CN107097910A - A kind of unmanned boat cleaning systems and its method of work with unmanned plane integration of operation - Google Patents
A kind of unmanned boat cleaning systems and its method of work with unmanned plane integration of operation Download PDFInfo
- Publication number
- CN107097910A CN107097910A CN201710356869.3A CN201710356869A CN107097910A CN 107097910 A CN107097910 A CN 107097910A CN 201710356869 A CN201710356869 A CN 201710356869A CN 107097910 A CN107097910 A CN 107097910A
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- Prior art keywords
- harvesting
- unmanned
- unmanned plane
- collecting box
- unmanned boat
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- 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
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Abstract
The invention discloses a kind of and unmanned plane integration of operation unmanned boat cleaning systems, including unmanned plane, unmanned boat, attachment means, clearing apparatus and processor waterborne, it is characterized in that, unmanned plane includes camera device and guider, camera device and guider are connected with processor, clearing apparatus waterborne is arranged on unmanned forward quarter, unmanned boat includes drive device, control device, positioner, supply unit and velocity sensor, processor and drive device, control device, positioner is connected and velocity sensor connection, unmanned boat also includes the first conveying pipeline, second conveying pipeline, first Material collecting box for harvesting, second Material collecting box for harvesting, first conveying pipeline is connected with clearing apparatus waterborne and the first Material collecting box for harvesting, second conveying pipeline is connected with clearing apparatus waterborne and the second Material collecting box for harvesting, the first electric control valve is provided with first conveying pipeline, the second electric control valve is provided with second conveying pipeline.
Description
Technical field
The present invention relates to unmanned boat field, more particularly to a kind of unmanned boat cleaning systems with unmanned plane integration of operation and its
Method of work.
Background technology
With urbanization and industrialized propulsion, increasing waters have received pollution, wherein garbage floating on water surface
It is its important component.The cleaning of rubbish, disposal technology and facility fall behind relatively, garbage-cleaning still using labor-intensive as
Main, the place in many non-coastal flourishing cities uses the original method of artificial pumped surface rubbish mostly.This manner of cleaning up is not
Only wasting manpower and material resources, and labor intensity is big, working environment severe, workman's personal safety is not ensured, cleaning difficulty is big, comprehensive
Synthesize this height.
Unmanned boat is had at present is related to cleaning field waterborne, if unmanned boat works in the waters apart from bank farther out,
Need to unload rubbish back and forth unavoidably because unmanned boat loads to finish, thus so that unmanned boat endurance is reduced, cleaning efficiency
Lowly.
The content of the invention
Goal of the invention：To solve problem present in background technology, the present invention provides a kind of and unmanned plane integration of operation
Unmanned boat cleaning systems and its method of work.
Technical scheme：A kind of unmanned boat cleaning systems with unmanned plane integration of operation, including unmanned plane, unmanned boat, connection
Device, clearing apparatus waterborne and processor, the unmanned plane include camera device and guider, the camera device with
And guider is connected with the processor, the attachment means are used to connect the unmanned plane and the unmanned boat, the water
Upper clearing apparatus is arranged on the unmanned forward quarter, and the unmanned boat includes drive device, control device, positioner, power supply
Device and velocity sensor, the drive device are used to drive the clearing apparatus waterborne, the processor and drive device,
Control device, positioner connection and velocity sensor connection, the unmanned boat also include the first conveying pipeline, the second conveying
Pipe, the first Material collecting box for harvesting, the second Material collecting box for harvesting, described first conveying pipeline one end are connected with the clearing apparatus waterborne, the other end and institute
The connection of the first Material collecting box for harvesting is stated, described second conveying pipeline one end is connected with the clearing apparatus waterborne, the other end and the described second collection
Hopper is connected, and is provided with first conveying pipeline on the first electric control valve, second conveying pipeline and is provided with the second electrically-controlled valve
Door, first electric control valve and second electric control valve are connected with the control device, and unmanned plane passes through iron chains and company
Connection device is connected.
As a kind of preferred embodiment of the present invention, shutdown plate, unmanned boat normal work are provided with the top of the attachment means
When, the unmanned plane enters park mode, drops on the shutdown plate.
As a kind of preferred embodiment of the present invention, the unmanned motor spindle is provided with vacuum chuck device, and the vacuum is inhaled
Disk device is used to adsorb first Material collecting box for harvesting and second Material collecting box for harvesting.
As a kind of preferred embodiment of the present invention, first laser rangefinder is provided with the top of first Material collecting box for harvesting, it is described
Be provided with second laser rangefinder at the top of second Material collecting box for harvesting, the first laser rangefinder and the second laser rangefinder with
The processor connection.
