CN107012817A - Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation - Google Patents
Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation Download PDFInfo
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- CN107012817A CN107012817A CN201710296733.8A CN201710296733A CN107012817A CN 107012817 A CN107012817 A CN 107012817A CN 201710296733 A CN201710296733 A CN 201710296733A CN 107012817 A CN107012817 A CN 107012817A
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- unmanned plane
- road
- harvesting
- collecting box
- material collecting
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
- E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation, including the first unmanned plane, second unmanned plane, attachment means, road-cleaning mechanism, first unmanned plane and the second unmanned plane include image unit and navigation elements, road-cleaning mechanism bottom corner is provided with the wheel for Arbitrary Rotation, bottom centre position is provided with clearing apparatus, dust exhaust apparatus is provided with above the clearing apparatus, the road-cleaning mechanism is internally provided with processor, drive device, control device, positioner, supply unit and velocity sensor, the first conveying pipeline and the second conveying pipeline of two vertical directions are set at the top of road-cleaning mechanism, two dismountable first Material collecting box for harvesting and the second Material collecting box for harvesting connected with first conveying pipeline and the second conveying pipeline are set, conveying pipeline is connected with dust exhaust apparatus, Material collecting box for harvesting is connected with attachment means, first Material collecting box for harvesting bottom sets electric-controlled switch, attachment means are connected by iron chains with unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of Intelligent road purging system based on unmanned plane integration and cooperation
And collaboration method.
Background technology
Unmanned plane is the not manned vehicle manipulated by radio robot or airborne computer stored program controlled.
Unmanned plane is simple in construction, use cost is low, can not only complete the task of manned aircraft execution, be more suitable for someone's aircraft not
Geological Hazards Investigation, air rescue commander and the remote sensing of environment of preferably performing for task, such as danger zone.Unmanned plane can be divided into
Military unmanned air vehicle and civilian unmanned plane.
Civilian unmanned plane field can be roughly divided into five major classes at present according to purposes and scene：Consumer (motion, photography
Or amusement), industry, agricultural, monitoring security protection, mapping prospecting and logistics etc..But unmanned plane road-cleaning field application also
Imperfection, current domestic road-cleaning is divided into two kinds, the first, employ street cleaner's moment to carry out manpower cleaning；Second,
Street cleaner's driving road sweeper is cleaned.
Both the above method, the waste that all there is human and material resources, and sweeping efficiency is not high.
The content of the invention
Goal of the invention：In order to overcome the shortcoming in background technology, the embodiments of the invention provide one kind based on unmanned plane connection
The Intelligent road purging system and collaboration method of cooperation are closed, the problem of being related in above-mentioned background technology is can effectively solve the problem that.
Technical scheme：A kind of Intelligent road purging system based on unmanned plane integration and cooperation, including the first unmanned plane, second
Unmanned plane, attachment means, road-cleaning mechanism, first unmanned plane and the second unmanned plane include image unit and navigation
Unit, road-cleaning mechanism bottom corner is provided with the wheel for Arbitrary Rotation, and bottom centre position is provided with
Dust exhaust apparatus is provided with above clearing apparatus, the clearing apparatus, the road-cleaning mechanism is internally provided with processor, driving
Device, control device, positioner, supply unit and velocity sensor, the processor and control device, drive device,
Set at the top of positioner and velocity sensor connection, the road-cleaning mechanism the first conveying pipeline of two vertical directions with
And second conveying pipeline, set two dismountable first Material collecting box for harvesting being connected with first conveying pipeline and the second conveying pipeline with
And second Material collecting box for harvesting, the conveying pipeline connected with dust exhaust apparatus, and the Material collecting box for harvesting is connected with attachment means, first Material collecting box for harvesting
Bottom sets electric-controlled switch, and the attachment means are connected by iron chains with unmanned plane.
As a kind of preferred embodiment of the present invention, shutdown plate is provided with above the attachment means, road-cleaning mechanism is just
Often during work, the first unmanned plane enters park mode, is parked on the shutdown plate.As a kind of preferred embodiment of the present invention,
The attachment means are to be additionally provided with hydraulic pump, the hydraulic pump and control device inside hydraulic stem, the road-cleaning mechanism
Connection, for driving the hydraulic stem to work.
As a kind of preferred embodiment of the present invention, Laser Measuring is provided with the top of first Material collecting box for harvesting and the second Material collecting box for harvesting
Distance meter, the laser range finder is connected with processor.
