CN107012817B - 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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- CN107012817B CN107012817B CN201710296733.8A CN201710296733A CN107012817B CN 107012817 B CN107012817 B CN 107012817B CN 201710296733 A CN201710296733 A CN 201710296733A CN 107012817 B CN107012817 B CN 107012817B
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- unmanned plane
- road
- harvesting
- collecting box
- cleaning mechanism
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- 238000010926 purge Methods 0.000 title claims abstract description 17
- 230000010354 integration Effects 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004140 cleaning Methods 0.000 claims abstract description 53
- 239000000463 material Substances 0.000 claims abstract description 51
- 238000003306 harvesting Methods 0.000 claims abstract description 48
- 239000000428 dust Substances 0.000 claims abstract description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 7
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
-
- 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
Landscapes
- 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 device,Road-cleaning mechanism,First unmanned plane and the second unmanned plane include camera unit and navigation elements,Road-cleaning mechanism bottom four corners are provided with the wheel for Arbitrary Rotation,Bottom centre position is provided with clearing apparatus,It is provided with dust exhaust apparatus above the clearing apparatus,The road-cleaning mechanism is internally provided with processor,Driving device,Control device,Positioning device,Supply unit and velocity sensor,The first conveying pipeline and the second conveying pipeline of two vertical directions of setting at the top of road-cleaning mechanism,Two dismountable first Material collecting box for harvesting and the second Material collecting box for harvesting being connected to first conveying pipeline and the second conveying pipeline are set,Conveying pipeline is connected to dust exhaust apparatus,Material collecting box for harvesting is connect with attachment device,Electric-controlled switch is arranged in first Material collecting box for harvesting bottom,Attachment device is connect 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 structure, use cost is low, can not only complete the task of manned aircraft execution, be more suitable for someone's aircraft not
Preferably executing for task, such as the Geological Hazards Investigation of danger zone, air rescue commander and remote sensing of environment.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 class at present according to purposes and scene：Consumer (movement, photography
Or amusement), industry, agricultural, monitoring security protection, mapping prospecting and logistics etc..But unmanned plane road-cleaning field application also
Not perfect, domestic road-cleaning is divided into two kinds at present, the first, employ cleaner's moment to carry out manpower cleaning；Second,
Cleaner's driving road sweeper cleans.
All there is the waste of human and material resources in both the above method, and sweeping efficiency is not high.
Invention content
Goal of the invention：In order to overcome the disadvantage in background technology, an embodiment of the present invention provides one kind to be joined based on unmanned plane
The Intelligent road purging system and collaboration method for closing cooperation, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：A kind of Intelligent road purging system based on unmanned plane integration and cooperation, including the first unmanned plane, second
Unmanned plane, attachment device, road-cleaning mechanism, first unmanned plane and the second unmanned plane include camera unit and navigation
Unit, road-cleaning mechanism bottom four corners are provided with the wheel for Arbitrary Rotation, and bottom centre position is provided with
Clearing apparatus, the clearing apparatus top are provided with dust exhaust apparatus, and the road-cleaning mechanism is internally provided with processor, driving
Device, control device, positioning device, supply unit and velocity sensor, the processor and control device, driving device,
Positioning device and velocity sensor connection, at the top of the road-cleaning mechanism the first conveying pipeline of two vertical directions of setting with
And second conveying pipeline, be arranged two dismountable first Material collecting box for harvesting being connected to first conveying pipeline and the second conveying pipeline with
And second Material collecting box for harvesting, the conveying pipeline are connected to dust exhaust apparatus, the Material collecting box for harvesting is connect with attachment device, first Material collecting box for harvesting
Electric-controlled switch is arranged in bottom, and the attachment device is connect by iron chains with unmanned plane, 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；
The collaboration method of Intelligent road purging system includes following work 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）Camera 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）It inside has been filled with and finishes, then to control device（12）Output control
Signal processed, 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）First is gathered materials
Case（18）Band to the refuse depot nearest from current location carries out discharging, second Material collecting box for harvesting（19）It starts to work；
（7）Second unmanned plane（2）Road-cleaning mechanism is returned to according to navigator fix after discharging（4）Institute is in place
Set, 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 work
Make.
