CN106081426A - A kind of community based on unmanned plane intelligent garbage recovery system and method for work thereof - Google Patents
A kind of community based on unmanned plane intelligent garbage recovery system and method for work thereof Download PDFInfo
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- CN106081426A CN106081426A CN201610632802.3A CN201610632802A CN106081426A CN 106081426 A CN106081426 A CN 106081426A CN 201610632802 A CN201610632802 A CN 201610632802A CN 106081426 A CN106081426 A CN 106081426A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1484—Other constructional features; Accessories relating to the adaptation of receptacles to carry identification means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultra-violet radiation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/128—Data transmitting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/165—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/172—Solar cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/184—Weighing means
Abstract
The invention discloses a kind of community based on unmanned plane intelligent garbage recovery system, including: the weighing platform weighed for rubbish, Intelligent unattended machine, intelligent dustbin and remote control for garbage reclamation, described intelligent garbage weighing platform, intelligent garbage recovery unmanned plane and intelligent dustbin connect and compose intelligent garbage recovery system by wireless network, and, described intelligent garbage weighing platform, intelligent garbage recovery unmanned plane and intelligent dustbin are all connected with remote control；The present invention is by arranging, at user terminal, the weighing platform that rubbish is weighed, it cooperates with unmanned plane and intelligent dustbin, cooperated by GPS locating module and altitude sensor, their own realizing route is allowed to plan, by mechanical hand, the rubbish of user terminal is transported in intelligent dustbin, thus garbage disposal problem in well solving community, allow garbage disposal realize intellectuality, improve user's interest to garbage disposal, improve the environmental consciousness of user.
Description
Technical field
The invention belongs to unmanned plane field, particularly to a kind of community based on unmanned plane intelligent garbage recovery system and
Method of work.
Background technology
Entering 21 century, social economy, rapid industrial development, resident's average income is gradually increasing, simultaneously also along with life
The raising that running water is flat, this also brings increasing of house refuse.But, in each big settlement of China, all occurred that high-altitude was thrown
The phenomenons such as thing, throwing rubbish.On the one hand throwing object in high sky, throwing rubbish pollute the environment of community, road, on the other hand also to road downstairs
Pedestrian, the vehicle crossed cause certain potential safety hazard.In the face of this phenomenon, Propagate and management or the police are only strengthened in usual community
Intervention could solve this problem, cause many inconvenience so can to relevant management personnel, and be generally all afterwards
Process, be the most all paid some costs after just can have been resolved, even if so also can not effect a radical cure, therefore throwing object in high sky quilt
It is referred to as " being suspended in the pain in overhead, city ".
Summary of the invention
Goal of the invention: in order to overcome above deficiency, it is an object of the invention to provide a kind of community based on unmanned plane rubbish
Intelligence recovery system and method for work thereof, its simple in construction, reasonable in design, it is easy to produce, automaticity is high, well solves
Uncivil phenomenon and the safety problem of rubbish is thrown in high-altitude.
Technical scheme: to achieve these goals, the invention provides a kind of community based on unmanned plane intelligent garbage and returns
Receipts system, including: the weighing platform weighed for rubbish, the Intelligent unattended machine for garbage reclamation, intelligent dustbin and remote
Process control device, described intelligent garbage weighing platform, intelligent garbage recovery unmanned plane and intelligent dustbin pass through wireless network
Network connects and composes intelligent garbage recovery system, and, described intelligent garbage weighing platform, intelligent garbage reclaim unmanned plane and intelligence
Can all be connected with remote control by refuse bin, wherein,
Being provided with weighing control device, RFID label tag card and button, display lamp control zone in described weighing platform, described weighs
Control device is provided with the first governor circuit, a GPS locating module, altitude sensor, GPRS data sending module, title
Molality block and button, display lamp control module, a described GPS locating module, altitude sensor, GPRS data send
Module, Weighing module and button, display lamp control module are all connected with the first governor circuit；
Described Intelligent unattended machine is provided with fuselage and unmanned aerial vehicle (UAV) control device, is provided with the second master control electricity in described control device
Road, the 2nd GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand, GPRS data receive
Module and power control mechanism, described GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, photographic head,
Mechanical hand, GPRS data receiver module and power control mechanism are all connected with the second governor circuit, and described GPRS data receives
Module matches with the GPRS data sending module in weighing platform；Described intelligent dustbin is provided with unmanned plane and stops flat
Platform, for the charging device of unmanned plane and dustbin control device.
Heretofore described a kind of based on unmanned plane community intelligent garbage recovery system, it is by setting at user terminal
Put the weighing platform that rubbish is weighed, and control device is set on unmanned plane, and matched with remote control by it, allow
Unmanned plane judges that rubbish is whether in the service area of oneself and mutual by GPS locating module and altitude sensor voluntarily
Coordinate, allow their own realizing route plan, by mechanical hand, the rubbish of user terminal is transported in intelligent dustbin, thus very
Good solve community in garbage reclamation process problem, allow garbage reclamation realize intellectuality, improve emerging to garbage disposal of user
Interest, improves the environmental consciousness of user；Meanwhile, wherein said photographic head and the setting of RFIDnt ultra-high frequency card reader, it is possible to
It is greatly improved the precision of unmanned plane work, thus allows it better meet the demand of community service.
