CN106094869A - A kind of automatic UAS for garbage transporting and method of work thereof - Google Patents
A kind of automatic UAS for garbage transporting and method of work thereof Download PDFInfo
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- CN106094869A CN106094869A CN201610632782.XA CN201610632782A CN106094869A CN 106094869 A CN106094869 A CN 106094869A CN 201610632782 A CN201610632782 A CN 201610632782A CN 106094869 A CN106094869 A CN 106094869A
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- 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
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Abstract
The invention discloses a kind of automatic UAS for garbage transporting, including: unmanned plane, control device and user terminal, the described device that controls is located at the inside of unmanned plane, and, described unmanned plane is provided with mechanical hand, described user terminal is provided with rubbish rest area and RFID, and described rubbish rest area is located on balcony, and described RFID is located on rubbish rest area；It is by being provided with GPS locating module, altitude sensor, GPRS data reception device, photographic head, RFIDnt ultra-high frequency card reader in unmanned plane; the function of unmanned plane has been carried out perfect; whole work process is relatively simple; and; its operation is relatively simple; the process allowing rubbish achieves automatization and intellectuality; well solve the problem that garbage disposal is difficult; the protection effect of having greatly improved to environment; society is produced contribution greatly; also avoid rubbish to throw out the generation of the safety problem caused without care simultaneously, thus allow it better meet the demand of user.
Description
Technical field
The invention belongs to unmanned plane field, particularly to a kind of automatic UAS for garbage transporting and work thereof
Method.
Background technology
Along with the raising of people's living standard, house refuse also gets more and more, simultaneously as the live and work joint of people
The quickening played, some working clans go timely garbage disposal to be fallen the not time, and have even can be by rubbish directly to downstairs
Throw, so not only result in the severe contamination of environment, be likely to the people to lower section, car etc. simultaneously and damage, along with society's warp
The fast development of Ji, the application of unmanned plane is the most extensive, and developing rapidly of current unmanned air vehicle technique, throw for solving high-altitude
Thing, throwing this uncivil phenomenon of rubbish have had new solution.
But existing tradition unmanned plane, the most only possess the equipment such as gyroscope, digital compass, only possess upper and lower, left
Right, front and back heading, middle and high end unmanned plane has transmission of video, the sophisticated functions such as dropproof the most on this basis, but this
A little unmanned planes can be only done basic operation, and, it cannot realize oneself in operation and adjusts and control, and unmanned plane is not
Can automatically fly to locality, and the function of unmanned plane is relatively easy, except possessing traditional flight function and video at present
Outside acquisition function, almost without new function.Such as stop belowstairs unmanned plane and can not actively fly to user's balcony or roof be
User provides service, thus the technology that existing unmanned plane is applied in garbage transporting is the most ripe, and it needs to improve.
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 automatic nothing for garbage transporting
Man-machine system, it is reasonable in design, by the improvement to unmanned plane, is greatly improved its automaticity, reduces manual labor amount, very
Good solves garbage disposal problem.
Technical scheme: to achieve these goals, the invention provides a kind of automatic unmanned plane system for garbage transporting
System, including: unmanned plane, controls device and user terminal, and the described device that controls is located at the inside of unmanned plane, and, described
Unmanned plane is provided with mechanical hand, and described user terminal is provided with rubbish rest area and RFID, and described rubbish is placed
District is located on balcony, and described RFID is located on rubbish rest area；
Wherein, described control device is provided with GPS locating module, altitude sensor, GPRS data module, photographic head,
RFIDnt ultra-high frequency card reader, power set and central processing unit, described GPS locating module, altitude sensor, GPRS number
All it is connected with central processing unit according to reception device, photographic head, RFIDnt ultra-high frequency card reader, power set, and, described RFID surpasses
High frequency card reader and user terminal are provided with RFID and match.
Heretofore described a kind of automatic UAS for garbage transporting, it is by being provided with in unmanned plane
GPS locating module, altitude sensor, GPRS data receive device, photographic head, RFIDnt ultra-high frequency card reader, to unmanned plane
Function carried out perfect, work during, positioned oneself by GPS locating module, then pass through height above sea level
Flying height is detected by sensor unmanned plane, then is carried out according to the user profile received by GPRS data reception device
Calculate flight path after parsing, cooperated by GPS locating module and altitude sensor during flight right
The flight path of unmanned plane carries out real-time adjustment, flies to user terminal by RFIDnt ultra-high frequency card reader user terminal
Information in RFID carries out secondary verification, confirms errorless rear by mechanical hand crawl refuse bag, then by refuse bag
Delivering in refuse bin, whole work process is relatively simple, and, its operation is relatively simple, allows the process of rubbish achieve certainly
Dynamicization and intellectuality, well solve the problem that garbage disposal is difficult, have greatly improved the environment of environment, produces society
Contribution greatly, also avoids rubbish to throw out the generation of the safety problem caused without care simultaneously, thus allows it better meet the need of user
Ask.