As a kind of preferred embodiment of the present invention, it is provided with shutdown plate above the attachment device, road-cleaning mechanism is just
Often when work, the first unmanned plane enters suspend mode, is parked on the shutdown plate.As the present invention a kind of preferred embodiment,
The attachment device is hydraulic stem, and hydraulic pump, the hydraulic pump and control device are additionally provided with inside the road-cleaning mechanism
Connection, for driving the hydraulic stem to work.
As a kind of preferred embodiment of the present invention, compression dress is provided in first Material collecting box for harvesting and the second Material collecting box for harvesting
It sets, the compression set is connect with control device.
As a kind of preferred embodiment of the present invention, electrically-controlled valve is provided on first conveying pipeline and the second conveying pipeline
Door, the electric control valve are connect with control device.
As a kind of preferred embodiment of the present invention, step（2）Further include：Processor receives the speed of velocity sensor transmission
Degree exports control signal to control device, and control device exports wireless signal, the first unmanned plane and the road to the first unmanned plane
Road cleaning agency keeps identical speed.
As a kind of preferred embodiment of the present invention, step（3）Further include：
Processor analyzes the picture of taking photo by plane received, judges whether road-cleaning mechanism current location has vehicle to sail and come, if
There is vehicle to sail then to export first control signal to control device, the control device is wireless to hydraulic pump and unmanned plane output
Signal, the first unmanned plane drive road-cleaning mechanism to fly upwards, while hydraulic stem is shunk, and road-cleaning mechanism is accelerated to rise speed
Rate.
As a kind of preferred embodiment of the present invention, step（4）Further include：
Processor judge the measured value that receives whether in first apart from section, if if to control device output the
Two control signals, judge whether the measured value received is in second distance section if being not at, if in being filled to control
Set output third control signal, control device according to first control signal to hydraulic pump export open signal and to first nobody
Machine exports flight signal, and compressed signal is exported to compression set according to second control signal, and signal is controlled to first according to third
Unmanned plane and the second unmanned plane export unloader signal.
The present invention realizes following advantageous effect：The present invention is clear using the method progress Intelligent road of unmanned plane integration and cooperation
It sweeps, can ensure that road-cleaning mechanism is persistently cleaned while discharging, substantially increase sweeping efficiency.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is unmanned plane provided by the invention and road-cleaning mechanism structural schematic diagram；
Fig. 2 is collaboration method schematic diagram of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the 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, the second unmanned plane 2, attachment device 3, road-cleaning mechanism 4, which is characterized in that first unmanned plane, 1 second unmanned plane 2 wraps
Camera unit 5 and navigation elements 6 are included, 4 bottom four corners of road-cleaning mechanism are provided with the vehicle for Arbitrary Rotation
Wheel 7, bottom centre position are provided with clearing apparatus 8, and 8 top of the clearing apparatus is provided with dust exhaust apparatus 9, the road-cleaning
Mechanism 4 is internally provided with processor 10, driving device 11, control device 12, positioning device 13, supply unit 14 and speed and passes
Sensor 15, the processor 10 are connect with control device 12, driving device 11, positioning device 13 and velocity sensor 15.
The attachment device 3 is hydraulic stem, and hydraulic pump 23, the hydraulic pressure are additionally provided with inside the road-cleaning mechanism 4
Pump 23 is connect with control device 12, for driving the hydraulic stem to work.
First unmanned plane 1 is provided with camera unit 5, and the camera unit 5 carries out near shooting 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
4 current location of road cleaning agency whether have vehicle sail come, if having vehicle sail come if to control device 12 export first control signal,
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 is shunk, and accelerates 4 climbing speed of road-cleaning mechanism.