Heretofore described weighing platform is provided with warning system, and described warning system is with remote control even
Connecing, exceed the maximum load scope of unmanned plane once described refuse bag, it will remind user couple by warning system
Rubbish is repartitioned, it is to avoid unmanned plane is caused damage, is greatly improved the reasonability of its design.
The present invention collects described intelligent dustbin and is provided with the infrared detection sensing for detecting refuse bin storage state
Device, carrying out the UV irradiation module and the second GPRS data transtation mission circuit that sterilize for refuse bin internal medium, described is red
Outer detection sensor, UV irradiation module and the second GPRS data transtation mission circuit are all connected with dustbin control device, and, institute
The the second GPRS data transtation mission circuit stated is connected with the rubbish control system of environmental sanitation department, intelligent garbage bin mid-infrared detection sensing
Device arranges and can detect the storage state in refuse bin, after once its storage is full, is then sent by the second GPRS data
Circuit sends information to environmental sanitation department, allows it process the rubbish in intelligent dustbin timely, it is to avoid rubbish is nowhere
Stack, thus further increase the intellectuality of whole garbage retrieving system, meanwhile, in refuse bin, be also provided with ultraviolet
Irradiation module, allows the rubbish in its refuse bin carry out sterilizing, reduces the generation of antibacterial, thus effectively improve community
Environment.
Heretofore described intelligent dustbin is additionally provided with photovoltaic charging system, described photovoltaic charging
System is made up of solar module and circuit control device, is provided with charger in described circuit control device, described
Charger is connected with charging device, the setting of photovoltaic charging system, it is possible to the luminous energy of the sun is converted into electric energy, for nothing
Man-machine and intelligent dustbin provides electric energy, allows whole garbage retrieving system reach self-sufficiency, well solves unmanned plane
And the electrical problem of refuse bin so that whole system is able to perfect.
Heretofore described remote control is provided with controller and controls device, described control device is provided with
Weighing platform control module, unmanned aerial vehicle (UAV) control module, refuse bin control module and central controller module, described weighing is flat
Platform control module is connected with weighing control device, and described unmanned aerial vehicle (UAV) control module is connected with unmanned aerial vehicle (UAV) control device, described
Refuse bin control module is connected with dustbin control device, described weighing platform control module, unmanned aerial vehicle (UAV) control module and
Refuse bin control module is all connected with central controller module.
Heretofore described weighing platform is provided with solar charging circuit and accumulator battery, described solar recharging
Circuit is connected with accumulator battery, the setting of described accumulator battery, when unmanned plane and refuse bin are without charging, to photovoltaic
The electric energy that charging system produces stores, and allows it not have during sunlight and provides electric energy for unmanned plane and refuse bin.
The second heretofore described governor circuit is provided with controller module, described controller module is provided with data
Depositor, data converter, data processor and control module, at described data register, data converter and data
Reason device be all connected with control module, described control module is provided with the 2nd GPS Positioning Control Unit, sensor control unit,
RFIDnt ultra-high frequency card reader control unit, photographic head control unit, manipulator control unit, GPRS data reception control unit and
Controller, described the 2nd GPS Positioning Control Unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit, shooting
Head control unit, manipulator control unit and GPRS data reception control unit respectively with the 2nd GPS locating module, height above sea level
Sensor, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand and GPRS data receiver module connect, the 2nd described GPS location
Control unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, manipulator control list
Unit, GPRS data reception control unit are all connected with controller.
The method of work of heretofore described a kind of based on unmanned plane community intelligent garbage recovery system is concrete
Method of work is as follows:
(1) refuse bag that: be first installed on balcony by weighing platform, then needs are thrown away by user is put on weighing platform；
(2): then the weight of refuse bag will be weighed by weighing platform, then Weighing module will the data of weighing enter
Row is analyzed, and the data once weighed are beyond the traffic coverage of unmanned plane, then the warning system on weighing platform will be by report
Police reminds, and then refuse bag is redistributed by user,；
(3): in previous step, if the data weighed are in the range of unmanned plane transports, then it will draw refuse bag
Delicate, is then sent to Intelligent unattended machine, meanwhile, GPRS by GPRS data sending module the data of detection
Data transmission blocks will be sent along to the position of this refuse bag i.e. coordinate and floor information to Intelligent unattended machine；
(4): to passing through number in the second governor circuit after in Intelligent unattended machine, GPRS data receiver module receives data
It is analyzed processing to the data received according to processor；
(5): after data processor for analysis goes out the coordinate of user side, floor information and refuse bag weight, Intelligent unattended machine leads to
Cross the 2nd GPS locating module to position oneself, draw himself current coordinate；
(6): then by combining the coordinate of user side the arithmetical unit in data processor, floor information calculates Intelligent unattended machine
Flight path and flying height；
(7): until the flight path of Intelligent unattended machine and flying height confirm good after, initialize altitude sensor, and pass through
It measures current height above sea level, then determines story height according to height above sea level in flight course；
(8): when Intelligent unattended machine flies to user's balcony, by RFIDnt ultra-high frequency card reader, the RFID label tag of user side is sticked into
