CN-121979273-A - Automatic cleaning control method for curtain wall cleaning unmanned aerial vehicle, unmanned aerial vehicle and medium

CN121979273ACN 121979273 ACN121979273 ACN 121979273ACN-121979273-A

Abstract

The invention relates to an automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle, the unmanned aerial vehicle and a medium in the technical field of unmanned aerial vehicle application. The automatic cleaning control method of the curtain wall cleaning unmanned aerial vehicle comprises the steps of dividing a coverage unit according to curtain wall image data I (t), and generating a coverage cleaning path P by taking the coverage unit as granularity. A cleanliness score S k is calculated from the change before and after P-wash. And (3) when S k is less than the threshold S th , performing the complementary washing, adding unqualified complementary washing into a return visit queue, generating a return visit path according to the return visit queue, and performing the return visit complementary washing according to the return visit path. The cleaning is ended when all the cover units satisfy S k ≥S th . According to the invention, through the partial images of the curtain wall, a covering cleaning path is planned for one-time cleaning, meanwhile, whether the cleaned curtain wall is clean or not can be automatically detected, and a return visit path is planned for the curtain wall area where residual stains are detected for carrying out the supplementary cleaning, so that the curtain wall cleaning effect is ensured, the operation burden is reduced, and the operation efficiency is improved.

Inventors

CAI BIXIN
HUANG WEI
HU ZHENGHE
ZHOU LICHUN
Wei Dongjuan
PAN JIABAO
MEI YE
GUO XIAOYU

Assignees

安徽工程大学

Dates

Publication Date: 20260505
Application Date: 20260203

Claims (10)

1. The automatic cleaning control method of the curtain wall cleaning unmanned aerial vehicle is characterized by comprising the following steps of: identifying and obtaining an effective operation area of the curtain wall according to curtain wall image data I (t) shot by the unmanned aerial vehicle, and dividing the effective operation area into K equally-divided covering units; Generating a coverage cleaning path P in an effective operation area according to the effective coverage width W of unmanned aerial vehicle cleaning and the path overlapping coefficient; In the cleaning process of the unmanned plane edge P, calculating a cleanliness score S k of a kth coverage unit according to the change of I (t) before and after cleaning, when S k is smaller than a threshold value S th , carrying out the complementation cleaning of the kth coverage unit for a preset maximum number of times N, adding the kth coverage unit into a return visit queue if the complementation cleaning is still carried out for N times S k ＜S th , and k epsilon [1, K ]; Generating a return visit path according to a return visit queue after traversing the current P, and performing return visit and repair according to the return visit path, wherein a return visit point set omega is formed by coordinates of central points corresponding to all coverage units in the return visit queue, wherein omega= { P k , x , y }, and the repair frequency n k of the kth coverage unit is recorded; The cleaning is ended when all the cover units satisfy S k ≥S th .
2. The method for controlling automatic cleaning of a curtain wall cleaning unmanned aerial vehicle according to claim 1, wherein the method for identifying the effective working area of the curtain wall comprises: extracting straight line features and/or angular point grid features of the I (t) to obtain curtain wall boundaries; calculating the variance of the distance between the unmanned plane and the curtain wall, fitting the working surface in the current I (t) into a curtain wall plane in the boundary of the curtain wall if the variance is smaller than the distance stability threshold, and forming an effective working area by the boundary of the curtain wall and the curtain wall plane.
3. The automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle according to claim 1, wherein the design method of the cover cleaning path P includes: setting the cover cleaning path P as a serpentine path which reciprocates along the horizontal direction of the curtain wall; Wherein, the lateral step distance deltax and the longitudinal step distance deltay of P are respectively as follows: Δx=W·α; Δy=W·β; where α represents a transverse path overlap coefficient and β represents a longitudinal path overlap coefficient; when cleaning to curtain boundary, unmanned aerial vehicle carries out the steering of being in a row.
4. The automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle according to claim 1, wherein the calculating method of the cleanliness score S k comprises: Calculating the image brightness mean change delta mu, the image brightness standard deviation change delta sigma and the image texture change delta E of the kth covering unit before and after cleaning according to the I (t); And (3) weighting and fusing the delta mu, delta sigma and delta E to obtain S k .
5. The method according to claim 4, wherein when S k ≥S th , the kth cover unit is judged to be qualified in cleaning, and when S k ＜S th , the kth cover unit is judged to be unqualified in cleaning; The kth cover unit is marked with corresponding cleanliness grid information G k ;G k including the number of times the kth cover unit is cleaned, S k of the last time, and information on whether the cover unit is cleaned to be qualified.
6. The automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle according to claim 1, wherein the calculation formula of the priority P k is: P k =W s ·(S th －S k )+ W d ·d(p cur , p k , x , y )+ W n ·n k ; Wherein d (p cur , p k , x , y ) is the distance from the current position of the unmanned aerial vehicle to the center point of the kth coverage unit, and W s 、W d 、W n is the weight coefficient of the corresponding item respectively; and/or, in the return visit and repair washing process, performing the repair washing on the returned cover unit for N times at maximum, and if the cover unit subjected to the repair washing for N times is still S k ＜S th , adding the corresponding cover unit into the next return visit queue, and repeating the return visit and repair washing process.
7. The automatic cleaning control method of the curtain wall cleaning unmanned aerial vehicle according to claim 1, wherein the automatic cleaning control method further comprises the steps of collecting distance data d (t) between an unmanned aerial vehicle cleaning execution system and the curtain wall, and controlling the unmanned aerial vehicle to approach or be far away from the curtain wall based on d (t) according to a preset safe distance interval; If d (t) is smaller than the minimum distance of the safe distance interval, controlling the unmanned aerial vehicle to be far away from the curtain wall and/or decelerating; and if d (t) is greater than the maximum distance of the safety distance interval, controlling the unmanned aerial vehicle to approach the curtain wall and/or accelerate.
8. Curtain washs unmanned aerial vehicle, its characterized in that, it includes: a body; A sensing system mounted on the body for acquiring I (t) and d (t); The cleaning execution system is arranged on the machine body and is used for cleaning the curtain wall; An edge processing system mounted on the machine body, which controls the machine body to move along the P, return visit path and controls the cleaning execution system to perform one cleaning and repair cleaning operation using the automatic cleaning control method of the curtain wall cleaning unmanned aerial vehicle according to any one of claims 1 to 7.
9. The curtain wall cleaning unmanned aerial vehicle of claim 8, wherein the cleaning execution system comprises a telescopic mechanism and a cleaning mechanism; One end of the telescopic mechanism is connected with the machine body, the other end is connected with a cleaning mechanism; the cleaning mechanism comprises a roller, a spray head, a clean water tank and a solution tank, wherein the roller and the spray head are arranged at one end, far away from the machine body, of the telescopic mechanism, the clean water tank and the solution tank are arranged on the machine body, the clean water tank is used for conveying clean water to the spray head through a water pump, and the solution tank is used for conveying cleaning agent to the roller through the water pump.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of the automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle according to any one of claims 1 to 7.

