METHOD FOR CONTROLLING A FLYING OBJECT FOR CLEANING SURFACES

Abstract

1. Method for controlling a flying body for cleaning surfaces

2.1. Flying bodies can cover large distances between arrangements of smooth and curved surfaces without requiring manual manipulation. This reduces personnel requirements and enables large surfaces to be maintained, for example solar power stations, in a fully automated manner.

2.2. The method for controlling a flying body for cleaning surfaces consists of detecting the surrounding surfaces of an object to be cleaned, directing the flying body with respect thereto and structuring the flight path. As a result, the surface can be cleaned particularly efficiently and, if needed, worked on further.

2.3. Said method for controlling a flying object for cleaning surfaces is suitable for use on glass facades or on solar power stations, particularly in arid regions.

Claims

1. Method for controlling a flying body for cleaning surfaces, comprising a sensor system for the detection of geometrical characteristics of an object and the alignment of a flying body according to said object

2. Method for controlling a flying body according to claim 1, comprising a routine, within which the position of the flying body relative to the object is sensed

3. Method for controlling a flying body according to claim 1 or 2, comprising a routine for the alignment of the flying body in a sequence, due to which any undesirable collision with an object will be avoided

4. Method for controlling a flying body according to one or more of the claims 1-3, comprising a routine, which subdivides flight paths of the flying body in such a way that the surface of an object is subject to the greatest possible effect on the part of a cleaning head

5. Method for controlling a flying body according to one or more of the claims 1-4, characterized in that in consideration of any tolerances, after an interruption of its flight path, the flight body will resume its flight path at or prior to the point of interruption

6. Method for controlling a flying body according to one or more of the claims 1-5, comprising a routine, by means of which the flying body approaches pre-programmed, sensor-based waypoints

Description

[0066] One embodiment of the invention is shown in the drawings, and will be described hereinafter in detail. Shown are

[0067] FIG. 1 a routine for taking off and flying to a waypoint

[0068] FIG. 2 a routine for the positioning of an effector

[0069] FIG. 3 the side view of a flying body over an object in various positions

[0070] FIG. 4 a pattern that is the result of waypoints and/or the subdivision of flight paths

[0071] The application of the invention at a solar power plant comprising multiple arrays will be explained as an embodiment.

[0072] FIG. 1 shows that a query is initially made whether the specifications for takeoff have been satisfied. In doing so, for example, comparison is made to the time of day, because calmer winds tend to occur at night, when the flying body will not cast a shadow.

[0073] If the specifications have been satisfied, for example if a specific time of day has come and the environmental requirements for operation have been met, then the flying body will take off by accepting a defined waypoint.

[0074] This waypoint is defined horizontally by GPS and vertically by height information.

[0075] The necessary orientation will have been determined by a compass, which is likewise found in flying bodies such as multicopters, also called drones, and is likewise accepted by the control electronics present in the flying body.

[0076] Furthermore, the waypoint has a number so that it can be distinguished from others and can be flown to in a sequence.

[0077] One initial mode of operation is described below:

[0078] By means of the sensor system, the flying body senses its environment in order to align the flying body or the attached cleaning apparatus with respect to the surface of the object to be cleaned.

[0079] For doing so, the cleaning apparatus is equipped with two distance sensors such as ultrasonic sensors. These measure the distance from the flying body and its cleaning apparatus to an object, and they are oriented towards the ground.

[0080] If an object has been detected, thus falling below a distance sensor threshold value, then the flying body will descend so that the cleaning apparatus effector can work on the surface, for example by a strip brush lying against the surface.

[0081] In this regard, the distance sensor must be installed in a specified location on the cleaning apparatus in order to be able to utilize the sensor information.

[0082] An additional, second mode of operation is described below and shown in FIGS. 2-3:

[0083] If the cleaning apparatus (3) is movably arranged on the flying body (1), for example using a mounting adapter (2), then a height for flying over the object to be cleaned (5) will be specified. The object to be cleaned is fixed to the ground (6).