Row Card Reader, carries out secondary verification to user profile；
(9): in above-mentioned information audit process, if information is checked unsuccessfully, Intelligent unattended machine will return starting point, if information core
To success, then Intelligent unattended machine will be opened photographic head and refuse bag carries out imaging, and the information of shooting is sent to immediately
In photographic head control unit, photographic head control unit send the data to controller；
(10): the data that photographic head is shot by control order data processor the most again are analyzed, when data processor pair
The result of analysis is fed back in controller after completing by data analysis again；
(11): then controller will instruct gripper of manipulator to take family refuse bag according to the result analyzed, will after capturing successfully
Intelligent dustbin rendered to automatically by refuse bag, and then Intelligent unattended machine is back to unmanned plane stopping platform；
(12): when Intelligent unattended machine stops after unmanned plane stopping platform, if it is not received by any task, then it will be
Await orders on unmanned plane stopping platform, in the process, according to its electrical demand by charging device by photovoltaic Charging
It is charged by the electric energy that system produces；
(13): after intelligent dustbin thrown into by rubbish, UV irradiation module will carry out sterilization operation to rubbish, meanwhile,
Amount of storage in intelligent dustbin will be detected by infrared detection sensor；
(14): after previous step mid-infrared detection sensor detects that intelligent dustbin storage is full, will be by the 2nd GPRS number
Feed back information to environmental sanitation department according to the GPRS data sending module in transtation mission circuit, allow environmental sanitation department send garbage-treatment car as early as possible
Come over to process.
The method of work of heretofore described a kind of based on unmanned plane community intelligent garbage recovery system, it is by claiming
The weight of refuse bag will be weighed by galassing platform, be then passed through analyzing its when the carrying scope of unmanned plane, GPRS data
Sending module will be sent to Intelligent unattended machine, after unmanned plane receives signal the data of detection, it will fixed by the 2nd GPS
It is positioned oneself and route planning by position module, allows it can arrive weighing platform accurately and refuse bag is transported intelligence
In refuse bin, and, by photovoltaic charging system, unmanned plane and refuse bin are powered, allow it realize one completely
Intelligentized system, thus allow it better meet the demand of community service.
Technique scheme is it can be seen that there is advantages that
1, heretofore described a kind of based on unmanned plane community intelligent garbage recovery system, it is by arranging at user terminal
The weighing platform that rubbish is weighed, and arrange control device on unmanned plane, and being matched with remote control by it, allows nothing
Man-machine judge voluntarily rubbish whether in the service area of oneself, and by GPS locating module and altitude sensor phase interworking
Close, allow their own realizing route plan, by mechanical hand, the rubbish of user terminal is transported in intelligent dustbin, thus very well
Solve garbage disposal problem in community, help user to process house refuse timely, it is to avoid rubbish causes very unexpectedly etc.
Safety and environmental problem, allow garbage disposal realize intellectuality, improve user's interest to garbage disposal, improve the environmental protection of user
Consciousness.
2, heretofore described photographic head and the setting of RFIDnt ultra-high frequency card reader, become rubbish by photographic head
Picture, and combine mechanical hand refuse bag is captured and transports to refuse bin can be greatly improved unmanned plane work precision,
Also by RFIDnt ultra-high frequency card reader, the RFID label tag on weighing platform is checked during the crawl of refuse bag, thus
Improve the accuracy of this intelligent garbage recovery system work, and then allow it better meet the demand of community service.
3, heretofore described intelligent garbage bin mid-infrared detection sensor is arranged can be to the storage shape in refuse bin
State detects, and after once its storage is full, then sends information to environmental sanitation department by the second GPRS data transtation mission circuit, allows it
Timely the rubbish in intelligent dustbin is processed, it is to avoid rubbish is stacked nowhere, thus further increase whole rubbish
The intellectuality of recovery system, meanwhile, is also provided with UV irradiation module in refuse bin, allows the rubbish in its refuse bin enter
Row sterilizing, reduces the generation of antibacterial, thus effectively improves the environment of community.
The method of work of 4, heretofore described a kind of based on unmanned plane community intelligent garbage recovery system, its work
Method is simple, convenient, easily realizes, will be weighed the weight of refuse bag by weighing platform, be then passed through analyzing its
During the carrying scope of unmanned plane, GPRS data sending module will be sent to Intelligent unattended machine the data of detection, and unmanned plane connects
After receiving signal, it will by the 2nd GPS locating module, it is positioned oneself and route planning, it can be arrived accurately
Reach weighing platform to be transported in intelligent dustbin by refuse bag, and, by photovoltaic charging system to unmanned plane and rubbish
Rubbish case is powered, and allows it realize a full intellectualized system, thus allows it better meet the demand of community service.
Accompanying drawing explanation
Fig. 1 is intelligent garbage recovery system structural representation in the present invention；
The structural representation of intelligent garbage recovery system in Fig. 2 present invention；
Fig. 3 is that intelligent garbage reclaims the simple pie graph of weighing platform；
Fig. 4 is the simple pie graph that intelligent garbage reclaims unmanned plane；
Fig. 5 is the simple pie graph of intelligent dustbin；
Fig. 6 is the workflow diagram of native system；
Fig. 7 is that intelligent garbage reclaims weighing platform internal circuit workflow diagram；
Fig. 8 is the internal circuit workflow diagram that intelligent garbage reclaims unmanned plane；
Fig. 9 is the internal circuit workflow diagram of intelligent dustbin.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, it is further elucidated with the present invention.