As a kind of preferred embodiment of the present invention, compression dress is provided with first Material collecting box for harvesting and the second Material collecting box for harvesting
Put, the compression set is connected with control device.
As a kind of preferred embodiment of the present invention, electrically-controlled valve is provided with first conveying pipeline and the second conveying pipeline
Door, the electric control valve is connected with control device.
It is used as a kind of preferred embodiment of the present invention, including following job step：
（1）Preset the travel of unmanned plane and road-cleaning mechanism；
（2）Velocity sensor detects the movement velocity of the road-cleaning mechanism and sends it to processor；
（3）The image unit picture that will take photo by plane sends the processor to；
（4）Measured value is sent to the processor by laser range finder in real time；
（5）If processor judges to have been filled with finishing in the first Material collecting box for harvesting, to control device output control signal, control device to
First unmanned plane and the second unmanned plane output wireless signal；
（6）First unmanned plane and the second unmanned plane exchange position, and second unmanned plane brings the first Material collecting box for harvesting to from current
The nearest refuse depot in position carries out discharging, and second Material collecting box for harvesting is started working；
（7）The second unmanned plane discharging returns to road-cleaning mechanism position after finishing according to navigator fix, and with first
Unmanned plane exchanges position again, and the second Material collecting box for harvesting is stopped, and the first Material collecting box for harvesting is started working.
It is used as a kind of preferred embodiment of the present invention, step（2）Also include：Processor receives the speed of velocity sensor transmission
Degree, to control device output control signal, control device exports wireless signal, the first unmanned plane and the road to the first unmanned plane
Road cleaning agency keeps identical speed.
It is used as a kind of preferred embodiment of the present invention, step（3）Also include：
The picture of taking photo by plane that processor analysis is received, judges whether road-cleaning mechanism current location has vehicle to sail and come, if there is car
Sail and then to export the first control signal to control device, the control device exports wireless communication to hydraulic pump and unmanned plane
Number, the first unmanned plane drives road-cleaning mechanism to fly upwards, while hydraulic stem shrinks, accelerates road-cleaning mechanism to rise speed
Rate.
It is used as a kind of preferred embodiment of the present invention, step（4）Also include：
Processor judges whether the measured value received is interval in the first distance, is controlled if if to control device output second
Signal processed, judges whether the measured value received is interval in second distance, if defeated to control device if if being not at
Go out the 3rd control signal, control device exports open signal and defeated to the first unmanned plane according to the first control signal to hydraulic pump
Go out flight signal, according to the second control signal to compression set output squeezing signal, according to the 3rd control signal to first nobody
Machine and the second unmanned plane output unloader signal.
The present invention realizes following beneficial effect：It is clear that the present invention carries out Intelligent road using the method for unmanned plane integration and cooperation
Sweep, can ensure that road-cleaning mechanism is persistently cleaned while discharging, substantially increase sweeping efficiency.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Unmanned plane and road-cleaning mechanism structural representation that Fig. 1 provides for the present invention；
Fig. 2 is collaboration method schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Embodiment one
As shown in Figure 1 and Figure 2, a kind of Intelligent road purging system based on unmanned plane integration and cooperation, including the first unmanned plane 1,
Two unmanned planes 2, attachment means 3, road-cleaning mechanism 4, it is characterised in that the unmanned plane 2 of the first unmanned plane 1 second includes taking the photograph
As unit 5 and navigation elements 6, the bottom corner of road-cleaning mechanism 4 is provided with the wheel 7 for Arbitrary Rotation,
Bottom centre position is provided with clearing apparatus 8, and the top of clearing apparatus 8 is provided with dust exhaust apparatus 9, the road-cleaning mechanism
4 are internally provided with processor 10, drive device 11, control device 12, positioner 13, supply unit 14 and velocity sensor
15, the processor 10 is connected with control device 12, drive device 11, positioner 13 and velocity sensor 15.
The attachment means 3 are to be additionally provided with hydraulic pump 23, the hydraulic pressure inside hydraulic stem, the road-cleaning mechanism 4
Pump 23 is connected with control device 12, for driving the hydraulic stem to work.
