阅读说明：本技术 测距装置、无人机清洗设备、清洗控制方法及控制装置 (Distance measuring device, unmanned aerial vehicle cleaning equipment, cleaning control method and control device ) 是由 李鲲 吕文君 宋磊 于 2021-07-13 设计创作，主要内容包括：本发明公开一种测距装置、无人机清洗设备、清洗控制方法及控制装置,其中测距装置包括至少一个测距相机,所述测距相机的外侧设有至少一个出风装置,所述出风装置用于输出整体沿所述测距相机的尾部到所述测距相机的镜头的方向流动的气流,所述至少一个出风装置沿所述测距相机的周向排列设置。出风装置用于输出整体沿所述测距相机的尾部到所述测距相机的镜头的方向流动的气流,使得出风装置能够驱除可能回溅到测距相机的水花,避免水花粘附到测距相机的镜头上而引发较大的测距误差,有利于提高无人机清洗设备的定位准确度,降低无人机清洗设备因定位误差较大而发生刮擦、碰撞到外部设备的可能性,提升无人机清洗设备在进行清洗时的使用安全程度。(The invention discloses a distance measuring device, unmanned aerial vehicle cleaning equipment, a cleaning control method and a control device, wherein the distance measuring device comprises at least one distance measuring camera, at least one air outlet device is arranged on the outer side of the distance measuring camera, the air outlet device is used for outputting airflow which integrally flows along the direction from the tail part of the distance measuring camera to a lens of the distance measuring camera, and the at least one air outlet device is arranged along the circumferential direction of the distance measuring camera. Air-out device is used for exporting whole edge range camera's afterbody arrives the air current that the direction of range camera's camera lens flows for air-out device can drive away the splash that probably splashes back to range camera, avoids the splash adhesion to cause great range error on range camera's the camera lens, is favorable to improving unmanned aerial vehicle cleaning equipment's positioning accuracy, reduces unmanned aerial vehicle cleaning equipment because of the great possibility that takes place the scraping, bump external equipment of positioning error, promotes the safe degree in utilization of unmanned aerial vehicle cleaning equipment when wasing.)

1. The utility model provides a range unit for unmanned aerial vehicle cleaning equipment, its characterized in that includes at least one range camera, the outside of range camera is equipped with at least one air-out device, the air-out device is used for exporting whole the follow the afterbody of range camera arrives the air current that the direction of range camera's camera lens flows, at least one air-out device is followed the circumference of range camera is arranged and is set up.

2. A ranging apparatus as claimed in claim 1 wherein the air outlet means comprises a hot air blower.

3. Unmanned aerial vehicle cleaning apparatus comprising a ranging device as claimed in claim 1 or 2.

4. A cleaning control method is applied to the unmanned aerial vehicle cleaning equipment according to claim 3, and is characterized by comprising an air outlet device start-stop control step, wherein the air outlet device start-stop control step comprises the following steps:

acquiring a main lift force of the unmanned aerial vehicle cleaning equipment, and acquiring a first component force of the main lift force along the horizontal direction;

acquiring the course of the unmanned aerial vehicle cleaning equipment;

and controlling the starting and stopping of the air outlet device according to the included angle between the first component force and the course.

5. The cleaning control method according to claim 4, wherein the controlling of starting and stopping of the air outlet device according to the included angle between the first component force and the heading comprises:

when the included angle between the first component force and the course is smaller than a preset value, starting the air outlet device;

and when the included angle between the first component force and the course is larger than or equal to a preset value, stopping the air outlet device.

6. The cleaning control method according to claim 4, wherein the controlling of starting and stopping of the air outlet device according to the included angle between the first component force and the heading comprises:

acquiring a second component force of the first component force along the course direction;

and controlling the component force of the air outlet device according to the second component force.

7. The cleaning control method according to claim 6, wherein the controlling the magnitude of the force component of the air outlet device according to the second force component comprises controlling the wind power magnitude of the air outlet device in the following manner:

Fan＝kp·F·yaw；

fan is the wind power of the air outlet device, kp is an adjustable parameter, F is the first component force, yaw is a unit vector of the course, and F · yaw is the second component force.