As a kind of preferred embodiment of the present invention, the first Material collecting box for harvesting bottom is provided with the first electric-controlled switch, and described the
Two Material collecting box for harvesting bottoms are provided with the second electric-controlled switch, first electric-controlled switch and second electric-controlled switch and the control
Device is connected.
As a kind of preferred embodiment of the present invention, first Material collecting box for harvesting and the second Material collecting box for harvesting bottom are provided with gold
Belong to filter screen, the seawater that the metal screen is used in filtering spam thing.
It is used as a kind of preferred embodiment of the present invention, including following job step：
a）The first movement travel of setting unmanned plane and unmanned boat；
b）The movement velocity of velocity sensor detection unmanned boat simultaneously sends it to processor, and processor is exported to unmanned plane to be believed
Number, control unmanned plane keeps same speed with unmanned boat；
c）First laser rangefinder detects the distance at the top of rubbish and the first Material collecting box for harvesting and sends it to processor；
d）If processor judges to have been filled with finishing in the first Material collecting box for harvesting, to control device and unmanned plane output control signal,
Control device controls the first electric control valve to close, while controlling the second electric control valve to open；
e）Unmanned plane is disconnected device, and adsorbent equipment adsorbs the first Material collecting box for harvesting, and unmanned plane brings the first Material collecting box for harvesting to from current
The nearest refuse depot in position carries out discharging, and the second Material collecting box for harvesting starts to collect；
f）The coordinate of unmanned boat is sent to processor, processor navigation device output navigation signal, unmanned plane by positioner
Unmanned boat position is returned to according to navigation signal.
It is used as a kind of preferred embodiment of the present invention, step b）Also include：
The camera device picture that will take photo by plane sends processor to, and processor judges whether there is ship or reef in front of unmanned boat, if having
Signal then is avoided to unmanned boat output, unmanned boat gets around barrier when receiving signal.
It is used as a kind of preferred embodiment of the present invention, step e）Also include：
The position of local all refuse depots is marked in guider in advance, positioner sends the position coordinates of unmanned boat
To processor, processor judges the distance between unmanned boat coordinate and rubbish station coordinates received, by closest one
Refuse depot is selected in guider to be come, and unmanned plane flies to the refuse depot according to navigation.
The present invention realizes following beneficial effect：Unmanned plane is gone on patrol with unmanned boat on specified sea or river surface, nobody
Machine search needs the waters cleared up, and rubbish waterborne is carried out cleaning storage by unmanned boat, and the first Material collecting box for harvesting is stored and finishes rear unmanned plane
Discharging is carried out, while the second Material collecting box for harvesting starts to store, the present invention passes through unmanned plane and unmanned boat integration of operation, it is ensured that discharging
Unmanned boat can continue to carry out cleaning work, the cleaning efficiency greatly improved simultaneously.
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.
A kind of unmanned boat structural representation for the and unmanned plane integration of operation that Fig. 1 provides for the present invention；
The storage rubbish structural representation that Fig. 2 provides for the present invention；
A kind of unmanned boat method of work schematic diagram for the and unmanned plane integration of operation that Fig. 3 provides for 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 unmanned boat cleaning systems with unmanned plane integration of operation, including unmanned plane 1, unmanned boat 2, company
Connection device 3, clearing apparatus waterborne 4 and processor 5, it is characterised in that the unmanned plane 1 includes camera device 6 and navigation
Device 7, the camera device 6 and guider 7 are connected with the processor 5, and the attachment means 3 are used to connect the nothing
Man-machine 1 is arranged on the front portion of unmanned boat 2 with the unmanned boat 2, the clearing apparatus 4 waterborne, and the unmanned boat 2 includes driving
Device 8, control device 9, positioner 10, supply unit 11 and velocity sensor 12, the drive device 8 are used to drive institute
Clearing apparatus 4 waterborne is stated, the processor 5 is connected and velocity sensor with drive device 8, control device 9, positioner 10
12 connections, the unmanned boat 2 also includes the first conveying pipeline 13, the second conveying pipeline 14, the first Material collecting box for harvesting 15, the second Material collecting box for harvesting 16,
Described one end of first conveying pipeline 13 is connected with the clearing apparatus 4 waterborne, and the other end is connected with first Material collecting box for harvesting 15, described
The one end of second conveying pipeline 14 is connected with the clearing apparatus 4 waterborne, and the other end is connected with second Material collecting box for harvesting 16, and described first
It is provided with conveying pipeline 13 on first electric control valve 17, second conveying pipeline 14 and is provided with the second electric control valve 18, described
One electric control valve 17 and second electric control valve 18 are connected with the control device 9, and unmanned plane 1 is by iron chains 19 with being connected
Device 3 is connected.The top of attachment means 3 is provided with shutdown plate 20, during 2 normal work of unmanned boat, and the unmanned plane 1, which enters, stops
Sleep mode, is dropped on the shutdown plate 20.The bottom of unmanned plane 1 is provided with vacuum chuck device 21, the vacuum cup