Heretofore described unmanned plane is provided with detection window and shooting window, described altitude sensor, shooting
Head is respectively arranged in detection window and shooting window, described detection window and the setting of shooting window, it is possible to height above sea level
Sensor and photographic head play a very good protection, and collide during effectively avoiding unmanned plane during flying, thus to nothing
Parts on man-machine play a very good protection.
Heretofore described mechanical hand uses telescopic manipulator, and it is made up of mechanical arm and handgrip, and, described grabs
It is provided with described handgrip on hand to be rotatably connected with mechanical arm employing, it is possible to allow it better meet the demand of garbage transporting.
Heretofore described crawl is provided with protection set, the setting of described protection set on hand, allows it play handgrip self
Very well while protective effect, the most effectively avoid it that refuse bag is caused damage, improve its safety and stability used.
The present invention also includes one group of radio transmitting device, described unmanned plane and user terminal are respectively equipped with wireless biography
Defeated device, and, described radio transmitting device is connected with controlling device, realizes user terminal with unmanned by radio transmitting device
Machine is wirelessly transferred connection, allows it realize multiple control modes, improves its scope being suitable for, thus better meets the need of user
Ask.
Heretofore described radio transmitting device is provided with ZigBee module, and, described radio transmitting device sets
There are signal receiver and sender unit.
In the present invention described central processing unit is provided with data storage, data register, data converter, data
Processor, User Information Database and central controller, be provided with GPS positioning control module, height above sea level in described central controller
Height sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module, wireless
Transmission control module and power train control module, described radio transmission control module is connected with radio transmitting device, described GPS
Positioning control module, altitude sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency are read
Card device control module and power train control module respectively with GPS locating module, altitude sensor, GPRS data receive device,
Photographic head, RFIDnt ultra-high frequency card reader and power set connect, and, described data storage, data register, data turn
Parallel operation, data processor and User Information Database are all connected with central controller, described GPS positioning control module, sea
Degree of lifting sensor control block, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module and
Radio transmission control module is all connected with central controller.
The method of work of the heretofore described automatic UAS for garbage transporting, concrete method of work is such as
Under:
(1): in the rubbish rest area that first rubbish is put on balcony by user；
(2): then user selects the pattern used, and can select Non-follow control or be wirelessly transferred control model；
(3): when user selects Non-follow control, its station is on balcony positioned oneself by mobile phone；
(4): then by mobile phone, the coordinate having good positioning, floor information and weighted refuse bag weight are passed through mobile phone letter
Breath is sent to unmanned plane；
(5): after receiving user's call information in unmanned plane, signal is analyzed by data processor, enters with the data base of self
Row comparison, whether user is in the service list of oneself, if user is not in the service list of oneself, then it will carry in analysis
Show that user selects machine again；
(6) this user that: if in previous step, data processor for analysis draws is in service list, then then continue to analyze
Whether user's refuse bag weight is in the range of unmanned plane maximum hauled weight；
(7): if previous step analysis show that garbage weight that user sends is in unmanned plane maximum delivery weight range, then
Oneself will be positioned by unmanned plane by GPS locating module, and initialize altitude sensor；
(8): after previous step intermediate altitude height sensor has initialized, the height that unmanned plane is current is detected, so
By data processor, the floor information of user is converted into story height information afterwards；
(9): then unmanned plane goes out flight path according to current coordinate, height and user coordinates, story height information planning；
(10): then according to the route planned, unmanned plane starts flight, and during flight, unmanned plane needs to carry out in real time
Height scan, when it flies to user's balcony, and centralized controller commands RFIDnt ultra-high frequency card reader is opened, on rubbish rest area
RFID carry out information scanning；
(11): then carry out the verification of user side RFID information, letter according to the information of RFIDnt ultra-high frequency card reader scanning
After breath confirmation, refuse bag is shot by unmanned plane by photographic head, and immediately the information of shooting is sent to centre
In reason device；
(12): then by data processor, the data of shooting are analyzed, and gripper of manipulator is instructed according to the data analyzed
Taking family refuse bag, automatically rendered to by refuse bag downstairs in garbage recycling bin after capturing successfully, then unmanned plane is back to unmanned
Machine anchor point；