8. The washing control method according to claim 4, further comprising, before the step of controlling the start and stop of the wind outlet device:

when unmanned aerial vehicle cleaning equipment began to carry out the washing operation, start air-out device.

9. A cleaning control device for use in a drone cleaning apparatus according to claim 3, comprising:

the main lift force acquisition module is used for acquiring a first component force of the main lift force of the cleaning equipment along the horizontal direction;

the course acquisition module is used for acquiring the course of the unmanned aerial vehicle cleaning equipment;

and the control module is used for controlling the starting and stopping of the air outlet device according to the included angle between the first component force and the course.

10. A computer-readable storage medium storing a washing control program, characterized in that the washing control program realizes the washing control method according to any one of claims 4 to 8 when executed.

Technical Field

The invention relates to the field of cleaning and washing, in particular to a distance measuring device, unmanned aerial vehicle cleaning equipment, a cleaning control method and a control device.

Background

An insulator is a special insulating control used for fixing a power conductor in a power transmission line. Because the insulator fixed on the electric tower is exposed in the field environment for a long time, the surface of the insulator is easily polluted by dust to form a dirty layer, and if the insulator is not cleaned in time, the short circuit fault of a power supply system is easily caused. In recent years, insulator cleaning unmanned aerial vehicles have begun to receive attention from the power industry.

When the insulator cleaning unmanned aerial vehicle works, the distribution situation of surrounding obstacles needs to be known, and generally, the adopted method is to measure the distance from the surrounding obstacles to the insulator cleaning unmanned aerial vehicle by installing cameras around the unmanned aerial vehicle and utilizing a visual obstacle avoidance system. But unmanned aerial vehicle is when rinsing the insulator, can take place the scraping sometimes, collide the condition production of external equipment, and unmanned aerial vehicle's safety in utilization when rinsing remains to promote.

Disclosure of Invention

The invention mainly aims to provide a distance measuring device, and aims to improve the use safety degree of an unmanned aerial vehicle during cleaning.

In order to achieve the purpose, the distance measuring device provided by the invention is used for unmanned aerial vehicle cleaning equipment and comprises at least one distance measuring camera, at least one air outlet device is arranged on the outer side of the distance measuring camera, the air outlet device is used for outputting airflow which flows along the direction from the tail part of the distance measuring camera to the lens of the distance measuring camera, and the at least one air outlet device is arranged along the circumferential direction of the distance measuring camera.

Optionally, the air outlet device includes a hot air blower.

The invention further provides unmanned aerial vehicle cleaning equipment which comprises the distance measuring device.

The invention also provides a cleaning control method, which is applied to the unmanned aerial vehicle cleaning equipment and comprises an air outlet device start-stop control step, wherein the air outlet device start-stop control step comprises the following steps: acquiring a main lift force of the unmanned aerial vehicle cleaning equipment, and acquiring a first component force of the main lift force along the horizontal direction; acquiring the course of the unmanned aerial vehicle cleaning equipment; and controlling the starting and stopping of the air outlet device according to the included angle between the first component force and the course.

Optionally, according to the first component with the contained angle between the course, control the start and stop of air-out device includes: when the included angle between the first component force and the course is smaller than a preset value, starting the air outlet device; and when the included angle between the first component force and the course is larger than or equal to a preset value, stopping the air outlet device.

Optionally, according to the first component with the contained angle between the course, control the start and stop of air-out device includes: acquiring a second component force of the first component force along the course direction; and controlling the component force of the air outlet device according to the second component force.

Optionally, the controlling the component force of the air outlet device according to the second component force includes controlling the wind power of the air outlet device in the following manner: fan-kp.f.yaw; fan is the wind power of the air outlet device, kp is an adjustable parameter, F is the first component force, yaw is a unit vector of the course, and F · yaw is the second component force.

Optionally, before the air outlet device start-stop control step, the method further includes: when unmanned aerial vehicle cleaning equipment began to carry out the washing operation, start air-out device.