First unmanned plane 1 is provided with image unit 5, and the image unit 5 shoot near road-cleaning mechanism 4
Traffic, and the picture that will take photo by plane is real-time transmitted to processor 10, and processor 10 analyzes the picture of taking photo by plane received, judges
Whether the current location of road cleaning agency 4, which has vehicle to sail, is come, and the first control signal is exported to control device 12 if having vehicle to sail to come,
The control device 12 exports wireless signal to hydraulic pump 23 and unmanned plane, the first unmanned plane 1 drive road-cleaning mechanism 4 to
Upper flight, while hydraulic stem shrinks, accelerates the climbing speed of road-cleaning mechanism 4.
Specifically, the first safe distance and the second safe distance are preset, the picture that will take photo by plane of image unit 5 is sent to
Processor 10, processor 10 judges road conditions according to the picture of taking photo by plane, and the road conditions include vehicle and the pedestrian of contact traveling,
Processor 10 first determines whether that close is vehicle or pedestrian, and is classified as target, then calculates the target clear with road
Sweep the distance between mechanism 4, if processor 10 judges object for vehicle, by the distance value calculated and first safety away from
From being compared, when the distance value reaches the first safe distance, processor 10 is to the output control signal of control device 12, institute
State control device 12 and export wireless signal to the unmanned plane 1 of hydraulic pump 23 and first, the first unmanned plane 1 is opened when receiving wireless signal
Begin to take off to vertical direction, the driving of hydraulic pump 23 hydraulic stem shrinks, and hydraulic stem shrinks while the first unmanned plane 1 rises,
Road-cleaning mechanism 4 can be shortened hide and sail the time for carrying out vehicle, improve security, pending device 10 judges that object exceeds
To the output control signal of control device 12 during the first safe distance, the control device 12 is to the unmanned plane of hydraulic pump 23 and first
1 output wireless signal, the vertical drop of the first unmanned plane 1, the driving hydraulic stem elongation of hydraulic pump 23；If processor 10 judges mesh
When marking thing for pedestrian, then the distance value calculated is compared with the second safe distance, when the distance value reaches the second peace
During full distance, processor 10 is to the output control signal of control device 12, and the control device 12 is exported to drive device 11 to be stopped
Signal, the road-cleaning mechanism 4 will stop walking, and preferentially allow pedestrian to pass through, to calculate distance value again big when processor 10
When the second safe distance, processor 10 is to the output control signal of control device 12, and the control device 12 is to drive device 11
Open signal is exported, the driving of the drive device 11 road robot walks again according to route set in advance, fully ensures that
The safety of pedestrian；If processor 10 is judged when the road-cleaning mechanism 4 stops longer according to the picture of taking photo by plane of image unit 5
Between after pedestrian still in second safe distance, the processor 10 is then to the output control signal of control device 12, the control
Device 12 processed exports wireless signal to the unmanned plane 1 of hydraulic pump 23 and first, and the driving of hydraulic pump 23 hydraulic stem shrinks, described
First unmanned plane 1 takes off and flown according to route set in advance straight up, and pending device 10 judges that object exceeds second
To the output control signal of control device 12 during safe distance, the control device 12 is defeated to the unmanned plane 1 of hydraulic pump 23 and first
Go out wireless signal, the vertical drop of the first unmanned plane 1, the driving hydraulic stem elongation of hydraulic pump 23.
Embodiment two
Described as shown in Figure 1, Figure 2, velocity sensor 15 detects the movement velocity of the road-cleaning mechanism 4 and sends it to processing
Device 10.Processor 10 conveys control signal according to the velocity amplitude to control device 12, and the control signal is to the first unmanned plane 1
Speed-regulating signal is conveyed, first unmanned plane 1 is flown according to the velocity amplitude, the unmanned plane 1 of road-cleaning mechanism 4 and first
Remains stationary.In the present embodiment, the top of attachment means 3 is provided with shutdown plate 22, the driving road-cleaning of drive device 11
After mechanism 4 works, the picture that will take photo by plane of image unit 5 sends the processor 10 to, if the processor 10 judges described take photo by plane
When not having any vehicle and pedestrian in picture, then to the output control signal of control device 12, the control signal is to the first nothing
Man-machine 1 output sleep signal, first unmanned plane 1 stops flight, drops on the shutdown plate 22 and enters park mode, with
Electric energy is saved, the image unit 5 proceeds to take photo by plane and the picture that keeps taking photo by plane sends processor 10 to, when processor 10 is sentenced
Break and when occurring vehicle or pedestrian again in the picture of taking photo by plane, to the output control signal of control device 12, the control dress
Put 12 and convey flight signal to the first unmanned plane 1, the first unmanned plane 1 is flown according to route set in advance again.