(13): in above-mentioned step, if user's selection is wireless communication mode；
(14): so when rubbish is put into rubbish rest area by user, it is by the wireless biography by being arranged on rubbish rest area
Defeated device, sends signal to unmanned plane；
(15): will deliver the information to immediately after the signal receiver in the radio transmitting device on unmanned plane receives information
This user of data processor for analysis in central processing unit, first central processing unit whether in the service list of oneself, if
User is not in the service list of oneself, then it will be prompted to user and again selects machine；
(16): if in previous step, this user that data processor for analysis draws service list in, then central processing unit
The signal received will be analyzed, draw position and the weight of refuse bag；
(17): if previous step analysis draw garbage weight that user sends in unmanned plane maximum delivery weight range, so
The position that rear unmanned plane sends according to radio transmitting device on current position and rubbish rest area is analyzed, and advises
Mark flight path；
(18): then according to the route planned, unmanned plane starts flight, and during flight, unmanned plane needs to carry out in real time
Height scan, when it flies to user's balcony, and centralized controller commands RFIDnt ultra-high frequency card reader is opened, on rubbish rest area
RFID carry out information scanning；
(19): then carry out the verification of user side RFID information, letter according to the information of RFIDnt ultra-high frequency card reader scanning
After breath confirmation, refuse bag is shot by unmanned plane by taking the photograph GPRS data module photographic head, and immediately by the letter of shooting
Breath is sent in central processing unit；
(20): then by data processor, the data of shooting are analyzed, and gripper of manipulator is instructed according to the data analyzed
Taking family refuse bag, automatically rendered to by refuse bag downstairs in garbage recycling bin after capturing successfully, then unmanned plane is back to unmanned
Machine anchor point.
The method of work of heretofore described a kind of automatic UAS for garbage transporting, it is whole worked
Journey is relatively simple, convenient, and user can be by the selection needing Self-operating pattern of oneself, after model selection, according to selection
Pattern, unmanned plane carries out route planning, and whether flies to check current altitude and user's height above sea level in flight course
Close.It is by flat flying (flight attitude in horizontal direction), when close to user when flying height is consistent with user's story height
Balcony is to open RFID card reader, and the RFID label tag on balcony is scanned verification, combines photographic head and machine after verification is correct
Tool hands, automatically captures user's refuse bag, checks the most then backtracking, and whole process fully achieves intellectuality, well solves
The problem that current garbage disposal of having determined is difficult, allows garbage disposal achieve intellectuality, allows refuse disposal system technology achieve technology
On breakthrough and innovation, thus allow it better meet the demand of people and entire society.
In the present invention, the flight path of unmanned plane is, unmanned plane first takes off vertically, and flies to put and user's story height information one
The height caused, then by the gyroscope on unmanned plane, digital compass component calibration flight attitude, horizontal direction flies to user
Balcony.
Technique scheme is it can be seen that there is advantages that
1, heretofore described a kind of automatic UAS for garbage transporting, it is by being provided with in unmanned plane
GPS locating module, altitude sensor, GPRS data receive device, photographic head, RFIDnt ultra-high frequency card reader, to unmanned plane
Function carried out perfect, be greatly improved its suitability；During work, carry out oneself by GPS locating module fixed
Position, then by altitude sensor unmanned plane, flying height is detected, then by GPRS data reception device according to
The user profile received calculates flight path after resolving, by GPS locating module and height above sea level during flight
The height sensor flight path to unmanned plane that cooperates carries out real-time adjustment, flies to user terminal by RFID superelevation
Frequently card reader carries out secondary verification to the information in the RFID of user terminal, confirm errorless after captured by mechanical hand
Refuse bag, then delivers in refuse bin by refuse bag, and whole work process is relatively simple, and, its operation is relatively simple, allows
The process of rubbish achieves automatization and intellectuality, well solves the problem that garbage disposal is difficult, and the protection to environment has very
Big improvement result, produces contribution greatly, also avoids rubbish to throw out the generation of the safety problem caused without care simultaneously society, thus
It is allowed to better meet the demand of user.
2, heretofore described unmanned plane is provided with detection window and shooting window, described altitude sensor, takes the photograph
As head is respectively arranged in detection window and shooting window, described detection window and the setting of shooting window, it is possible to height above sea level
Degree sensor and photographic head play a very good protection, and collide during effectively avoiding unmanned plane during flying, thus right
Parts on unmanned plane play a very good protection.