[0084] At this altitude, inaccuracies regarding the surface and/or the flying body can be compensated for mechanically by the mobility of the mounting adapter without having to finely control the flying body.

[0085] The distance between the mounting adapter and the flying body and thus the cleaning head can be actively controlled. For example, the cleaning head can be actuated to retract or lower via the mounting adapter.

[0086] In all modes of operation, the surface to be cleaned is approached or tracked by a cleaning apparatus effector being lowered.

[0087] If said surface, for example the glass facade of a high-rise building, is not beneath the flying body but rather next to it, then the term lowering means that the effector approaches the surface to be cleaned.

[0088] Accordingly, retracting means that the cleaning apparatus is moved towards the flying body.

[0089] FIG. 2 shows that the distance between the flying body and a nearby object such as the ground or an object to be cleaned will be constantly measured after takeoff.

[0090] If the measured value is larger than a threshold value, then no object to be cleaned is present, and the cleaning apparatus will be retracted or rather held in a retracted position.

[0091] If an object to be cleaned is present, thus falling below the distance measurement threshold value, then the cleaning apparatus will be lowered.

[0092] This routine can run independently of the programming of the flying body, for example in a separate cleaning apparatus control process.

[0093] FIG. 3 shows the flying body in the respective positions before, during and after overflying an object.

[0094] The control of the cleaning apparatus being dependent on the presence of an object reduces the risk of the flying body possibly colliding with its surroundings.

[0095] If a surface has been subdivided multiple times, such as into individual modules, it may then be useful to interlink the distance measurement information and the track measurement information.

[0096] In doing so, it is important to avoid the cleaning head being retracted following the end of each module within an array, which is a collection of modular solar structures.

[0097] If the means of measuring distance determines that no object to be cleaned is present along the distance of a certain path, then the cleaning apparatus will be retracted. In doing so, the necessary threshold must be greater than or equal to the maximum distance between two modules within an array.

[0098] In this way, any unnecessary retraction and lowering of the cleaning apparatus can be avoided. The sensor system (4) measures the distance to objects beneath the cleaning apparatus and in front of the flying body so that control commands can be carried out in advance.

[0099] FIG. 4 shows a meandering flight route over two arrays.

[0100] Said route is chosen in order to fly along the entire surface while using the least energy possible. The flight paths result from the prioritized waypoints, which can be recognized in the drawings at the ends of the arrows and are aligned in parallel with the surface.

[0101] The flying body takes off from Point S and, after completing its overflight, lands there.

[0102] If the flight route should be interrupted, for example due to the battery capacity of the flying body running low at Point U, then the flying body will fly directly to Point S, where it will land and/or exchange batteries.

[0103] After having been interrupted at Point U, the flight route will be resumed from Point F in order to compensate for any possible inaccuracies in the position of the flying body.

[0104] The extent and arrangement of the flight path should result in the waypoints being laid out in such a way that the entire width of a cleaning apparatus effector can work on the surface. In this regard, the effector paths should be slightly overlapping in order to compensate for inaccuracies in the positioning of the flying body.

[0105] In laying out the waypoints, the sensor system is useful in thereby enabling the flying body to approach the object in accordance with its edges and contours.

[0106] If the predefined waypoints necessary for complete coverage are missing or insufficient for the application, then, on the basis of edge detection and thus the sensing of the object, the control electronics for the sensor system and/or the flying body will have to calculate additional suitably aligned paths in succession.

[0107] In doing so, it is advantageous to start at one side of the structural expanse of the array and calculate slightly overlapping paths along it.

[0108] Corrections to the position as well as the alignment of the flying body can be performed independently of the built-in flight control method, for example that of a multicopter, with the aid of edges, which are represented to the flying body as repetitive geometric structures. The flying body will then be able to align itself, for example parallel to the edge of a module.