CN106598072A - Unmanned plane operating method for clearing garbage on water surface - Google Patents
Unmanned plane operating method for clearing garbage on water surface Download PDFInfo
- Publication number
- CN106598072A CN106598072A CN201611197704.8A CN201611197704A CN106598072A CN 106598072 A CN106598072 A CN 106598072A CN 201611197704 A CN201611197704 A CN 201611197704A CN 106598072 A CN106598072 A CN 106598072A
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- China
- Prior art keywords
- unmanned plane
- water surface
- dredger
- garbage
- dumper
- 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.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 42
- 238000011017 operating method Methods 0.000 title abstract 3
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000004140 cleaning Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses an unmanned plane operating method for clearing garbage on water surface. According to the operating method, a camera captures pictures of water surfaces, an unmanned plane carries out analysis and judgment, and a dredger catches garbage. The method is highly efficient and highly practical, easy to operate, and labor-saving and time-saving.
Description
Technical field
The invention belongs to garbage-cleaning field, more particularly to a kind of unmanned plane work side for clearing up garbage on water
Method.
Background technology
With the progress of society, the development of science and technology, environmental pollution also becomes current urgent problem, particularly water quality
Pollution.The river surface in lake surface or daily life either at tourist attractions, the rubbish for all existing not only affects attractive in appearance, together
When also result in certain pollution.The present cleaning of garbage on water is still manually, then it is low so to clear up efficiency, and
And the cost of labor of input is also big.
The content of the invention
For the deficiency that above-mentioned technology is present, the invention provides a kind of unmanned plane work side for clearing up garbage on water
Method, its is reasonable in design, simple to operate, reduces hand labor intensity, efficiently solves garbage on water process problem.
For achieving the above object, the technical solution used in the present invention is as follows：
A kind of unmanned plane method of work for clearing up garbage on water, comprises the following steps：
Step 1：Start mapping unmanned plane, the water surface is surveyed and drawn, calculate the area of the water surface, flown by ground controller planning
Walking along the street line；
Step 2：Unmanned plane is fished in startup, and unmanned plane flies according to the route of planning；
Step 3：When video camera detects floater, the CPU control modules of unmanned plane send instruction, picture analyzing module
Floater to detecting is analyzed；If floater is rubbish, CPU control modules send instruction, and unmanned plane flies
Go to the top of floater, unmanned plane descending flight, dredger submerged, if not rubbish, unmanned plane continuation flight；
Step 4：Dredger is sunk to after the water surface, and range sensor starts detection, when the upper end of dredger and the distance of the water surface are h, CPU
Control module sends instruction, and unmanned plane stops declining, the work of CPU control modules, unmanned plane during flying, when video camera detects water
When face floating thing is in dredger, unmanned plane rises, and when water surface H is left in the upper end of dredger, unmanned plane stops rising, and continues on
The route flight of planning；
Step 5：Repeat step 3 and step 4, when LOAD CELLS detects weight more than setting value, CPU control modules send
Instruction, unmanned plane makes a return voyage to bank；
Step 6：After the rubbish cleared up in dredger, unmanned plane is again started up, unmanned plane can fly to returning according to the memory of storage
At the geographical coordinate of boat, continue according to the route flight of planning, until completing the cleaning work of the whole water surface.
Described flight path is that a kind of mode of square wave is presented.
A kind of described unmanned plane method of work for clearing up garbage on water, there is a dumper on bank, on dumper
Equipped with a positioner, unmanned plane transmits the geographical coordinate that GPS positioning device is detected with dumper by wireless communication module,
When unmanned plane carrying rubbish makes a return voyage, the geographical position at dumper place can be directly flown to, the rubbish fished for is poured in dumper.
The invention has the beneficial effects as follows unmanned plane is effectively bonded together with fishing for, by the autonomous flight of unmanned plane
The cleaning to garbage on water is realized, efficiency high, cleaning is comprehensive, time saving and energy saving.
Description of the drawings
Fig. 1 is a kind of structural representation for clearing up the UAS of garbage on water.
Fig. 2 is a kind of component units for clearing up the UAS of garbage on water.
Fig. 3 is a kind of flow chart for clearing up the unmanned plane method of work of garbage on water.