3, heretofore described RFIDnt ultra-high frequency card reader and the setting of customer data base, allow unmanned plane realize user
Automatically the function identified, is greatly improved the accuracy of its work, the effective efficiency improving its work, it is to avoid unmanned plane occurs
Order entanglement phenomenon, thus better meet the demand of user.
4, the method for work of heretofore described a kind of automatic UAS for garbage transporting, its whole work
Process is relatively simple, convenient, and user can be by the selection needing Self-operating pattern of oneself, after model selection, according to choosing
The pattern selected, unmanned plane carries out route planning, and flies to check current altitude in flight course and with user's height above sea level be
No close.It is by flat flying (flight attitude in horizontal direction), when close to using when flying height is consistent with user's story height
Family balcony is to open RFID card reader, and the RFID label tag on balcony is scanned verification, combine after verification is correct photographic head with
Mechanical hand, automatically captures user's refuse bag, checks the most then backtracking, and whole process fully achieves intellectuality, well
Solve the problem that current garbage disposal is difficult, allow garbage disposal achieve intellectuality, allow refuse disposal system technology achieve matter
Leap, thus allow it better meet the demand of people and entire society.
Accompanying drawing explanation
Fig. 1 is the connecting structure for electrical equipment schematic diagram controlling device in unmanned plane of the present invention；
Fig. 2 is unmanned plane during flying simulation drawing in the present invention；
Fig. 3 is that figure intelligent garbage of the present invention reclaims the simple workflow diagram of unmanned plane；
Fig. 4 is the internal processes block diagram that intelligent garbage reclaims unmanned plane；
Fig. 5 is the control device connecting structure for electrical equipment schematic diagram after unmanned plane improves further in the present invention；
Fig. 6 is the internal processes block diagram that the intelligent garbage after improving further reclaims unmanned plane.
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 automatic UAS for garbage transporting as shown in Figures 1 to 4, including: unmanned plane 1, user terminal 2 with
And the refuse bin 3 for unmanned plane stop, wherein, described unmanned plane 1 is provided with control device, and, on described unmanned plane 1
Being provided with mechanical hand, described user terminal is provided with rubbish rest area and RFID, and sun is located in described rubbish rest area
On platform, described RFID is located on rubbish rest area；
Wherein, described control device is provided with GPS locating module, altitude sensor, GPRS data module, photographic head,
RFIDnt ultra-high frequency card reader, power set and central processing unit, described GPS locating module, altitude sensor, GPRS number
All it is connected with central processing unit according to reception device, photographic head, RFIDnt ultra-high frequency card reader, power set, and, described RFID surpasses
High frequency card reader and user terminal are provided with RFID and match.
Central processing unit described in the present embodiment is provided with data storage, data register, data converter, data
Processor, User Information Database and central controller, be provided with GPS positioning control module, height above sea level in described central controller
Height sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module, wireless
Transmission control module and power train control module, described radio transmission control module is connected with radio transmitting device, described GPS
Positioning control module, altitude sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency are read
Card device control module and power train control module respectively with GPS locating module, altitude sensor, GPRS data receive device,
Photographic head, RFIDnt ultra-high frequency card reader and power set connect, and, described data storage, data register, data turn
Parallel operation, data processor and User Information Database are all connected with central controller, described GPS positioning control module, sea
Degree of lifting sensor control block, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module and
Radio transmission control module is all connected with central controller.
Embodiment 2
A kind of automatic UAS for garbage transporting as shown in Figures 1 to 4, including: unmanned plane 1, user terminal 2 with
And the refuse bin 3 for unmanned plane stop, wherein, described unmanned plane 1 is provided with control device, and, on described unmanned plane 1
Being provided with mechanical hand, detection window and shooting window, described user terminal is provided with rubbish rest area and RFID, described
Rubbish rest area be located on balcony, described RFID is located on rubbish rest area；
Wherein, described control device is provided with GPS locating module, altitude sensor, GPRS data module, photographic head,
RFIDnt ultra-high frequency card reader, power set and central processing unit, described GPS locating module, altitude sensor, GPRS number
All being connected with central processing unit according to reception device, photographic head, RFIDnt ultra-high frequency card reader, power set, described height above sea level passes
Sensor, photographic head are respectively arranged in detection window and shooting window, and, described RFIDnt ultra-high frequency card reader and user terminal set
RFID is had to match.
Mechanical hand described in the present embodiment uses telescopic manipulator, and it is made up of mechanical arm and handgrip, and, described
Handgrip is provided with described handgrip and is rotatably connected with mechanical arm employing, and described crawl is provided with protection set on hand.