Specifically, the first safe distance and the second safe distance are preset, the picture that will take photo by plane of camera unit 5 is sent to
Processor 10, processor 10 judge that road conditions, the road conditions include vehicle and the pedestrian of contact traveling according to the picture of taking photo by plane,
Processor 10 first determines whether that close is vehicle or pedestrian, and is classified as target, and it is clear with road then to calculate the target
Sweep the distance between mechanism 4, if processor 10 judges object for vehicle, by calculated distance value and first safety away from
From being compared, when the distance value reaches the first safe distance, processor 10 exports control signal, institute to control device 12
It states control device 12 and exports wireless signal to hydraulic pump 23 and the first unmanned plane 1, the first unmanned plane 1 is opened when receiving wireless signal
Beginning to take off to vertical direction, the hydraulic pump 23 drives hydraulic stem to shrink, and hydraulic stem is shunk while the first unmanned plane 1 rises,
Road-cleaning mechanism 4 can be shortened hide and sail the time for carrying out vehicle, improve safety, pending device 10 judges that object exceeds
Control signal is exported to control device 12 when the first safe distance, the control device 12 is to hydraulic pump 23 and the first unmanned plane
1 output wireless signal, 1 vertical drop of the first unmanned plane, hydraulic pump 23 drive hydraulic stem elongation；If processor 10 judges mesh
When mark object is pedestrian, then calculated distance value is compared with the second safe distance, when the distance value reaches the second peace
When full distance, processor 10 exports control signal to control device 12, and the control device 12 is exported to driving device 11 to be stopped
Signal, the road-cleaning mechanism 4 will stop walking, and preferentially pedestrian be allowed to pass through, when to calculate distance value again big for processor 10
When the second safe distance, processor 10 exports control signal to control device 12, and the control device 12 is to driving device 11
Open signal is exported, the driving device 11 drives road robot to walk again according to preset route, fully ensures that
The safety of pedestrian；If processor 10 according to camera unit 5 take photo by plane picture judge the road-cleaning mechanism 4 stop it is longer when
Between after pedestrian still in second safe distance, the processor 10 then to control device 12 export control signal, the control
Device 12 processed exports wireless signal to hydraulic pump 23 and the first unmanned plane 1, and the hydraulic pump 23 drives hydraulic stem to shrink, described
First unmanned plane 1 takes off and flies according to preset route straight up, and pending device 10 judges that object exceeds second
Control signal is exported to control device 12 when safe distance, the control device 12 is defeated to hydraulic pump 23 and the first unmanned plane 1
Go out wireless signal, 1 vertical drop of the first unmanned plane, hydraulic pump 23 drives hydraulic stem elongation.
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
Processor 10.Processor 10 conveys control signal according to the velocity amplitude to control device 12, and the control signal is to the first nothing
Man-machine 1 conveying speed-regulating signal, first unmanned plane 1 fly according to the velocity amplitude, road-cleaning mechanism 4 and the first nothing
Man-machine 1 remains stationary.In the present embodiment, 3 top of the attachment device, which is provided with, shuts down plate 22, and driving device 11 drives road
After cleaning agency 4 works, the picture that will take photo by plane of camera unit 5 sends the processor 10 to, if the processor 10 judge it is described
It takes photo by plane in picture when there is no any vehicle and pedestrian, then exports control signal to control device 12, the control signal is to the
One unmanned plane 1 exports sleep signal, and first unmanned plane 1 stops flight, drops to and enters suspend mode mould on the shutdown plate 22
Formula, to save electric energy, the camera unit 5 continues to take photo by plane and the picture that keeps taking photo by plane sends processor 10 to, works as processing
When device 10 is judged to occur vehicle or pedestrian again in the picture of taking photo by plane, control signal is exported to control device 12, it is described
Control device 12 conveys flight signal to the first unmanned plane 1, and the first unmanned plane 1 is flown according to preset route again
Row.