Description

Automatic cleaning control method for curtain wall cleaning unmanned aerial vehicle, unmanned aerial vehicle and medium Technical Field The invention relates to the technical field of unmanned aerial vehicle application, in particular to an automatic cleaning control method for a curtain wall cleaning unmanned aerial vehicle, the unmanned aerial vehicle and a medium. Background With the mass construction of urban high-rise buildings, large commercial complexes and glass curtain wall buildings, the cleaning requirements of the surfaces of building outer walls, especially glass curtain walls, are increasing. The traditional curtain wall cleaning mainly relies on hanging baskets, window cleaning machines or high-altitude ropes to operate at high altitude by manually carrying cleaning tools, and the method has the following problems that firstly, the risk of high-altitude operation is extremely high, the influence of wind speed, weather and skills of operators is large, the accident rate is high, secondly, the manual cleaning efficiency is low, the hanging baskets or hanging ropes are required to be repeatedly moved for large-area curtain walls, the operation period is long, the labor cost is high, thirdly, the subjectivity of manual judgment on the cleaning quality is high, and the cleaning quality is difficult to ensure to be uniform. In recent years, the external wall cleaning scheme by using an unmanned aerial vehicle gradually appears, and some schemes adopt a spray head to flush a curtain wall by spraying water under high pressure, or a simple brush, sponge and other cleaning components are arranged on the unmanned aerial vehicle. But the prior art still has the following defects that 1, most schemes only adopt a single sensor (such as ultrasonic wave or simple ranging module) to control the distance between the unmanned aerial vehicle and the wall surface, the anti-interference capability is poor, and stable safe distance control is difficult to realize under the complex wind field and curtain wall reflection environment. 2. Most of the cleaning mechanisms are fixed structures, lack of controllable precompression adjusting mechanisms, uneven contact between the cleaning rolling brush and the curtain wall, and easy local cleaning failure or scratch on the surface of the curtain wall. 3. The cleaning route depends on manual planning, the cleaning process lacks a visual detection closed loop, and the cleaning effect cannot be estimated in real time and the next operation area cannot be automatically planned only by remote observation or experience judgment of operators. 4. The cleaning modes such as water spraying, brushing and the like are often used independently, the proportion and flow of the cleaning agent and the clean water are not accurately controlled, the decontamination efficiency is low, and the waste of the water and the cleaning agent is large. Disclosure of Invention The invention provides an automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle, the unmanned aerial vehicle and a medium, aiming at solving the technical problems that the cleaning effect of the curtain wall is poor due to the fact that the cleaning route of the existing curtain wall unmanned aerial vehicle depends on manual planning and the cleaning effect only depends on remote observation or experience judgment of operators. According to the first aspect, the invention provides an automatic cleaning control method of a curtain wall cleaning unmanned aerial vehicle, which comprises the steps of identifying an effective operation area of the curtain wall according to curtain wall image data I (t) shot by the unmanned aerial vehicle, dividing the effective operation area into K equally-divided coverage units, generating a coverage cleaning path P according to effective coverage width W and a path overlapping coefficient of the unmanned aerial vehicle cleaning in the effective operation area, calculating a cleanliness score S k of the kth coverage unit according to the change of I (t) before and after cleaning in the cleaning process of the unmanned aerial vehicle along P, carrying out a preset maximum number of times N of supplementary cleaning on the kth coverage unit when S k is smaller than a threshold S th, adding the kth coverage unit into a back visit queue if the N supplementary cleaning is still carried out, generating a back visit path according to the back visit queue after the current P is traversed, carrying out back visit supplementary visit, forming a back visit point set omega-up to be used by corresponding center points in the back visit queue according to the back visit path P, carrying out omega { P3, and recording the position N supplementary visit units in the back visit queue according to the current P is smaller than the threshold S5335, and the position N supplementary visit queue is smaller than the nearest to the current position of the unmanned aerial vehicle according to