Refuse bin 3 described in the present embodiment is provided with the stopping platform for unmanned plane 1, and described stopping platform sets
There is the charging device for unmanned plane.
Central processing unit described in the present embodiment is provided with data storage, data register, data converter, data
Processor, User Information Database and central controller, be provided with GPS positioning control module, height above sea level in described central controller
Height sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module, wireless
Transmission control module and power train control module, described radio transmission control module is connected with radio transmitting device, described GPS
Positioning control module, altitude sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency are read
Card device control module and power train control module respectively with GPS locating module, altitude sensor, GPRS data receive device,
Photographic head, RFIDnt ultra-high frequency card reader and power set connect, and, described data storage, data register, data turn
Parallel operation, data processor and User Information Database are all connected with central controller, described GPS positioning control module, sea
Degree of lifting sensor control block, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module and
Radio transmission control module is all connected with central controller.
Embodiment 3
A kind of automatic UAS for garbage transporting as shown in Fig. 2,3,5,6, including: unmanned plane 1, user terminal 2
And the refuse bin 3 for unmanned plane stop, wherein, described unmanned plane 1 is provided with control device, and, described unmanned plane 1
Being provided with mechanical hand, detection window and shooting window, described user terminal is provided with rubbish rest area and RFID, institute
The rubbish rest area stated is located on balcony, and described RFID is located on rubbish rest area；Also include one group of wireless biography
Defeated device, described unmanned plane 1 and user terminal 2 are respectively equipped with radio transmitting device be respectively arranged on and on, and, described nothing
Line transmitting device is connected with controlling device
Wherein, described control device is provided with GPS locating module, altitude sensor, GPRS data module, photographic head,
RFIDnt ultra-high frequency card reader, power set and central processing unit, described GPS locating module, altitude sensor, GPRS number
All being connected with central processing unit according to reception device, photographic head, RFIDnt ultra-high frequency card reader, power set, described height above sea level passes
Sensor, photographic head are respectively arranged in detection window and shooting window, and, described RFIDnt ultra-high frequency card reader and user terminal set
RFID is had to match.
Mechanical hand described in the present embodiment uses telescopic manipulator, and it is made up of mechanical arm and handgrip, and, described
Handgrip is provided with described handgrip and is rotatably connected with mechanical arm employing, and described crawl is provided with protection set on hand.
Radio transmitting device described in the present embodiment is provided with ZigBee module, and, in described radio transmitting device
It is provided with signal receiver and sender unit.
Refuse bin 4 described in the present embodiment is provided with the stopping platform for unmanned plane 1, and described stopping platform sets
There is the charging device for unmanned plane.
Central processing unit described in the present embodiment is provided with data storage, data register, data converter, data
Processor, User Information Database and central controller, be provided with GPS positioning control module, height above sea level in described central controller
Height sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module, wireless
Transmission control module and power train control module, described radio transmission control module is connected with radio transmitting device, described GPS
Positioning control module, altitude sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency are read
Card device control module and power train control module respectively with GPS locating module, altitude sensor, GPRS data receive device,
Photographic head, RFIDnt ultra-high frequency card reader and power set connect, and, described data storage, data register, data turn
Parallel operation, data processor and User Information Database are all connected with central controller, described GPS positioning control module, sea
Degree of lifting sensor control block, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module and
Radio transmission control module is all connected with central controller.
Embodiment 4
A kind of automatic UAS for garbage transporting as shown in Fig. 2, Fig. 3, Fig. 5 and Fig. 6, including: unmanned plane 1, use
Family terminal 2 and the refuse bin 3 stopped for unmanned plane, wherein, be provided with control device in described unmanned plane 1, and, described
Unmanned plane 1 is provided with mechanical hand, detection window and shooting window, and described user terminal is provided with rubbish rest area and RFID electronics
Label, described rubbish rest area is located on balcony, and described RFID is located on rubbish rest area；Also include one group
Radio transmitting device, described unmanned plane 1 and user terminal 2 are respectively equipped with radio transmitting device be respectively arranged on and on, and, institute
The radio transmitting device stated is connected with controlling device
Wherein, described control device is provided with GPS locating module, altitude sensor, GPRS data module, photographic head,
RFIDnt ultra-high frequency card reader, power set and central processing unit, described GPS locating module, altitude sensor, GPRS number
All being connected with central processing unit according to reception device, photographic head, RFIDnt ultra-high frequency card reader, power set, described height above sea level passes
Sensor, photographic head are respectively arranged in detection window and shooting window, and, described RFIDnt ultra-high frequency card reader and user terminal set
RFID is had to match.