Embodiment 1
A kind of based on unmanned plane community intelligent garbage recovery system as shown in Figures 1 to 9, including: weigh for rubbish
Weighing platform 1, Intelligent unattended machine 2, intelligent dustbin 3 and remote control for garbage reclamation, described weighing is flat
Platform 1 is provided with weighing control device, RFID label tag card, button, display lamp control zone and warning system 4；
Described weighing control device is provided with the first governor circuit, a GPS locating module, altitude sensor, GPRS
Data transmission blocks, Weighing module and button, display lamp control module；Described Intelligent unattended machine 2 is provided with fuselage and unmanned plane
Control device, described unmanned aerial vehicle (UAV) control device is provided with the second governor circuit, the 2nd GPS locating module, height above sea level sensing
Device, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand, GPRS data receiver module and power control mechanism；
The relation of the most above-mentioned each parts is as follows:
A described GPS locating module, GPRS data sending module, Weighing module and button, display lamp control module all with
First governor circuit connects；Described the 2nd GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, shooting
Head, mechanical hand, GPRS data receiver module and power control mechanism are all connected with the second governor circuit, and described GPRS data connects
Receive module to match with the GPRS data sending module in weighing platform 1；Described intelligent dustbin 3 is provided with unmanned plane and stops
Platform, for the charging device of unmanned plane and dustbin control device；Described intelligent garbage weighing platform 1, intelligent garbage
Reclaim unmanned plane 2 and intelligent dustbin 3 connects and composes intelligent garbage recovery system by wireless network, and, described intelligence
Rubbish weighing platform 1, intelligent garbage reclaim unmanned plane 2 and intelligent dustbin 3 is all connected with remote control.
Intelligent dustbin 3 described in the present embodiment is provided with the infrared detection sensing for detecting refuse bin storage state
Device, carrying out the UV irradiation module and the second GPRS data transtation mission circuit that sterilize for refuse bin internal medium, described is red
Outer detection sensor, UV irradiation module and the second GPRS data transtation mission circuit are all connected with dustbin control device, and, institute
The the second GPRS data transtation mission circuit stated is connected with the rubbish control system of environmental sanitation department.
Intelligent dustbin 3 described in the present embodiment is additionally provided with photovoltaic charging system, described photovoltaic
Charging system is made up of solar module and circuit control device, is provided with charger, institute in described circuit control device
The charger stated is connected with charging device.
Remote control described in the present embodiment is provided with controller and controls device, described control device sets
Having weighing platform control module, unmanned aerial vehicle (UAV) control module, refuse bin control module and central controller module, described weighs
Platform control module is connected with weighing control device, and described unmanned aerial vehicle (UAV) control module is connected with unmanned aerial vehicle (UAV) control device, described
Refuse bin control module be connected with dustbin control device, described weighing platform control module, unmanned aerial vehicle (UAV) control module with
And refuse bin control module is all connected with central controller module.
Weighing platform 1 described in the present embodiment is provided with solar charging circuit and accumulator battery, described solar energy
Charging circuit is connected with accumulator battery.
The second governor circuit described in the present embodiment is provided with controller module, described controller module is provided with number
According to depositor, data converter, data processor and control module, described data register, data converter and data
Processor is all connected with control module, is provided with the 2nd GPS Positioning Control Unit, sensor control list in described control module
Unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, manipulator control unit, GPRS data receive and control list
Unit and controller, described the 2nd GPS Positioning Control Unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit,
Photographic head control unit, manipulator control unit and GPRS data reception control unit respectively with the 2nd GPS locating module, height above sea level
Height sensor, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand and GPRS data receiver module connect, the 2nd described GPS
Positioning Control Unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, machinery are manual
Unit processed, GPRS data reception control unit are all connected with controller.
Embodiment 2
A kind of based on unmanned plane community intelligent garbage recovery system as shown in Figures 1 to 9 in the present embodiment, including: it is used for
The weighing platform 1 that rubbish is weighed, Intelligent unattended machine 2, intelligent dustbin 3 and remote control for garbage reclamation, institute
The weighing platform 1 stated is provided with weighing control device, RFID label tag card and warning system 4；
Described weighing control device is provided with the first governor circuit, a GPS locating module, altitude sensor, GPRS
Data transmission blocks and Weighing module；Described Intelligent unattended machine 2 is provided with fuselage and unmanned aerial vehicle (UAV) control device, described unmanned plane
Control device to be provided with the second governor circuit, the 2nd GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, takes the photograph
As head, mechanical hand and GPRS data receiver module；
The relation of the most above-mentioned each parts is as follows:
A described GPS locating module, altitude sensor, GPRS data sending module and Weighing module is all main with first
Control circuit connects；Described GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand and
GPRS data receiver module is all connected with the second governor circuit, in described GPRS data receiver module and weighing platform 1
GPRS data sending module matches；Described intelligent dustbin 3 is provided with unmanned plane stopping platform, charging for unmanned plane
Device and dustbin control device；Described intelligent garbage weighing platform 1, intelligent garbage reclaim unmanned plane 2 and intelligence rubbish
Rubbish case 3 connects and composes intelligent garbage recovery system by wireless network, and, described intelligent garbage weighing platform 1, intelligent garbage
Reclaim unmanned plane 2 and intelligent dustbin 3 is all connected with remote control.