Device 21 is used to adsorb first Material collecting box for harvesting 15 and second Material collecting box for harvesting 16.The top of first Material collecting box for harvesting 15 is provided with
First laser rangefinder 22, the top of the second Material collecting box for harvesting 16 is provided with second laser rangefinder 23, the first laser ranging
Instrument 22 and the second laser rangefinder 23 are connected with the processor 5.First Material collecting box for harvesting 15 and second collection
The bottom of hopper 16 is provided with metal screen 26, the seawater that the metal screen 26 is used in filtering spam thing.Specifically, it is waterborne clear
Sweeping device 4 is arranged on the front portion of unmanned boat 2, processor 5, drive device 8, control device 9, positioner 10, supply unit 11, speed
Spend sensor 12, the first conveying pipeline 13, the second conveying pipeline 14, the first Material collecting box for harvesting 15 and the second Material collecting box for harvesting 16 and be all arranged on nobody
Inside ship 2, clearing apparatus 4 waterborne can on the water surface rubbish carry out cleaning storage, one end of first conveying pipeline 13 with
The side-lower connection of the clearing apparatus waterborne 4, the other end above the side of the first Material collecting box for harvesting 15 with connecting, second conveying
One end of pipe 14 is connected with the side-lower of the clearing apparatus 4 waterborne, and the other end is connected with the side of the second Material collecting box for harvesting 16 top,
The level height of the clearing apparatus waterborne 4 is higher than first Material collecting box for harvesting 15 and second Material collecting box for harvesting 16, described first
Conveying pipeline 13 and second conveying pipeline 14 tilt installation and in the horizontal direction keeping parallelism, close to the cleaning dress waterborne
The one end for putting 4 is higher than close to one end of first Material collecting box for harvesting 15 and second Material collecting box for harvesting 16；The right angle setting of attachment means 3
At the top of unmanned boat 2, the top of attachment means 3 is provided with shutdown plate 20.
The waters position setting unmanned plane 1 cleared up as needed and the course line of unmanned boat 2, the detection nothing of velocity sensor 12
The velocity amplitude of people's ship 2 simultaneously sends it to processor 5, processor 5 according to the velocity amplitude received to the output signal of unmanned plane 1,
Unmanned plane 1 is controlled to keep identical pace with unmanned boat 2；Unmanned plane 1 keeps flying in low latitude, and camera device 6 shoots week
Enclose the water surface scene in the range of 500 meters and send it to processor 5, processor 5 judges week according to the picture of taking photo by plane received
The water surface is enclosed with the presence or absence of rubbish, if there is rubbish, to unmanned plane 1 and the output signal of unmanned boat 2, controls the unmanned plane 1
And unmanned boat 2 sails to garbage areas, if in the absence of rubbish, the unmanned plane 1 and unmanned boat 2 continue according to prebriefed pattern
Traveling.
The unmanned plane 1 and unmanned boat 2 are arrived at after garbage areas, and drive device 8 drives clearing apparatus 4 waterborne to start work
Make, control device 9 controls the first electric control valve 17 to open, the clearing apparatus 4 waterborne is set to two manipulators in left and right, passes through
Two manipulators of driving, which swing back and forth, realizes storage work to floating on water surface rubbish, and the first electric control valve 17 is opened, the second electricity
Control valve 18 is closed, and rubbish flows to the first Material collecting box for harvesting 15 along the first conveying pipeline 13, and the top of the first Material collecting box for harvesting 15 is provided with
First laser rangefinder 22, the laser range finder measures the distance value of rubbish and the top of the first Material collecting box for harvesting 15 and sent out
Give and a safe distance value is preset in processor 5, processor 5, the safe distance value is necessary to ensure that rubbish and described first
Space is left at the top of Material collecting box for harvesting 15, and the distance value that processor 5 is received is tapered into, when the distance value is reduced to default safety
During distance value, processor 5 is simultaneously to control device 9 and the output signal of unmanned plane 1, and control device 9 controls the first electric control valve
17 are closed, and the second electric control valve 18 of control is opened, and rubbish flows to the second Material collecting box for harvesting 16 along the second conveying pipeline 14, and unmanned plane 1 will
First Material collecting box for harvesting 15 takes away discharging；The top of second Material collecting box for harvesting 16 is provided with second laser rangefinder 23, the laser
Stadia surveying rubbish and the distance value at the top of second Material collecting box for harvesting 16 simultaneously send it to processor 5, when processor 5 is received
To distance value be reduced to safe distance value when, processor 5 is simultaneously to control device 9 and the output signal of unmanned plane 1, control device
9 the second electric control valves 18 of control are closed, and the first electric control valve 17 of control is opened, and rubbish flows to the first collection along the first conveying pipeline 13
Hopper 15, the Material collecting box for harvesting 16 of the first Material collecting box for harvesting 15 and second realizes alternation, and first Material collecting box for harvesting 15 and second collects
The bottom of hopper 16 is provided with metal screen 26, the rubbish of storage can carry seawater or river enter first Material collecting box for harvesting 15 with
And second Material collecting box for harvesting 16, cause to bear a heavy burden excessive, metal screen 26 filters out this part seawater or river so that described first
The Material collecting box for harvesting 16 of Material collecting box for harvesting 15 and second can store more rubbish.