Embodiment three
As shown in Figure 1 and Figure 2, the top of the road-cleaning mechanism 4 be arranged two vertical directions the first conveying pipeline 16 and
Second conveying pipeline 17 is arranged two dismountable first be connected to first conveying pipeline, 16 and second conveying pipeline 17 and gathers materials
Case 18 and the second Material collecting box for harvesting 19, the conveying pipeline are connected to dust exhaust apparatus 9, and the Material collecting box for harvesting is connect with attachment device 3, described
Electric-controlled switch 20 is arranged in first Material collecting box for harvesting, 18 bottom, and the attachment device 3 is connect by iron chains 21 with unmanned plane, first collection
Hopper 18 and 19 top of the second Material collecting box for harvesting are provided with laser range finder 24, and the laser range finder 24 is connect with processor 10,
Compression set 25, the compression set 25 and control device 12 are provided in first Material collecting box for harvesting, 18 and second Material collecting box for harvesting 19
Connection.
It is provided with compression set 25 in first Material collecting box for harvesting, 18 and second Material collecting box for harvesting 19, the compression set 25 is used for
The rubbish for compressing Material collecting box for harvesting avoids multiple round-trip discharging, saves time cost.After road-cleaning mechanism 4 works, control device 12
Open signal is exported to electric control valve 26 corresponding with the first Material collecting box for harvesting 18, dust exhaust apparatus 9 passes through the first conveying pipeline 16 to rubbish
It is sent to the first Material collecting box for harvesting 18, the infrared range-measurement system in the first Material collecting box for harvesting 18 detects 18 upper surface of the first Material collecting box for harvesting 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 received whether in first away from
From section, if exporting second control signal to control device 12 if, if whether being not at the measured value that judges to receive
In second distance section, signal is controlled if exporting third 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 second control signal to pressure
Compression apparatus 25 exports compressed signal, and control signal according to third unloads information carrying to the first unmanned plane 1 and the output of the second unmanned plane 2
Number.
Specifically, setting first is apart from section and second distance section, wherein described first be more than apart from section it is described
Second distance section, the infrared range-measurement system in the first Material collecting box for harvesting 18 detect 18 upper surface of the first Material collecting box for harvesting 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, if being in second control signal, compression of the control device 12 into the first Material collecting box for harvesting 18 are exported to control device 12
Device 25 exports compressed signal, and the compression set 25 compresses the rubbish in the first Material collecting box for harvesting 18；If carrying out repeatedly
After compression, processor 10 judges that the measured value is in second distance section, then exports third control to control device 12
Signal, the control device 12 export 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.After first unmanned plane 1 and second unmanned plane 2 receive unloader signal,
First unmanned plane 1 and the second unmanned plane 2 disconnect with iron chains 21 and exchange position automatically, first unmanned plane 1 continue into
Row takes photo by plane and the picture of taking photo by plane is transmitted to 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 transmitted to navigation elements 6, the first unmanned plane 1 selects flight position according to the position, avoid with
Second unmanned plane 2 collides, and the first unmanned plane 1 is connect after exchanging position with the second unmanned plane 2 with iron chains 21 automatically, control dress
The electric control valve 26 for setting 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 4 position of road-cleaning mechanism and calculates the distance between position and each refuse depot, selects nearest one
A refuse depot is classified as object and to 6 output signal of the navigation elements, 6 lock onto target object of navigation elements, second nobody
First Material collecting box for harvesting, 18 band 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 to export control signal, the control device 12 to control device 12 when the second unmanned plane 2 can carry out discharging
The electric-controlled switch 20 for opening 18 bottom of the first Material collecting box for harvesting carries out discharging.
Positioning device 13 positions 4 position of road-cleaning mechanism 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.