Intelligent dustbin 3 described in the present embodiment is provided with the infrared detection sensing for detecting refuse bin storage state
Device, carrying out the UV irradiation module and the second GPRS data transtation mission circuit that sterilize for refuse bin internal medium, described is red
Outer detection sensor, UV irradiation module and the second GPRS data transtation mission circuit are all connected with dustbin control device, and, institute
The the second GPRS data transtation mission circuit stated is connected with the rubbish control system of environmental sanitation department.
Described intelligent dustbin 3 is additionally provided with photovoltaic charging system, described photovoltaic charging system by
Solar module and circuit control device are constituted, and are provided with charger, described charger in described circuit control device
It is connected with charging device.
Described remote control is provided with controller and controls device, described control device is provided with weighing platform
Control module, unmanned aerial vehicle (UAV) control module, refuse bin control module and central controller module, described weighing platform controls mould
Block is connected with weighing control device, and described unmanned aerial vehicle (UAV) control module is connected with unmanned aerial vehicle (UAV) control device, described refuse bin control
Molding block is connected with dustbin control device, described weighing platform control module, unmanned aerial vehicle (UAV) control module and refuse bin control
Molding block is all connected with central controller module.
Weighing platform 1 described in the present embodiment is provided with solar charging circuit and accumulator battery, described solar energy
Charging circuit is connected with accumulator battery.
The second governor circuit described in the present embodiment is provided with controller module, described controller module is provided with number
According to depositor, data converter, data processor and control module, described data register, data converter and data
Processor is all connected with control module, is provided with the 2nd GPS Positioning Control Unit, sensor control list in described control module
Unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, manipulator control unit, GPRS data receive and control list
Unit and controller, described the 2nd GPS Positioning Control Unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit,
Photographic head control unit, manipulator control unit and GPRS data reception control unit respectively with the 2nd GPS locating module, height above sea level
Height sensor, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand and GPRS data receiver module connect, the 2nd described GPS
Positioning Control Unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, machinery are manual
Unit processed, GPRS data reception control unit are all connected with controller.
The method of work of community based on the unmanned plane intelligent garbage recovery system described in the present embodiment, concrete work
Method is as follows:
(1) refuse bag that: be first installed on balcony by weighing platform 1, then needs are thrown away by user is put into weighing platform 1
On；
(2): then the weight of refuse bag will be weighed by weighing platform 1, then Weighing module will the data of weighing
Being analyzed, the data once weighed are beyond the traffic coverage of unmanned plane, then the warning system 4 on weighing platform 1 will be led to
Crossing warning to remind, then refuse bag is redistributed by user,；
(3): in previous step, if the data weighed are in the range of unmanned plane transports, then it will draw refuse bag
Delicate, then will be sent to Intelligent unattended machine 2 the data of detection by GPRS data sending module, same with this
Time, GPRS data sending module will be sent along to the position of this refuse bag i.e. coordinate and floor information to Intelligent unattended machine 2；
(4): to passing through number in the second governor circuit after in Intelligent unattended machine 2, GPRS data receiver module receives data
It is analyzed processing to the data received according to processor；
(5): after data processor for analysis goes out the coordinate of user side, floor information and refuse bag weight, Intelligent unattended machine 2 leads to
Cross the 2nd GPS locating module to position oneself, draw himself current coordinate；
(6): then by combining the coordinate of user side the arithmetical unit in data processor, floor information calculates Intelligent unattended machine
The flight path of 2 and flying height；
(7): until the flight path of Intelligent unattended machine 2 and flying height confirm good after, initialize altitude sensor, and pass through
It measures current height above sea level, then determines story height according to height above sea level in flight course；
(8): when Intelligent unattended machine 2 flies to user's balcony, by the RFIDnt ultra-high frequency card reader RFID label tag card to user side
Carry out Card Reader, user profile is carried out secondary verification；
(9): in above-mentioned information audit process, if information is checked unsuccessfully, Intelligent unattended machine 2 will return starting point, if information
Check successfully, then Intelligent unattended machine 2 will be opened photographic head and refuse bag carries out imaging, and immediately by the information transmission of shooting
In photographic head control unit, photographic head control unit send the data to controller；
(10): the data that photographic head is shot by control order data processor the most again are analyzed, when data processor pair
The result of analysis is fed back in controller after completing by data analysis again；
(11): then controller will instruct mechanical hand 4 to capture user's refuse bag according to the result analyzed, will after capturing successfully
Intelligent dustbin 3 rendered to automatically by refuse bag, and then Intelligent unattended machine 2 is back to unmanned plane stopping platform；
(12): when Intelligent unattended machine 2 stops after unmanned plane stopping platform, if it is not received by any task, then it will
Unmanned plane stopping platform is awaited orders, in the process, by charging device, it is charged according to its electrical demand；
(13): after intelligent dustbin 3 thrown into by rubbish, UV irradiation module will carry out sterilization operation to rubbish, meanwhile,
Amount of storage in intelligent dustbin 3 will be detected by infrared detection sensor；
(14): after previous step mid-infrared detection sensor detects that intelligent dustbin 3 storage is full, will be by the 2nd GPRS number
Feed back information to environmental sanitation department according to the GPRS data sending module in transtation mission circuit, allow environmental sanitation department send garbage-treatment car as early as possible
Come over to process.