Fig. 4 is a kind of unmanned plane during flying route schematic diagram for clearing up garbage on water.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
By taking six rotor wing unmanned aerial vehicles as an example, as shown in figure 1, a kind of UAS for clearing up garbage on water, including nothing
Man-machine 1, support 2, video camera 3, connecting rod 4, LOAD CELLS 5, dredger 6 and range sensor 7；
Described unmanned plane 1 is multi-rotor unmanned aerial vehicle or fixed-wing unmanned plane, control system include charging module, power module,
CPU control modules, wireless communication module, d GPS locating module, picture analyzing module and indicating module, as shown in Figure 2；
Described dredger 6 is placed on the lower section of unmanned plane, is connected by connecting rod；
Described LOAD CELLS 5 is arranged on the end of connecting rod；
Described range sensor 7 is arranged on the upper end of dredger.
A kind of such as Fig. 3, unmanned plane method of work for clearing up garbage on water is comprised the following steps：
Step 1：Start mapping unmanned plane, the water surface is surveyed and drawn, calculate the area of the water surface, flown by ground controller planning
Walking along the street line；
Step 2：Unmanned plane is fished in startup, and unmanned plane flies according to the route of planning；
Step 3：When video camera detects floater, the CPU control modules of unmanned plane send instruction, picture analyzing module
Floater to detecting is analyzed；If floater is rubbish, CPU control modules send instruction, and unmanned plane flies
Go to the top of floater, unmanned plane descending flight, dredger submerged, if not rubbish, unmanned plane continuation flight；
Step 4：Dredger is sunk to after the water surface, and range sensor starts detection, when the upper end of dredger and the distance of the water surface are h, CPU
Control module sends instruction, and unmanned plane stops declining, the work of CPU control modules, unmanned plane during flying, when video camera detects water
When face floating thing is in dredger, unmanned plane rises, and when water surface H is left in the upper end of dredger, unmanned plane stops rising, and continues on
The route flight of planning；
Step 5：Repeat step 3 and step 4, when LOAD CELLS detects weight more than setting value, CPU control modules send
Instruction, unmanned plane makes a return voyage to bank；
Step 6：After the rubbish cleared up in dredger, unmanned plane is again started up, unmanned plane can fly to returning according to the memory of storage
At the geographical coordinate of boat, continue according to the route flight of planning, until completing the cleaning work of the whole water surface.
Such as Fig. 4, flight path is that a kind of mode of square wave is presented.
There is a dumper on bank, and a positioner is housed on dumper, and unmanned plane passes through radio communication mold with dumper
The geographical coordinate that block transmission GPS positioning device is detected, when unmanned plane carrying rubbish makes a return voyage, can directly fly to dumper place
Geographical position, the rubbish fished for is poured in dumper.
Claims (3)
1. a kind of unmanned plane method of work for clearing up garbage on water, it is characterised in that comprise the following steps：
Step 1：Start mapping unmanned plane, the water surface is surveyed and drawn, calculate the area of the water surface, flown by ground controller planning
Walking along the street line；
Step 2：Unmanned plane is fished in startup, and unmanned plane flies according to the route of planning；
Step 3：When video camera detects floater, the CPU control modules of unmanned plane send instruction, picture analyzing module
Floater to detecting is analyzed；If floater is rubbish, CPU control modules send instruction, and unmanned plane flies
Go to the top of floater, unmanned plane descending flight, dredger submerged, if not rubbish, unmanned plane continuation flight；
Step 4：Dredger is sunk to after the water surface, and range sensor starts detection, when the upper end of dredger and the distance of the water surface are h, CPU
Control module sends instruction, and unmanned plane stops declining, the work of CPU control modules, unmanned plane during flying, when video camera detects the water surface
When floating thing is in dredger, unmanned plane rises, and when water surface H is left in the upper end of dredger, unmanned plane stops rising, and continues on rule
The route flight drawn；
Step 5：Repeat step 3 and step 4, when LOAD CELLS detects weight more than setting value, CPU control modules send
Instruction, unmanned plane makes a return voyage to bank；
Step 6：After the rubbish cleared up in dredger, unmanned plane is again started up, unmanned plane can fly to returning according to the memory of storage
At the geographical coordinate of boat, continue according to the route flight of planning, until completing the cleaning work of the whole water surface.
2. a kind of unmanned plane method of work for clearing up garbage on water according to claim 1, it is characterised in that described
Flight path be that a kind of mode of square wave is presented.