Mechanical hand described in the present embodiment uses telescopic manipulator, and it is made up of mechanical arm and handgrip, and, described
Handgrip is provided with described handgrip and is rotatably connected with mechanical arm employing, and described crawl is provided with protection set on hand.
Radio transmitting device described in the present embodiment is provided with ZigBee module, and, in described radio transmitting device
It is provided with signal receiver and sender unit.
Refuse bin 4 described in the present embodiment is provided with the stopping platform for unmanned plane 1, and described stopping platform sets
There is the charging device for unmanned plane.
Central processing unit described in the present embodiment is provided with data storage, data register, data converter, data
Processor, User Information Database and central controller, be provided with GPS positioning control module, height above sea level in described central controller
Height sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module, wireless
Transmission control module and power train control module, described radio transmission control module is connected with radio transmitting device, described GPS
Positioning control module, altitude sensor control module, GPRS data module, camera control module, RFIDnt ultra-high frequency are read
Card device control module and power train control module respectively with GPS locating module, altitude sensor, GPRS data receive device,
Photographic head, RFIDnt ultra-high frequency card reader and power set connect, and, described data storage, data register, data turn
Parallel operation, data processor and User Information Database are all connected with central controller, described GPS positioning control module, sea
Degree of lifting sensor control block, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module and
Radio transmission control module is all connected with central controller.
The method of work of a kind of automatic UAS for garbage transporting described in the present embodiment, concrete work
Method is as follows:
(1): in the rubbish rest area 4 that first rubbish is put on balcony by user；
(2): then user selects the pattern used, and can select Non-follow control or be wirelessly transferred control model；
(3): when user selects Non-follow control, its station is on balcony positioned oneself by mobile phone；
(4): then by mobile phone by the coordinate having good positioning, floor information and weighted refuse bag weight by mobile phone or
Other transmission equipment route the message to unmanned plane 1；
(5): after receiving user's call information in unmanned plane 1, signal is analyzed by data processor, with the user profile of self
Data in data base are compared, and whether user is in the service list of oneself, if user is not in the service of oneself in analysis
In list, then it will be prompted to user and again selects machine；
(6) this user that: if in previous step, data processor for analysis draws is in service list, then then continue to analyze
Whether user's refuse bag weight is in the range of unmanned plane maximum hauled weight；
(7): if previous step analysis show that garbage weight that user sends is in unmanned plane maximum delivery weight range, then
Oneself will be positioned by unmanned plane 1 by GPS locating module, and initialize altitude sensor；
(8): after previous step intermediate altitude height sensor has initialized, the height that unmanned plane 1 is current is detected, so
By data processor, the floor information of user is converted into story height information afterwards；
(9): then unmanned plane 1 goes out flight road according to current coordinate, height and user coordinates, story height information planning
Line；
(10): then according to the route planned, unmanned plane 1 starts flight, and during flight, unmanned plane 1 needs to enter in real time
Line height scans, when it flies to user's balcony, and centralized controller commands RFIDnt ultra-high frequency card reader is opened, to rubbish rest area
On RFID carry out information scanning；
(11): then carry out the verification of user side RFID information, letter according to the information of RFIDnt ultra-high frequency card reader scanning
After breath confirmation, refuse bag is shot by unmanned plane 1 by photographic head, and immediately the information of shooting is sent to centre
In reason device；
(12): then by data processor, the data of shooting are analyzed, and gripper of manipulator is instructed according to the data analyzed
Taking family refuse bag, automatically rendered to by refuse bag downstairs in garbage recycling bin after capturing successfully, then unmanned plane 1 is back to unmanned
Machine anchor point；
(13): in above-mentioned second step, if user's selection is wireless communication mode；
(14): so when rubbish is put into rubbish rest area 4 by user, it is by wireless by be arranged on rubbish rest area 5
Transmitting device, sends signal to unmanned plane 1；
(15): will be immediately information transmission after the signal receiver in the radio transmitting device on unmanned plane 1 receives information
To this user of the data processor for analysis in central processing unit, first central processing unit whether in the service list of oneself, as
Really user is not in the service list of oneself, then it will be prompted to user and again selects machine；
(16): if in previous step, this user that data processor for analysis draws service list in, then central processing unit
The signal received will be analyzed, draw position and the weight of refuse bag；
(17): if previous step analysis draw garbage weight that user sends in unmanned plane maximum delivery weight range, so
The position that rear unmanned plane 1 sends according to the upper radio transmitting device in current position and rubbish rest area (4) is analyzed,
And cook up flight path；
(18): then according to the route planned, unmanned plane 1 starts flight, and during flight, unmanned plane 1 needs to enter in real time
Line height scans, and it is the most close with user's height above sea level to fly to check current altitude, when flying height and user's floor
Highly consistent it is by flat flying, when it flies to user's balcony, and centralized controller commands RFIDnt ultra-high frequency card reader is opened, to rubbish
RFID on rubbish rest area 4 carries out information scanning；
(19): then carry out the verification of user side RFID information, letter according to the information of RFIDnt ultra-high frequency card reader scanning
After breath confirmation, refuse bag is shot by unmanned plane 1 by photography/videography head, and immediately the information of shooting is sent to central authorities
In processor；
(20): then by data processor, the data of shooting are analyzed, and gripper of manipulator is instructed according to the data analyzed
Taking family refuse bag, automatically rendered to by refuse bag downstairs in garbage recycling bin after capturing successfully, then unmanned plane 1 is back to unmanned
Machine anchor point.