It is presented herein below and whole system method of work is refined further, every figure in Fig. 1 to Fig. 9 is refined:
As it is shown in figure 1, the intelligent garbage recovery system in present design is mainly reclaimed weighing platform, intelligence rubbish by intelligent garbage
Rubbish reclaims unmanned plane, intelligent dustbin is constituted.
As in figure 2 it is shown, due to major part unit building enabling at present, northwards, the riding position of refuse receptacle is also at unit building door
Before, it is arranged on user faces south balcony so intelligent garbage to be reclaimed weighing platform so that refuse receptacle is substantially at balcony on the sunny side
Plumbness, facilitates the flight path of unmanned plane to simplify, and balcony has the sunlight of abundance on the sunny side, can be by small-sized solar electricity
Plate is that intelligent garbage reclaims weighing platform charging；Intelligent garbage recovery flight device receives intelligent garbage and reclaims the calling of weighing platform
After information, resolve data, according to user side coordinate floor information analysis and cook up flight optimization route and fly to user's balcony, read
Take the electronic tag of user side, carry out secondary cross-check information, confirm errorless rear crawl rubbish and automatically render to intelligent dustbin
In.Intelligent dustbin can be that intelligent garbage reclaims unmanned plane offer stop and charging service, simultaneously real-time to rubbish storage condition
Detection, and it is reported to environmental sanitation department according to storage capacity.
As it is shown on figure 3, intelligent garbage weighing platform is mainly sent electricity by governor circuit, GPS positioning circuit, GPRS data
Road, solar charging circuit, RFID label tag card are constituted.During first use, current location can be carried out repeatedly determining by system automatically
Position, draws accurate position coordinates and is stored in the storage chip in governor circuit, later stage location needs user's hands after analytical calculation
Dynamic press navigation button and position；The refuse bag that needs are thrown away by user is placed on weighing platform and weighs, if overweight, enters
Row is reported to the police, if normal, waits that user presses the button of calling intelligent garbage reclamation unmanned plane, and intelligent garbage recovery is weighed flat
User side coordinate, related floor information, garbage weight can be sent to unmanned plane by platform, wait that unmanned plane reclaims rubbish.
As shown in Figure 4, intelligent garbage reclaims unmanned plane mainly by governor circuit, GPS positioning circuit, height above sea level sensing
Device, power set, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand, GPRS data receive circuit and are constituted.Unmanned plane receives
After user side call information, parsing the coordinate of user side, floor information, refuse bag weight, then unmanned plane carries out oneself calmly
Position, combines the coordinate of user side by the changing coordinates drawn, floor information calculates flight path and flying height.Unmanned plane rises
Initialize altitude sensor before flying, measure current height above sea level, then determine according to height above sea level in flight course
Story height.When unmanned plane flies to user's balcony the RFID label tag of user side is carried out Card Reader task, user profile is carried out
Secondary is checked, if checking unsuccessfully, returns starting point.If checking successfully, then opening photographic head, to refuse bag imaging, and combining machine
Refuse bag is captured and transports to refuse bin by tool hands.
As it is shown in figure 5, intelligent dustbin mainly includes unmanned plane stop, charging device, infrared detection module, ultra-vioket radiation
Module, GPRS data transtation mission circuit, photovoltaic charger are constituted.Unmanned plane is not when receiving any user and calling
It is parked on refuse bin and awaits orders, and be charged depending on electricity.Owing to user's rubbish is generally house refuse, especially garbage is
Main, it can rot smelly after the breeding of microorganism, affect cell environment.To this, include ultraviolet in intelligent dustbin and shine
Penetrate module, timing automatic sterilization operation that refuse bin inside is carried out, reduce the quantity of microorganism, thus fundamentally solve rubbish
The problem that case is smelly.After refuse bin storage is full, actively feeds back information to environmental sanitation department by GPRS module, allow it send rubbish as early as possible
Rubbish car comes to process.
As shown in Figure 6, this figure simply elaborates the overall flow work sheet of intelligent garbage recovery system, only exhales user
After crying, unmanned plane just carries out associative operation.Unmanned plane can return to above refuse bin according to return route after capturing rubbish automatically,
Fixed point garbage throwing bag, the anchor point on refuse bin that flies back after input is had a rest, charging.Refuse bin the most optionally reports storage
Situation is to environmental sanitation department.