Embodiment three
As shown in Figure 1 and Figure 2, the top of road-cleaning mechanism 4 sets the first conveying pipeline 16 and second of two vertical directions
Conveying pipeline 17, sets two dismountable first Material collecting box for harvesting 18 connected with the conveying pipeline 17 of the first conveying pipeline 16 and second
And second Material collecting box for harvesting 19, the conveying pipeline connected with dust exhaust apparatus 9, and the Material collecting box for harvesting is connected with attachment means 3, and described first
The bottom of Material collecting box for harvesting 18 sets electric-controlled switch 20, and the attachment means 3 are connected by iron chains 21 with unmanned plane, first Material collecting box for harvesting
18 and the top of the second Material collecting box for harvesting 19 be provided with laser range finder 24, the laser range finder 24 is connected with processor 10, described
Compression set 25 is provided with first Material collecting box for harvesting 18 and the second Material collecting box for harvesting 19, the compression set 25 connects with control device 12
Connect.
Compression set 25 is provided with the Material collecting box for harvesting 19 of first Material collecting box for harvesting 18 and second, the compression set 25 is used for
Compress the rubbish of Material collecting box for harvesting, it is to avoid repeatedly come and go discharging, save time cost.After road-cleaning mechanism 4 works, control device 12
Open signal is exported to the corresponding electric control valve 26 of the first Material collecting box for harvesting 18, dust exhaust apparatus 9 passes through the first conveying pipeline 16 to rubbish
The infrared range-measurement system being sent in the first Material collecting box for harvesting 18, the first Material collecting box for harvesting 18 detects the upper surface of the first Material collecting box for harvesting 18 and rubbish in real time
Simultaneously be transferred to processor 10 the distance between at the top of rubbish, processor 10 judge the measured value that receives whether in first away from
From interval, if exporting the second control signal to control device 12 if, judge whether is the measured value that receives if being not at
Interval in second distance, if exporting the 3rd control signal to control device 12 if, control device 12 is according to the first control
Signal exports open signal to hydraulic pump 23 and exports flight signal to the first unmanned plane 1, according to the second control signal to pressure
The output squeezing signal of compression apparatus 25, information carrying is unloaded according to the 3rd control signal to the first unmanned plane 1 and the output of the second unmanned plane 2
Number.
Specifically, the distance of setting first interval and second distance are interval, wherein described first apart from described in interval be more than
Second distance is interval, and the infrared range-measurement system in the first Material collecting box for harvesting 18 detects the upper surface of the first Material collecting box for harvesting 18 and rubbish top in real time
The distance between portion is simultaneously transferred to processor 10, and processor 10 judges whether the measured value received is in the first distance regions
Between, export the second control signal, compression of the control device 12 into the first Material collecting box for harvesting 18 to control device 12 if being in
Rubbish in the output squeezing signal of device 25, described 25 pair of first Material collecting box for harvesting 18 of compression set is compressed；If carrying out repeatedly
After compression, processor 10 judges that the measured value is in second distance interval, then is controlled to the output of control device 12 the 3rd
Signal, the control device 12 exports unloader signal to the first unmanned plane 1 and the second unmanned plane 2, the control of control device 12 the
The electric control valve 26 of one conveying pipeline 16 is closed.First unmanned plane 1 and second unmanned plane 2 are received after unloader signal,
First unmanned plane 1 disconnects with iron chains 21 and exchanges position automatically with the second unmanned plane 2, and first unmanned plane 1 persistently enters
Row is taken photo by plane and the picture of taking photo by plane is sent into processor 10, and processor 10 locks the second unmanned plane 2 according to the picture of taking photo by plane
For object, and its position is sent to navigation elements 6, the first unmanned plane 1 selects flight position according to the position, it is to avoid with
Second unmanned plane 2 is collided, and the first unmanned plane 1 is exchanged behind position with the second unmanned plane 2 and is connected automatically with iron chains 21, control dress
The electric control valve 26 for putting 12 the second conveying pipelines of control 17 is opened.