In the present embodiment, the flight path of unmanned plane is, unmanned plane first takes off vertically, and flies to put and user's story height information
Consistent height, then by the gyroscope on unmanned plane, digital compass component calibration flight attitude, horizontal direction fly to
Family balcony, and, every unmanned plane all has different labels, and every 30 minutes actively report to Property Management of residence department
Accuse once the coordinate of oneself.
The above is only the preferred embodiment of the present invention, it is noted that come for those skilled in the art
Saying, under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improve the protection that also should be regarded as the present invention
Scope.
Claims (10)
1. the automatic UAS for garbage transporting, it is characterised in that: including: unmanned plane (1), user terminal (2)
And the refuse bin (3) for unmanned plane stop, wherein, described unmanned plane (1) is provided with control device, and, described nothing
Man-machine (1) is provided with mechanical hand, and described user terminal (2) is provided with rubbish rest area and RFID, described rubbish
Rest area is located on balcony, and described RFID is located on rubbish rest area；
Wherein, described control device is provided with GPS locating module, altitude sensor, GPRS data reception device, shooting
Head, RFIDnt ultra-high frequency card reader, power set and central processing unit, described GPS locating module, altitude sensor,
GPRS data reception device, photographic head, RFIDnt ultra-high frequency card reader, power set are all connected with central processing unit, and, described
RFIDnt ultra-high frequency card reader and user terminal are provided with RFID and match.
Automatic UAS for garbage transporting the most according to claim 1, it is characterised in that: described unmanned plane
(1) being provided with detection window and shooting window, described altitude sensor, photographic head are respectively arranged on detection window and camera window
In Kou.
Automatic UAS for garbage transporting the most according to claim 1, it is characterised in that: described mechanical hand
Using telescopic manipulator, it is made up of mechanical arm and handgrip, and, described handgrip is provided with described handgrip and adopts with mechanical arm
With being rotatably connected.
Automatic UAS for garbage transporting the most according to claim 3, it is characterised in that: described crawl hands
It is provided with protection set.
Automatic UAS for garbage transporting the most according to claim 1, it is characterised in that: also include one group without
Line transmitting device, described unmanned plane (1) and user terminal (2) are respectively equipped with radio transmitting device be respectively arranged on and on, and,
Described radio transmitting device is connected with controlling device.
Automatic UAS for garbage transporting the most according to claim 5, it is characterised in that: described wireless biography
Defeated device is provided with ZigBee module, and, described radio transmitting device is provided with signal receiver and sender unit.
Automatic UAS for garbage transporting the most according to claim 1, it is characterised in that: described refuse bin
(3) being provided with the stopping platform for unmanned plane (1), described stopping platform is provided with the charging device for unmanned plane.
Automatic UAS for garbage transporting the most according to claim 1, it is characterised in that: described centre
Reason device is provided with data storage, data register, data converter, data processor, User Information Database and central authorities' control
Device processed, is provided with GPS positioning control module, altitude sensor control module, GPRS data mould in described central controller
Block, camera control module, RFIDnt ultra-high frequency card reader control module, radio transmission control module and power train control module, institute
The radio transmission control module stated is connected with radio transmitting device, described GPS positioning control module, altitude sensor control
Molding block, GPRS data module, camera control module, RFIDnt ultra-high frequency card reader control module and power train control module are respectively
Device, photographic head, RFIDnt ultra-high frequency card reader and power is received with GPS locating module, altitude sensor, GPRS data
Device connects, and, described data storage, data register, data converter, data processor and user profile data
Storehouse is all connected with central controller, described GPS positioning control module, altitude sensor control module, GPRS data mould
Block, camera control module, RFIDnt ultra-high frequency card reader control module and radio transmission control module are all and central controller
Connect.