As it is shown in fig. 7, after intelligent garbage weighing platform installation, user only need to grow by calling/navigation button, dress
Putting entrance station-keeping mode, after carrying out a series of initialization, device opens positioning function, it is contemplated that precision problem, device is carried out repeatedly
Location, and calculate the position of present apparatus, it is stored in governor circuit storage chip, after terminating above-mentioned task, device is automatic
Recover under call model.After the required refuse bag thrown away is put to device by user, user presses button of weighing, and device is to institute
The refuse bag that need to weigh is weighed, and when weight exceedes the maximum load weight of garbage reclamation flight equipment, lights alarm lamp,
Prompting user's refuse bag is excessively weighed, and needs transport the most by several times, it is contemplated that avoid the occurrence of appearance of weighing abnormal, at weighing process
In, timesharing is carried out 3 times and weighs by device, and calculates meansigma methods, and whole rubbish weighing process lasts about about 5 seconds.If rubbish
Quality is in the transport capacity of garbage reclamation flight equipment, and user's click-to-dial button, this device is by changing coordinates, rubbish matter
Amount, floor information are packaged is sent to intelligent garbage recovery unmanned plane with note form by GPRS module.Intelligent garbage reclaims
Unmanned plane, after resolving information content, calculates and flies after cooking up flight path to user's balcony to install this device place, actively grab
Take family rubbish band and automatically place downstairs in intelligent garbage bin.
As shown in Figure 8, the recovery of the intelligent garbage in this programme unmanned plane internal work flow process is as follows: intelligent garbage reclaims nothing
User's calling is waited after man-machine initialization.When there being user to call, reclaim, according to intelligent garbage, position, the use that weighing platform sends
The data that family floor information and self GPS are navigated to calculate flight path, take off after initializing poster height, and
Fly while to check current altitude the most close with user's height above sea level.Intelligent garbage reclaims unmanned plane and flies to intelligent garbage to reclaim dress of weighing
Reading intelligent garbage after near putting and reclaim the information in the RFID on weighing device, carry out secondary verification, verification is just
Capture user's rubbish after really, check the most then backtracking.Rubbish after crawl is thrown in intelligent garbage collection box the most automatically,
The most automatically fly back refuse bin anchor point.
As it is shown in figure 9, the intelligent garbage recovery refuse bin internal work flow process in this programme is as follows: every 15 points of program setting
Clock carries out, once up to the sterilizing activity of two minutes, within every 30 minutes, carrying out the task whether one-time detection refuse bin is filled with, if depositing
Full then notice environmental protection departmental staff processes.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improvement also should be regarded as the present invention's
Protection domain.
Claims (8)
1. community based on a unmanned plane intelligent garbage recovery system, it is characterised in that: including: for weighing that rubbish is weighed
Platform (1), Intelligent unattended machine (2), intelligent dustbin (3) and remote control, described intelligence for garbage reclamation
Rubbish weighing platform (1), intelligent garbage reclaim unmanned plane (2) and intelligent dustbin (3) connects and composes rubbish by wireless network
Rubbish intelligence recovery system, and, described intelligent garbage weighing platform (1), intelligent garbage reclaim unmanned plane (2) and intelligent garbage
Case (3) is all connected with remote control, wherein,
Described weighing platform (1) is provided with weighing control device, RFID label tag card and button, display lamp control zone, described
Weighing control device is provided with the first governor circuit, a GPS locating module, GPRS data sending module, Weighing module and by
Key, display lamp control module, a described GPS locating module, GPRS data sending module, Weighing module and button, instruction
Lamp control module is all connected with the first governor circuit；
Described Intelligent unattended machine (2) is provided with fuselage and unmanned aerial vehicle (UAV) control device, is provided with the second master control in described control device
Circuit, the 2nd GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, photographic head, mechanical hand, GPRS data connect
Receive module and power control mechanism, described GPS locating module, altitude sensor, RFIDnt ultra-high frequency card reader, shooting
Head, mechanical hand, GPRS data receiver module and power control mechanism are all connected with the second governor circuit, and described GPRS data connects
Receive module to match with the GPRS data sending module in weighing platform (1)；
Described intelligent dustbin (3) is provided with unmanned plane stopping platform, for the charging device of unmanned plane and refuse bin control
Device processed.
Community based on unmanned plane the most according to claim 1 intelligent garbage recovery system, it is characterised in that: described title
Galassing platform (1) is provided with warning system (4), and described warning system (4) is connected with remote control.
Community based on unmanned plane the most according to claim 1 intelligent garbage recovery system, it is characterised in that: described intelligence
The infrared detection sensor for detecting refuse bin storage state can be provided with, enters for refuse bin internal medium by refuse bin (3)
The UV irradiation module of row sterilization and the second GPRS data transtation mission circuit, described infrared detection sensor, ultra-vioket radiation mould
Block and the second GPRS data transtation mission circuit are all connected with dustbin control device, and, the second described GPRS data sends electricity
Road is connected with the rubbish control system of environmental sanitation department.
Community based on unmanned plane the most according to claim 1 intelligent garbage recovery system, it is characterised in that: described intelligence
Can be additionally provided with photovoltaic charging system by refuse bin (3), described photovoltaic charging system is by solar module
Constituting with circuit control device, be provided with charger in described circuit control device, described charger is connected with charging device.