The invention also provides a cleaning control device, which is applied to the unmanned aerial vehicle cleaning equipment and comprises the following components: the main lift force acquisition module is used for acquiring a first component force of the main lift force of the cleaning equipment along the horizontal direction; the course acquisition module is used for acquiring the course of the unmanned aerial vehicle cleaning equipment; and the control module is used for controlling the starting and stopping of the air outlet device according to the included angle between the first component force and the course.

The present invention also proposes a computer-readable storage medium for storing a washing control program which, when executed, implements the above washing control method.

According to the technical scheme, at least one air outlet device is arranged on the outer side of the range finding camera and used for outputting airflow which flows along the direction from the tail of the range finding camera to the lens of the range finding camera, so that the air outlet device can expel water splash which possibly splashes back to the range finding camera, large range finding errors caused by the fact that the water splash is adhered to the lens of the range finding camera are avoided, the positioning accuracy of unmanned aerial vehicle cleaning equipment is improved, the possibility that the unmanned aerial vehicle cleaning equipment scrapes and collides external equipment due to large positioning errors is reduced, and the use safety degree of the unmanned aerial vehicle cleaning equipment during cleaning is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a distance measuring device according to an embodiment of the invention.

FIG. 2 is a schematic step diagram of a cleaning control method according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a cleaning control apparatus according to an embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				1	Distance measuring camera	11	Lens barrel
2	Air outlet device

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a distance measuring device.

Referring to fig. 1, the distance measuring device provided by the invention is used for unmanned aerial vehicle cleaning equipment, and comprises at least one distance measuring camera 1, namely the distance measuring device provided by the invention is an image distance measuring device. The axis direction of the range camera 1 is arranged along the left-right direction of fig. 1, at least one air outlet device 2 is arranged at the outer side of the range camera 1, four air outlet devices 2 are arranged in the embodiment, and each air outlet device 2 comprises an air heater; in other embodiments, the air outlet device 2 may also be configured as a blower. The air outlet device 2 is used for outputting air flow which flows along the direction from the tail of the range finder camera 1 to the lens 11 of the range finder camera 1 as a whole, namely along the left-right direction of fig. 1, namely the direction indicated by the dotted arrow in fig. 1. The air outlet device 2 is configured to output an air flow flowing in a direction from the tail of the range finder camera 1 to the lens 11 of the range finder camera 1, that is, the air flow direction is allowed to have a certain deviation from the dotted arrow in fig. 1, and only the air flow direction has a component in the left-right direction in fig. 1, that is, the dotted arrow. At least one air-out device 2 arranges the setting along range camera 1's circumference, and four air-out devices 2 set up along range camera 1's circumference equipartition in this embodiment, can improve the homogeneity of the whole air-out of air-out device 2, further avoid the possibility that the water splash back splashes. Be equipped with at least one air-out device 2 in range camera 1's the outside through the adoption, air-out device 2 is used for exporting whole edge range camera 1's afterbody arrives the air current that range camera 1's camera lens 11's direction flows for air-out device 2 can drive away the splash that probably splashes range camera 1 back, avoids the splash adhesion to cause great range error on range camera 1's camera lens 11, is favorable to improving unmanned aerial vehicle cleaning equipment's positioning accuracy, reduces unmanned aerial vehicle cleaning equipment and takes place the scraping because of positioning error is great, the possibility of colliding external equipment, promote the safe in utilization degree of unmanned aerial vehicle cleaning equipment when wasing.

The invention further provides unmanned aerial vehicle cleaning equipment which comprises the distance measuring device. As shown in fig. 3, unmanned aerial vehicle belt cleaning device still includes washs controlling means, washs controlling means and is applied to this unmanned aerial vehicle cleaning equipment, washs controlling means and includes: the main lift force acquisition module is used for acquiring a first component force of the main lift force of the cleaning equipment along the horizontal direction; the cleaning control device also comprises a course acquisition module, and the course acquisition module is used for acquiring the course of the unmanned aerial vehicle cleaning equipment; the cleaning control device further comprises a control module, and the control module is used for controlling the starting and stopping of the air outlet device 2 according to the included angle between the first component force and the course.