All rubbish station locations in urban district where the navigation elements 6 mark user in advance, processor 10 is according to picture of taking photo by plane
Face judges the position of road-cleaning mechanism 4 and calculates the distance between position and each refuse depot, selects nearest one
Individual refuse depot is classified as object and to the output signal of navigation elements 6, the lock onto target thing of navigation elements 6, second nobody
The band of first Material collecting box for harvesting 18 to object is carried out discharging by machine 2, and the second unmanned plane 2 picture that will take photo by plane sends processor 10 to, works as place
Reason device 10 is judged when the second unmanned plane 2 can carry out discharging to the output control signal of control device 12, the control device 12
The electric-controlled switch 20 for opening the bottom of the first Material collecting box for harvesting 18 carries out discharging.
Positioner 13 positions the position of road-cleaning mechanism 4 and sends it to processor 10 in real time, processor 10
The position received is sent to the navigation elements 6 of the second unmanned plane 2, the navigation elements 6 instruct the second unmanned plane 2 to fly back.
Control unit controls the electric control valve 26 of the second conveying pipeline 17 to close, and the second unmanned plane 2 exchanges position with the first unmanned plane 1, control
Unit processed controls the electric control valve 26 of the first conveying pipeline 16 to open.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should all be included within the scope of the present invention.
Claims (10)
1. a kind of Intelligent road purging system based on unmanned plane integration and cooperation, including the first unmanned plane（1）, the second unmanned plane
（2）, attachment means（3）, road-cleaning mechanism（4）, it is characterised in that first unmanned plane（1）And second unmanned plane（2）
Including image unit（5）And navigation elements（6）, the road-cleaning mechanism（4）Bottom corner is provided with for any angle
The wheel of rotation（7）, bottom centre position is provided with clearing apparatus（8）, the clearing apparatus（8）Top is provided with dust exhaust apparatus
（9）, the road-cleaning mechanism（4）It is internally provided with processor（10）, drive device（11）, control device（12）, positioning dress
Put（13）, supply unit（14）And velocity sensor（15）, the processor（10）With control device（12）, drive device
（11）, positioner（13）And velocity sensor（15）Connection, the road-cleaning mechanism（4）Top sets two vertical sides
To the first conveying pipeline（16）And second conveying pipeline（17）, set and first conveying pipeline（16）And second conveying pipeline
（17）Two dismountable first Material collecting box for harvesting of connection（18）And second Material collecting box for harvesting（19）, the conveying pipeline and dust exhaust apparatus
（9）Connection, the Material collecting box for harvesting and attachment means（3）Connection, first Material collecting box for harvesting（18）Bottom sets electric-controlled switch（20）, institute
State attachment means（3）Pass through iron chains（21）With the first unmanned plane（1）And second unmanned plane（2）Connection.
2. a kind of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1, it is characterised in that：
The attachment means（3）Top is provided with shutdown plate（22）, road-cleaning mechanism（4）During normal work, the first unmanned plane（1）Enter
Enter park mode, be parked in the shutdown plate（22）On.
3. a kind of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1, it is characterised in that：
The attachment means（3）For hydraulic stem, the road-cleaning mechanism（4）Inside is additionally provided with hydraulic pump（23）, the hydraulic pump
（23）With control device（12）Connection, for driving the hydraulic stem to work.
4. a kind of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1, it is characterised in that：
First Material collecting box for harvesting（18）And second Material collecting box for harvesting（19）Top is provided with laser range finder（24）, the laser range finder
（24）With processor（10）Connection.
5. a kind of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1, it is characterised in that：
First Material collecting box for harvesting（18）And second Material collecting box for harvesting（19）Inside it is provided with compression set（25）, the compression set（25）With control
Device processed（12）Connection.
6. a kind of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1, it is characterised in that：
First conveying pipeline（16）And second conveying pipeline（17）On be provided with electric control valve（26）, the electric control valve（26）With control
Device processed（12）Connection.