3. a kind of unmanned plane method of work for clearing up garbage on water according to claim 1, it is characterised in that bank
There is a dumper, a positioner is housed on dumper, unmanned plane transmits GPS location with dumper by wireless communication module
The geographical coordinate that device is detected, when unmanned plane carrying rubbish makes a return voyage, can directly fly to the geographical position at dumper place, will catch
The rubbish for dragging for is poured in dumper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611197704.8A CN106598072A (en) | 2016-12-22 | 2016-12-22 | Unmanned plane operating method for clearing garbage on water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611197704.8A CN106598072A (en) | 2016-12-22 | 2016-12-22 | Unmanned plane operating method for clearing garbage on water surface |
Publications (1)
| Publication Number | Publication Date |
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| CN106598072A true CN106598072A (en) | 2017-04-26 |
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| CN201611197704.8A Pending CN106598072A (en) | 2016-12-22 | 2016-12-22 | Unmanned plane operating method for clearing garbage on water surface |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117268A (en) * | 2017-05-12 | 2017-09-01 | 西南科技大学 | The ocean rubbish recovering method and system of a kind of heterogeneous system |
| CN107253529A (en) * | 2017-06-23 | 2017-10-17 | 深圳市雷凌广通技术研发有限公司 | A kind of unmanned plane for sea garbage-cleaning based on Internet of Things |
| CN107264800A (en) * | 2017-06-22 | 2017-10-20 | 深圳市雷凌广通技术研发有限公司 | A kind of Intelligent unattended machine cleared up for river surface algae |
| CN108036849A (en) * | 2017-12-29 | 2018-05-15 | 中国农业科学院农业信息研究所 | A kind of aquatic products monitoring device and method based on unmanned plane |
| CN109050811A (en) * | 2018-08-30 | 2018-12-21 | 深圳市研本品牌设计有限公司 | It is a kind of for clearing up the unmanned plane and storage medium of rubbish |
| CN109178308A (en) * | 2018-08-30 | 2019-01-11 | 深圳市研本品牌设计有限公司 | A kind of method and system of unmanned plane cleaning lake surface rubbish |
| CN110187714A (en) * | 2019-04-22 | 2019-08-30 | 西安电子科技大学 | A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane |
| CN112046220A (en) * | 2020-08-24 | 2020-12-08 | 西北工业大学 | Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area |
| CN115394059A (en) * | 2022-07-27 | 2022-11-25 | 新疆额尔齐斯河投资开发(集团)有限公司 | Reservoir dam safety early warning system and early warning method |
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| US20110303601A1 (en) * | 2008-10-01 | 2011-12-15 | Robert Gastaldi | Device for picking up objects floating on the water, such as hydrocarbons |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117268A (en) * | 2017-05-12 | 2017-09-01 | 西南科技大学 | The ocean rubbish recovering method and system of a kind of heterogeneous system |
| CN107117268B (en) * | 2017-05-12 | 2019-04-30 | 西南科技大学 | A kind of the ocean rubbish recovering method and system of heterogeneous system |
| CN107264800A (en) * | 2017-06-22 | 2017-10-20 | 深圳市雷凌广通技术研发有限公司 | A kind of Intelligent unattended machine cleared up for river surface algae |
| CN107253529A (en) * | 2017-06-23 | 2017-10-17 | 深圳市雷凌广通技术研发有限公司 | A kind of unmanned plane for sea garbage-cleaning based on Internet of Things |
| CN108036849A (en) * | 2017-12-29 | 2018-05-15 | 中国农业科学院农业信息研究所 | A kind of aquatic products monitoring device and method based on unmanned plane |
| CN109050811A (en) * | 2018-08-30 | 2018-12-21 | 深圳市研本品牌设计有限公司 | It is a kind of for clearing up the unmanned plane and storage medium of rubbish |
| CN109178308A (en) * | 2018-08-30 | 2019-01-11 | 深圳市研本品牌设计有限公司 | A kind of method and system of unmanned plane cleaning lake surface rubbish |
| CN110187714A (en) * | 2019-04-22 | 2019-08-30 | 西安电子科技大学 | A kind of rubbish waterborne salvaging control method and system, unmanned plane based on unmanned plane |
| CN112046220A (en) * | 2020-08-24 | 2020-12-08 | 西北工业大学 | Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area |
| CN115394059A (en) * | 2022-07-27 | 2022-11-25 | 新疆额尔齐斯河投资开发(集团)有限公司 | Reservoir dam safety early warning system and early warning method |
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