As shown in fig. 2, the invention further provides a cleaning control method, the cleaning control method is applied to the unmanned aerial vehicle cleaning equipment, and the cleaning control method comprises a start-stop control step of the air outlet device 2. Before the step of controlling the start and stop of the air outlet device 2, the cleaning control method further comprises the following steps: step S100, when the unmanned aerial vehicle cleaning equipment starts to perform cleaning operation, the air outlet device 2 is started. Starting air-out device 2 when unmanned aerial vehicle cleaning equipment starts, can avoid air-out device 2 to lead to the initial stage part water bloom to splash back to range camera 1 because the control time delay.

The start-stop control step of the air outlet device 2 comprises the following steps:

step S210, acquiring a main lift force of the unmanned aerial vehicle cleaning equipment, and acquiring a first component force of the main lift force along the horizontal direction; the main lift force of the unmanned aerial vehicle cleaning equipment is obtained, the main lift force can be obtained when the unmanned aerial vehicle cleaning equipment is in a hovering state, and the main lift force obtained at the moment is more accurate. The main lift may be obtained by reading control parameters of the drone cleaning device.

S200, acquiring the course of the unmanned aerial vehicle cleaning equipment; course indicates the direction just before unmanned aerial vehicle cleaning equipment axis, and unmanned aerial vehicle cleaning equipment's course accessible reads unmanned aerial vehicle cleaning equipment's control parameter and obtains. The heading is a vector, i.e., the heading includes a direction.

And step S230, controlling the starting and stopping of the air outlet device 2 according to the included angle between the first component force and the heading. According to the contained angle between first component power and the course, control opening of air-out device 2 and stop, include: when the included angle between the first component force and the course is smaller than a preset value, the air outlet device 2 is started, and the preset value can be set to be ninety degrees or ninety degrees plus a preset deviation value; and when the included angle between the first component force and the course is greater than or equal to a preset value, stopping the air outlet device 2. When the included angle between first component and the course is greater than the default, it indicates that unmanned aerial vehicle cleaning equipment is in the downwind state promptly, and external wind-force can blow the splash to the direction of keeping away from range camera 1 promptly, stops air-out device 2 and can reduce energy consumption this moment. When the included angle between the first component force and the course is larger than the preset value, the outside wind blows the splash back to the side wall of the range camera 1, the range measurement of the lens 11 cannot be interfered, and the energy consumption can be reduced by stopping the air outlet device 2.

According to the contained angle between first component power and the course, control opening of air-out device 2 and stop, include: step S232, acquiring a second component force of the first component force along the course direction; and controlling the component force of the air outlet device 2 according to the second component force.

Controlling the magnitude of the component force of the air outlet device 2 according to the second component force, comprising step S234: the wind power of the wind outlet device 2 is controlled as follows: fan-kp.f.yaw; fan is the wind power of the air outlet device 2, kp is an adjustable parameter, F is a first component force, yaw is a unit vector of the course, and F · yaw is the magnitude of a second component force. kp is set as an adjustable parameter, so that the cleaning control method is suitable for different machine types or environmental conditions, and the applicability of the cleaning control method is improved. The wind power Fan is a scalar and represents a numerical value; the first component force F is a vector, the course yaw is a vector, and the first component force F and the course yaw are subjected to dot product to obtain a scalar quantity, so that the wind power magnitude Fan which is the scalar quantity is obtained. F · yaw, i.e. the first component F multiplied by the heading yaw, has a value equal to the magnitude of the second component.

A computer-readable storage medium for storing a washing control program which, when executed, implements the above-described washing control method. Computer storage media may include mass storage for data or instructions. In particular, the computer storage medium may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Computer storage media may include removable or non-removable (or fixed) media, where appropriate. The computer storage medium may be internal or external to the integrated gateway disaster recovery device, where appropriate. In certain embodiments, the computer storage medium is non-volatile solid-state memory. In particular embodiments, computer storage media includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of at least two of the foregoing. The specific steps of the cleaning control method refer to the above embodiments, and since the computer-readable storage medium adopts all technical solutions of all embodiments of the cleaning control method, at least all beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not described in detail herein.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.