Embodiment two
As shown in figure 3, a kind of method of work of unmanned boat cleaning systems with unmanned plane integration of operation, it is characterised in that including
Following job step：
a）The first movement travel of setting unmanned plane 1 and unmanned boat 2；
b）The movement velocity of the detection unmanned boat 2 of velocity sensor 12 simultaneously sends it to processor 5, and processor 5 is defeated to unmanned plane 1
Go out signal, control unmanned plane 1 keeps same speed with unmanned boat 2；
c）First laser rangefinder 22 detects the distance of rubbish and the top of the first Material collecting box for harvesting 15 and sends it to processor 5；
d）If processor 5 judges to have been filled with finishing in the first Material collecting box for harvesting 15, to control device 9 and the output control of unmanned plane 1
Signal, control device 9 controls the first electric control valve 17 to close, while controlling the second electric control valve 18 to open；
e）Unmanned plane 1 is disconnected device 3, and adsorbent equipment adsorbs the first Material collecting box for harvesting 15, and unmanned plane 1 is by the first Material collecting box for harvesting 15 with extremely
The refuse depot nearest from current location carries out discharging, and the second Material collecting box for harvesting 16 starts to collect；
f）The coordinate of unmanned boat 2 is sent to processor 5 by positioner 10, and the navigation device 7 of processor 5 exports navigation signal,
Unmanned plane 1 returns to the position of unmanned boat 2 according to navigation signal.
Step b）Also include：
The picture that will take photo by plane of camera device 6 sends processor 5 to, and processor 5 judges whether the front of unmanned boat 2 has ship or reef,
Signal is avoided to the output of unmanned boat 2 if having, unmanned boat 2 gets around barrier when receiving signal.
Specifically, the camera device 6 that unmanned plane 1 is carried is 360 ° of cameras, can understand and shoot 500 around unmanned boat 2
Picture and the processor 5 that transmits it in real time in the range of rice, preset the first safety value and the second safety in processor 5
Value, first safety value is more than second safety value, for example, setting the first safety value to be 300 meters, sets the second safety value
For 100 meters；If processor 5 is judged to have rubbish in the picture received, to unmanned plane 1 and the output signal of unmanned boat 2,
The unmanned plane 1 and unmanned boat 2 is controlled to be sailed to garbage areas；If judge to have ship, unmanned boat 2 and ship are calculated
Distance, when the distance be less than first safety value when, processor 5 exports standby letter to unmanned plane 1 and unmanned boat 2
Number, the unmanned plane 1 and unmanned boat 2 are stayed where one is, pending further orders, if ship is not sailed out of, when distance is less than the second safety value, processing
Device 5 hides signal to unmanned plane 1 and the output of unmanned boat 2, and the unmanned plane 1 and unmanned boat 2 sail to both sides；If judging
During someone, then the distance of unmanned boat 2 and people are calculated, when the distance is less than second safety value, processor 5 is to unmanned plane
1 and unmanned boat 2 output hide signal, the unmanned plane 1 and unmanned boat 2 sail to both sides.
Embodiment three
As shown in Figure 1, Figure 3, the bottom of unmanned plane 1 is provided with vacuum chuck device 21, and the vacuum chuck device 21 is used for
Adsorb first Material collecting box for harvesting 15 and second Material collecting box for harvesting 16.The bottom of first Material collecting box for harvesting 15 is provided with first and automatically controlled opened
24 are closed, the bottom of the second Material collecting box for harvesting 16 is provided with the second electric-controlled switch 25, first electric-controlled switch 24 and described second
Electric-controlled switch 25 is connected with the control device 9.Step e）Also include：Local all rubbish are marked in guider 7 in advance
The position coordinates of unmanned boat 2 is sent to processor 5 by the position at rubbish station, positioner 10, processor 5 judge to receive nobody
The distance between the coordinate of ship 2 and rubbish station coordinates, a closest refuse depot are selected in guider 7 to come, nothing
Man-machine 1 flies to the refuse depot according to navigation.