9. according to the method for work of the automatic UAS for garbage transporting described in claim 1 to 7 any one, its
It is characterised by: concrete method of work is as follows:
(1): in the rubbish rest area that first rubbish is put on balcony by user；
(2): then user selects the pattern used, and can select Non-follow control or be wirelessly transferred control model；
(3): when user selects Non-follow control, its station is on balcony positioned oneself by mobile phone；
(4): then by mobile phone, the coordinate having good positioning, floor information and weighted refuse bag weight are passed through mobile phone letter
Breath is sent to unmanned plane (1)；
(5): after receiving user's call information in unmanned plane (1), information is analyzed by data processor, the user with self believes
Data in breath data base are compared, and whether user is in the service list of oneself, if user is not at the clothes of oneself in analysis
In business list, then it will be prompted to user and again selects machine；
(6) this user that: if in previous step, data processor for analysis draws is in service list, then then continue to analyze
Whether user's refuse bag weight is in the range of unmanned plane maximum hauled weight；
(7): if previous step analysis show that garbage weight that user sends is in unmanned plane maximum delivery weight range, then
Oneself will be positioned by unmanned plane (1) by GPS locating module, and initialize altitude sensor；
(8): after previous step intermediate altitude height sensor has initialized, the height that unmanned plane (1) is current is detected,
Then by data processor, the floor information of user is converted into story height information；
(9): then unmanned plane (1) goes out flight road according to current coordinate, height and user coordinates, story height information planning
Line；
(10): then according to the route planned, unmanned plane (1) starts flight, and during flight, unmanned plane (1) needs reality
Shi Jinhang height scan, when it flies to user's balcony, and centralized controller commands RFIDnt ultra-high frequency card reader is opened, and puts rubbish
Put the RFID in district and carry out information scanning；
(11): then carry out the verification of user side RFID information, letter according to the information of RFIDnt ultra-high frequency card reader scanning
After breath confirmation, refuse bag is shot by unmanned plane (1) by photographic head, and immediately the information of shooting is sent to central authorities
In processor；
(12): then by data processor, the data of shooting are analyzed, and gripper of manipulator is instructed according to the data analyzed
Taking family refuse bag, automatically rendered to by refuse bag downstairs in garbage recycling bin after capturing successfully, then unmanned plane (1) is back to nothing
Man-machine anchor point；
(13): in (2nd) above-mentioned step, if user's selection is wireless communication mode；
(14): so when rubbish is put into rubbish rest area by user, it will be wireless by be arranged on rubbish rest area (5)
Transmitting device, sends signal to unmanned plane (1)；
(15): will immediately information be passed after the signal receiver in the radio transmitting device on unmanned plane (1) receives information
Giving central processing unit, first whether this user of the data processor for analysis in central processing unit is in the service list of oneself,
If user is not in the service list of oneself, then it will be prompted to user and again selects machine；
(16): if in previous step, this user that data processor for analysis draws service list in, then central processing unit
The signal received will be analyzed, draw position and the weight of refuse bag；
(17): if previous step analysis draw garbage weight that user sends in unmanned plane maximum delivery weight range, so
The position that rear unmanned plane (1) sends according to radio transmitting device on current position and rubbish rest area is analyzed,
And cook up flight path；
(18): then according to the route planned, unmanned plane (1) starts flight, and during flight, unmanned plane (1) needs reality
Shi Jinhang height scan, when it flies to user's balcony, and centralized controller commands RFIDnt ultra-high frequency card reader is opened, and puts rubbish
Put the RFID in district and carry out information scanning；
(19): then carry out the verification of user side RFID (6) information according to the information of RFIDnt ultra-high frequency card reader scanning,
After information confirmation, refuse bag is shot by unmanned plane (1) by photography/videography head, and the information of shooting is sent to immediately
In central processing unit；
(20): then by data processor, the data of shooting are analyzed, and gripper of manipulator is instructed according to the data analyzed
Taking family refuse bag, automatically rendered to by refuse bag downstairs in garbage recycling bin after capturing successfully, then unmanned plane (1) is back to nothing
Man-machine anchor point.
The method of work of the automatic UAS for garbage transporting the most according to claim 9, it is characterised in that:
The flight path of unmanned plane is, unmanned plane first takes off vertically, and flies to put the height consistent with user's story height information, then passes through
Gyroscope on unmanned plane, digital compass component calibration flight attitude, horizontal direction flies to user's balcony.
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