装置不能继续工作，则立即停止清洁所述墙面，自动沿所述返航路径返回。
  22. 根据权利要求22所述的UAV清洁墙体的方法，其特征在于，所述步骤e还包括如下步骤：
    步骤e5，若所述清洁装置能够继续工作，则判断是否完成所述待清洁路径；
    步骤e6，若已完成所述待清洁路径，则立即停止清洁所述墙面，自动沿所述返航路径返回；
    步骤e7，若未完成所述待清洁路径，则按照所述待清洁路径，继续清洁。
  23. 根据权利要求20所述的UAV清洁墙体的方法，其特征在于，所述UAV收到如下至少一种信息时停止清洁所述墙面：所述UAV的当前剩余动力能源不足返航的信息，所述清洁装置不能继续工作的信息，所述UAV完成了所述待清洁路径的信息。
  24. 根据权利要求24所述的UAV清洁墙体的方法，其特征在于，所述清洁装置不能继续工作的信息包括如下至少一种：所述清洁装置的动力能源不足的信息，所述清洁装置的清洁原料不足的信息。
  25. 根据权利要求25所述的UAV清洁墙体的方法，其特征在于，所述清洁装置的动力能源及所述UAV的动力能源均为电能，并且二者共用一电源。
  26. 根据权利要求25所述的UAV清洁墙体的方法，其特征在于，所述清洁装置的清洁原料为清洁剂或水。
  27. 根据权利要求24所述的UAV清洁墙体的方法，其特征在于，所述UAV的动力能源为电能或燃油。
  28. 根据权利要求24所述的UAV清洁墙体的方法，其特征在于，所述降落点为基站。
  29. 根据权利要求29所述的UAV清洁墙体的方法，其特征在于，所述方法在所述步骤e之后还包括步骤f：所述基站对所述UAV进行动力能源或/及清洁原料补给。
  30. 根据权利要求29所述的UAV清洁墙体的方法，其特征在于，所述墙面为建筑物的外墙，所述基站设于空中或所述建筑物的顶部；
    或者，所述墙面为建筑物的内墙，所述基站设于所述建筑物的室内的地面。
  31. 根据权利要求20所述的UAV清洁墙体的方法，其特征在于，所述返航路径为用户预设的路径，已清洁路径，或自动规划的路径。
  32. 根据权利要求32所述的UAV清洁墙体的方法，其特征在于，所述自动规划的路径包括如下至少一种：
    耗损动力能源最少的路径，返航行程最短的路径，返航时间最短的路径。
  33. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤d进一步包括步骤：采用超声波震动的方式对所述墙面进行清洁。
  34. 根据权利要求34所述的UAV清洁墙体的方法，其特征在于，所述超声波震动的墙面面积通过所述清洁装置与所述墙面之间的间距调节；
    或者，所述超声波震动的墙面面积通过所述清洁装置自身调节。
  35. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤d进一步还包括步骤：在清洁所述墙面时，同时记录所述已清洁路径。
  36. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述步骤d进一步包括步骤：采用喷涂清洁剂清洁的方式对所述墙面进行清洁。
  37. 根据权利要求37所述的UAV清洁墙体的方法，其特征在于，所述清洁剂喷涂的墙面面积通过所述清洁装置与所述墙面之间的间距调节；
    或者，所述清洁剂喷涂的墙面面积通过所述清洁装置自身调节。
  38. 根据权利要求1所述的UAV清洁墙体的方法，其特征在于，所述降落点为用户预设地点，或所述UAV自动设置的地点。
  39. 一种用于清洁墙体的UAV，其特征在于，包括：
    存储器，用于存储待清洗路径；
    定位传感器，用于获取UAV的当前位置信息；
    墙面识别传感器，用于获取墙面的信息；以及
    控制器，与所述存储器、所述定位传感器、所述墙面识别传感器、及所述控制器通讯连接，以获取所述待清洗路径、所述墙面的信息、以及所述当前位置信息；
    其中，所述控制器根据所述待清洗路径、所述当前位置信息发出飞行至待清洁区域的飞行控制信号；所述控制器根据所述墙面的信息，发出清洁所述墙面的清洁控制信号。
  40. 根据权利要求40所述的UAV，其特征在于，所述定位传感器包括如下至少一种：GPS，IMU，高度传感器；
    所述高度传感器包括如下至少一种：气压高度计，红外测距传感器，超声波测距传感器，视觉测距传感器，激光测距传感器，雷达测距传感器。
  41. 根据权利要求40所述的UAV，其特征在于，所述墙面识别传感器包括用于测量所述UAV与所述墙面之间的间距的墙面距离传感器。
  42. 根据权利要求42所述的UAV，其特征在于，所述墙面距离传感器包括如下至少一种：超声波测距传感器，视觉测距传感器，激光测距传感器，红外测距传感器，雷达测距传感器。