7. a kind of association of Intelligent road purging system based on unmanned plane integration and cooperation according to claim any one of 1-6
Make method, it is characterised in that including following job step：
（1）Preset unmanned plane and road-cleaning mechanism（4）Travel；
（2）Velocity sensor（15）Detect the road-cleaning mechanism（4）Movement velocity and send it to processor（10）；
（3）Image unit（5）The picture that will take photo by plane sends the processor to（10）；
（4）Laser range finder（24）Measured value is sent to the processor in real time（10）；
（5）If processor（10）Judge the first Material collecting box for harvesting（18）Inside have been filled with finishing, then to control device（12）Output control is believed
Number, control device（12）To the first unmanned plane（1）And second unmanned plane（2）Export wireless signal；
（6）First unmanned plane（1）And second unmanned plane（2）Exchange position, second unmanned plane（2）By the first Material collecting box for harvesting
（18）Band to the refuse depot nearest from current location carries out discharging, second Material collecting box for harvesting（19）Start working；（7）Described second
Unmanned plane（2）Discharging returns to road-cleaning mechanism after finishing according to navigator fix（4）Position, and with the first unmanned plane（1）
Position, the second Material collecting box for harvesting are exchanged again（19）It is stopped, the first Material collecting box for harvesting（18）Start working.
8. a kind of collaboration method of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 7,
It is characterized in that：Step（2）Also include：Processor（10）Receive velocity sensor（15）The speed of transmission, to control device
（12）Output control signal, control device（12）To the first unmanned plane（1）Export wireless signal, the first unmanned plane（1）With it is described
Road-cleaning mechanism（4）Keep identical speed.
9. a kind of collaboration method of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 7,
It is characterized in that：Step（3）Also include：Processor（10）The picture of taking photo by plane received is analyzed, road-cleaning mechanism is judged（4）When
Whether front position, which has vehicle to sail, is come, to control device if having vehicle to sail to come（12）Export the first control signal, the control dress
Put（12）To hydraulic pump and unmanned plane output wireless signal, the first unmanned plane（1）Drive road-cleaning mechanism（4）Fly upwards
OK, while hydraulic stem shrinks, road-cleaning mechanism climbing speed is accelerated.
10. a kind of collaboration method of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 7,
It is characterized in that：Step（4）Also include：Processor（10）Judge whether the measured value received is interval in the first distance, if
In then to control device（12）The second control signal is exported, judges whether the measured value received is in second if being not at
Distance is interval, to control device if being in（12）Export the 3rd control signal, control device（12）According to the first control signal
Open signal is exported to hydraulic pump and to the first unmanned plane（1）Flight signal is exported, is filled according to the second control signal to compression
Output squeezing signal is put, according to the 3rd control signal to the first unmanned plane（1）And second unmanned plane（2）Export unloader signal.
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| CN107288020A (en) * | 2017-08-14 | 2017-10-24 | 苏州世纪天成信息技术有限公司 | A kind of intelligent bituminous patch system cooperated based on unmanned plane and its method of work |
| CN107485501A (en) * | 2017-09-11 | 2017-12-19 | 太仓史瑞克工业设计有限公司 | A kind of intelligent wheel chair and its control method based on unmanned plane |
| CN108247616A (en) * | 2018-03-14 | 2018-07-06 | 金陵科技学院 | A kind of factory is with land sky double-purpose sorting machine people |
| CN108341051A (en) * | 2018-02-05 | 2018-07-31 | 苏州绿豆豆智能装备科技有限公司 | A kind of combined unmanned plane and unmanned plane logistics system |
| CN108589599A (en) * | 2018-04-28 | 2018-09-28 | 上海仙途智能科技有限公司 | Unmanned purging system |
| CN108797466A (en) * | 2018-06-13 | 2018-11-13 | 苏州创存数字科技有限公司 | A kind of intelligent transportation xegregating unit for road cleaning |
| CN115416844A (en) * | 2022-09-28 | 2022-12-02 | 张春宝 | Unmanned aerial vehicle undercarriage based on agricultural monitoring automatic cleaning landing site |
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| CN108247616A (en) * | 2018-03-14 | 2018-07-06 | 金陵科技学院 | A kind of factory is with land sky double-purpose sorting machine people |
| CN108589599A (en) * | 2018-04-28 | 2018-09-28 | 上海仙途智能科技有限公司 | Unmanned purging system |
| CN108797466A (en) * | 2018-06-13 | 2018-11-13 | 苏州创存数字科技有限公司 | A kind of intelligent transportation xegregating unit for road cleaning |
| CN115416844A (en) * | 2022-09-28 | 2022-12-02 | 张春宝 | Unmanned aerial vehicle undercarriage based on agricultural monitoring automatic cleaning landing site |
| CN115416844B (en) * | 2022-09-28 | 2023-09-26 | 张春宝 | Unmanned aerial vehicle undercarriage based on agricultural monitoring automatically cleans landing site |
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