The electric control valve 26 that control unit controls the second conveying pipeline 17 is closed, and the second unmanned plane 2 exchanges position with the first unmanned plane 1, is controlled
The electric control valve 26 that unit processed controls the first conveying pipeline 16 is opened.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (8)
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 device（3）, road-cleaning mechanism（4）, which is characterized in that first unmanned plane（1）And second unmanned plane（2）
Including camera unit（5）And navigation elements（6）, the road-cleaning mechanism（4）Bottom four corners are 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）, driving device（11）, control device（12）, positioning dress
It sets（13）, supply unit（14）And velocity sensor（15）, the processor（10）With control device（12）, driving device
（11）, positioning device（13）And velocity sensor（15）Connection, the road-cleaning mechanism（4）Two vertical sides are arranged in top
To the first conveying pipeline（16）And second conveying pipeline（17）, it is arranged 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 device（3）Connection, first Material collecting box for harvesting（18）Electric-controlled switch is arranged in bottom（20）, institute
State attachment device（3）Pass through iron chains（21）With the first unmanned plane（1）And second unmanned plane（2）Connection, 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；
The collaboration method of Intelligent road purging system includes following work 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）Camera 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）It inside has been filled with and finishes, then to control device（12）Output control letter
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）It starts to work；
（7）Second unmanned plane（2）Road-cleaning mechanism is returned to according to navigator fix after discharging（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）It starts to work.
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 device（3）Top is provided with shutdown plate（22）, road-cleaning mechanism（4）When normal work, the first unmanned plane（1）Into
Enter suspend mode, is 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 device（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）Inside it is provided with compression set（25）, the compression set（25）With control
Device processed（12）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 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.
6. a kind of collaboration method of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1,
It is characterized in that：Step（2）Further 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.
7. a kind of cooperation part of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1 or 3
Method, it is characterised in that：Step（3）Further include：Processor（10）The picture of taking photo by plane received is analyzed, judges road-cleaning mechanism
（4）Whether current location, which has vehicle to sail, is come, if having vehicle sail come if to control device（12）Export first control signal, the control
Device processed（12）Wireless signal, the first unmanned plane are exported to hydraulic pump and unmanned plane（1）Drive road-cleaning mechanism（4）Upwards
Flight, while hydraulic stem is shunk, and accelerates road-cleaning mechanism climbing speed.
8. a kind of cooperation of Intelligent road purging system based on unmanned plane integration and cooperation according to claim 1 or 3 or 4
Method, it is characterised in that：Step（4）Further include：Processor（10）Judge whether the measured value received is in the first distance regions
Between, to control device if being in（12）Second control signal is exported, judges whether the measured value received is located if being not at
In second distance section, to control device if being in（12）It exports third and controls signal, control device（12）According to the first control
Signal processed to hydraulic pump exports open signal and to the first unmanned plane（1）Export flight signal, according to second control signal to
Compression set exports compressed signal, and signal is controlled to the first unmanned plane according to third（1）And second unmanned plane（2）Output unloading
Signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710296733.8A CN107012817B (en) | 2017-04-28 | 2017-04-28 | Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation |
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| CN107012817B true CN107012817B (en) | 2018-10-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN108341051B (en) * | 2018-02-05 | 2022-01-11 | 中国民航管理干部学院 | Combined unmanned aerial vehicle and unmanned aerial vehicle logistics system |
| 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 |
| CN108589599B (en) * | 2018-04-28 | 2020-07-21 | 上海仙途智能科技有限公司 | Unmanned cleaning 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 |
| 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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| JP2012153168A (en) * | 2011-01-21 | 2012-08-16 | New Delta Industrial Co Ltd | Chemical liquid dispersing device of unmanned helicopter |
| CN205031188U (en) * | 2015-09-10 | 2016-02-17 | 于东方 | Clean robot can fly |
| CN106178326A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of electric power transmission line fire-fighting unmanned plane |
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| CN106510558A (en) * | 2017-01-03 | 2017-03-22 | 上海量明科技发展有限公司 | Flying cleaning robot and cleaning method thereof |
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