  43. 根据权利要求40所述的UAV，其特征在于，所述墙面识别传感器包括用于识别所述墙面的类型的墙面类型传感器。
  44. 根据权利要求44所述的UAV，其特征在于，所述墙面类型传感器包括如下至少一种：超声波传感器，激光传感器，视觉传感器。
  45. 根据权利要求44所述的UAV，其特征在于，所述墙面的类型包括如下至少一种：玻璃墙面，普通墙面；
    所述普通墙面包括如下至少一种：可区分纹理的墙面，重复纹理的墙面，无纹理的墙面。
  46. 根据权利要求40所述的UAV，其特征在于，所述墙面类型传感器包括用于识别所述墙面上的禁止清洗标识的禁止标识识别传感器。
  47. 根据权利要求47所述的UAV，其特征在于，所述禁止标识识别传感器包括如下至少一种：信号接收器，视觉传感器。
  48. 根据权利要求40所述的UAV，其特征在于，所述存储器还存储有总清洁路径以及已清洁路径，所述控制器根据所述总清洁路径以及所述已清洁路径获得所述待清洁路径。
  49. 根据权利要求49所述的UAV，其特征在于，所述总清洁路径通过所述定位传感器获取；
    或/及，所述总清洁路径通过设于建筑物上的全局定位系统获取。
  50. 根据权利要求49所述的UAV，其特征在于，所述总清洁路径包括如下至少一种：沿建筑物的墙体的竖直方向的路径，沿建筑物的墙体的水平方向的路径。
  51. 根据权利要求51所述的UAV，其特征在于，所述沿建筑物的墙体的竖直方向的路径为从所述建筑物的墙体的上方到下方的竖直路径。
  52. 根据权利要求40所述的UAV，其特征在于，所述存储器还用于存储返航路径，所述控制器根据所述返航路径控制所述UAV返航至降落点。
  53. 根据权利要求53所述的UAV，其特征在于，所述返航路径为用户预设的路径、已清洁路径、或自动规划的路径。
  54. 根据权利要求54所述的UAV，其特征在于，所述自动规划的路径包括如下至少一种：耗损动力能源最少的路径，返航行程最短的路径，返航时间最短的路径。
  55. 根据权利要求40~55任一项所述的UAV，其特征在于，所述UAV还包括用于对所述墙面进行清洁的清洁装置。
  56. 根据权利要求56所述的UAV，其特征在于，所述清洁装置包括如下至少一种：用于喷洒清洁剂的喷液机构，用于产生超声波震荡的超声波换能器，用于带动清洁部件旋转的旋转驱动机构，用于带动所述清洁部件来回滑动的滑动驱动机构，用于拖动所述清洁部件的拖动机构。
  57. 根据权利要求57所述的UAV，其特征在于，所述超声波震荡的墙面面积通过所述超声波换能器与所述墙面之间的间距调节；
    或者，所述超声波震荡的墙面面积通过所述超声波换能器调节。
  58. 根据权利要求57所述的UAV，其特征在于，所述清洁剂喷洒的墙面面积通过所述喷液机构与所述墙面之间的间距来调节；
    或者，所述清洁剂喷洒的墙面面积通过所述喷液机构调节。
  59. 根据权利要求57所述的UAV，其特征在于，所述清洁部件包括如下至少一种：清洁布，清洁海绵。
  60. 根据权利要求56所述的UAV，其特征在于，所述UAV还包括云台，所述清洁装置通过所述云台连接在所述UAV的机体上，并且所述清洁装置的姿态通过所述云台来调节。
  61. 一种墙体清洁系统，其特征在于，包括：
    权利要求56~61任一项所述的UAV；以及
    用于给所述UAV补给动力能源或/及清洁原料的基站。
  62. 根据权利要求62所述的墙体清洁系统，其特征在于，所述UAV的动力能源为电能，所述基站包括用于更换所述UAV的电池的电池更换装置、以及用于给所述UAV的电池充电的电池充电装置。
  63. 根据权利要求62所述的墙体清洁系统，其特征在于，所述UAV的动力能源为燃油，所述基站包括用于给所述UAV补给燃油的燃油补给装置。
  64. 根据权利要求63或64所述的墙体清洁系统，其特征在于，所述基站还包括用于给所述UAV补给所述清洁原料的清洁原料补给装置。
  65. 根据权利要求62所述的墙体清洁系统，其特征在于，所述墙面为建筑物的外墙，所述基站设于空中或所述建筑物的顶部；
    或者，所述墙面为建筑物的内墙，所述基站设于所述建筑物的室内的地面。
  66. 根据权利要求62所述的墙体清洁系统，其特征在于，所述UAV为多个，所述基站能够同时或依次对多个所述UAV补给动力能源及清洁原料；
    或者，所述基站为多个，所述UAV能够自动选择其中一个所述基站进行动力能源及清洁原料补给。
  67. 根据权利要求62所述的墙体清洁系统，其特征在于，所述基站还包括用于控制所述UAV的总控制器、以及用于发射控制信号的无线信号发射器，所述UAV还包括无线信号接收器。
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