Community based on unmanned plane the most according to claim 1 intelligent garbage recovery system, it is characterised in that: described is remote
Process control device is provided with controller and controls device, described control device is provided with weighing platform control module, unmanned plane
Control module, refuse bin control module and central controller module, described weighing platform control module fills with Weighing control
Putting connection, described unmanned aerial vehicle (UAV) control module is connected with unmanned aerial vehicle (UAV) control device, described refuse bin control module and refuse bin
Controlling device to connect, described weighing platform control module, unmanned aerial vehicle (UAV) control module and refuse bin control module is all with central
Controller module connects.
Community based on unmanned plane the most according to claim 1 intelligent garbage recovery system, it is characterised in that: described title
Galassing platform (1) is provided with solar charging circuit and accumulator battery, and described solar charging circuit is connected with accumulator battery.
Community based on unmanned plane the most according to claim 1 intelligent garbage recovery system, it is characterised in that: described
Two governor circuits are provided with controller module, described controller module are provided with at data register, data converter, data
Reason device and control module, described data register, data converter and data processor are all connected with control module, described
Control module in be provided with the 2nd GPS Positioning Control Unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit,
Photographic head control unit, manipulator control unit, GPRS data reception control unit and controller, the 2nd described GPS location
Control unit, sensor control unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, manipulator control list
Unit and GPRS data reception control unit respectively with the 2nd GPS locating module, altitude sensor, RFIDnt ultra-high frequency Card Reader
Device, photographic head, mechanical hand and GPRS data receiver module connect, and described the 2nd GPS Positioning Control Unit, sensor control single
Unit, RFIDnt ultra-high frequency card reader control unit, photographic head control unit, manipulator control unit, GPRS data receive and control list
Unit is all connected with controller.
8. according to the method for work of community based on the unmanned plane intelligent garbage recovery system described in any one of claim 1 to 7,
It is characterized in that: concrete method of work is as follows:
(1): be first installed on balcony by weighing platform (1), the refuse bag that then needs are thrown away by user is put into weighing platform
(1) on；
(2): then the weight of refuse bag will be weighed by weighing platform (1), then Weighing module will the number of weighing
According to being analyzed, the data once weighed are beyond the traffic coverage of unmanned plane, then the warning system (4) on weighing platform (1)
Will be reminded by warning, then refuse bag is redistributed by user,；
(3): in previous step, if the data weighed are in the range of unmanned plane transports, then it will draw refuse bag
Delicate, is then sent to Intelligent unattended machine (2) by GPRS data sending module the data of detection, meanwhile,
GPRS data sending module will be sent along to the position of this refuse bag i.e. coordinate and floor information to Intelligent unattended machine (2)；
(4): to passing through in the second governor circuit after in Intelligent unattended machine (2), GPRS data receiver module receives data
The data received are analyzed processing by data processor；
(5): after data processor for analysis goes out the coordinate of user side, floor information and refuse bag weight, Intelligent unattended machine (2)
Positioned oneself by the 2nd GPS locating module, draw himself current coordinate；
(6): then by combining the coordinate of user side the arithmetical unit in data processor, floor information calculates Intelligent unattended machine
(2) flight path and flying height；
(7): until the flight path of Intelligent unattended machine (2) and flying height confirm good after, initialize altitude sensor, and lead to
Cross it and measure current height above sea level, then in flight course, determine story height according to height above sea level；
(8): when Intelligent unattended machine (2) flies to user's balcony, by the RFIDnt ultra-high frequency card reader RFID label tag to user side
Card carries out Card Reader, and user profile is carried out secondary verification；
(9): in above-mentioned information audit process, if information is checked unsuccessfully, Intelligent unattended machine (2) will return starting point, if letter
Breath is checked successfully, then Intelligent unattended machine (2) will be opened photographic head and refuse bag carries out imaging, and immediately by the information of shooting
It is sent in photographic head control unit, photographic head control unit sends the data to controller；
(10): the data then shot photographic head by control order data processor are analyzed, when data processor pair
The result of analysis is fed back in controller after completing by data analysis again；
(11): then controller will instruct mechanical hand (4) to capture user's refuse bag, after capturing successfully according to the result analyzed
Refuse bag is rendered to intelligent dustbin (3) automatically, and then Intelligent unattended machine (2) is back to unmanned plane stopping platform；
(12): when Intelligent unattended machine (2) stops after unmanned plane stopping platform, if it is not received by any task, then its
To await orders on unmanned plane stopping platform, in the process, by charging device, it will be charged according to its electrical demand；
(13): after intelligent dustbin (3) thrown into by rubbish, UV irradiation module will carry out sterilization operation to rubbish, same with this
Time, the amount of storage in intelligent dustbin (3) will be detected by infrared detection sensor；
(14): after previous step mid-infrared detection sensor detects that intelligent dustbin (3) storage is full, will be by the 2nd GPRS
GPRS data sending module in data transmit circuit feeds back information to environmental sanitation department, allows environmental sanitation department send garbage disposal as early as possible
Car comes to process.
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| CN115231166A (en) * | 2021-04-22 | 2022-10-25 | 丰田自动车株式会社 | Method, control device and system |
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