Specifically, when the distance value of rubbish and the top of the first Material collecting box for harvesting 15 is reduced to default safe distance value, processor 5
Simultaneously to control device 9 and the output signal of unmanned plane 1, control device 9 controls the first electric control valve 17 to close, the electricity of control second
Control valve 18 is opened, and rubbish flows to the second Material collecting box for harvesting 16 along the second conveying pipeline 14, and unmanned plane 1 is by the band of the first Material collecting box for harvesting 15
From discharging, further, unmanned plane 1 is disconnected with iron chains 19, and the first Material collecting box for harvesting 15 is disconnected with the first conveying pipeline 13, nothing
Man-machine 1 flies to the first Material collecting box for harvesting 15, and vacuum chuck device 21 adsorbs first Material collecting box for harvesting 15；By the position of local all refuse depots
Put and marked in guider 7, the processing that positioner 10 sends unmanned plane 1 and the position coordinate of unmanned boat 2
Device 5, processor 5 imports the coordinate in guider 7, and the coordinate of unmanned boat 2 is compared with rubbish station coordinates, calculated
The distance between unmanned boat 2 and each refuse depot, a closest refuse depot are picked out in guider 7, nothing
Man-machine 1 flies to nearest refuse depot discharging according to navigation, if the not enough power supply of unmanned plane 1 is to fly to nearest refuse depot, processor 5
According to the dustbin on picture and selecting bank of taking photo by plane, control unmanned plane 1 flies to the dustbin to carry out discharging, during discharging, processor 5
Control the first electric-controlled switch 24 to open to dump rubbish.
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 (9)
1. a kind of and unmanned plane integration of operation unmanned boat cleaning systems, including unmanned plane（1）, unmanned boat（2）, attachment means
（3）, clearing apparatus waterborne（4）And processor（5）, it is characterised in that the unmanned plane（1）Including camera device（6）And
Guider（7）, the camera device（6）And guider（7）With the processor（5）Connection, the attachment means（3）
For connecting the unmanned plane（1）With the unmanned boat（2）, the clearing apparatus waterborne（4）It is arranged on the unmanned boat（2）Before
Portion, the unmanned boat（2）Including drive device（8）, control device（9）, positioner（10）, supply unit（11）And speed
Sensor（12）, the drive device（8）For driving the clearing apparatus waterborne（4）, the processor（5）With drive device
（8）, control device（9）, positioner（10）Connection and velocity sensor（12）Connection, the unmanned boat（2）Also include the
One conveying pipeline（13）, the second conveying pipeline（14）, the first Material collecting box for harvesting（15）, the second Material collecting box for harvesting（16）, first conveying pipeline（13）
One end and the clearing apparatus waterborne（4）Connection, the other end and first Material collecting box for harvesting（15）Connection, second conveying pipeline
（14）One end and the clearing apparatus waterborne（4）Connection, the other end and second Material collecting box for harvesting（16）Connection, first conveying
Pipe（13）On be provided with the first electric control valve（17）, second conveying pipeline（14）On be provided with the second electric control valve（18）, institute
State the first electric control valve（17）And second electric control valve（18）With the control device（9）Connection, unmanned plane（1）Pass through
Iron chains（19）With attachment means（3）Connection.
2. a kind of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 1, it is characterised in that：It is described
Attachment means（3）Top is provided with shutdown plate（20）, unmanned boat（2）During normal work, the unmanned plane（1）Into dormancy mould
Formula, drops to the shutdown plate（20）On.
3. a kind of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 1, it is characterised in that：It is described
Unmanned plane（1）Bottom is provided with vacuum chuck device（21）, the vacuum chuck device（21）Gather materials for adsorbing described first
Case（15）And second Material collecting box for harvesting（16）.
4. a kind of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 1, it is characterised in that：It is described
First Material collecting box for harvesting（15）Top is provided with first laser rangefinder（22）, second Material collecting box for harvesting（16）Top is provided with second and swashed
Optar（23）, the first laser rangefinder（22）And the second laser rangefinder（23）With the processor（5）
Connection.
5. a kind of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 1, it is characterised in that：It is described
First Material collecting box for harvesting（15）Bottom is provided with the first electric-controlled switch（24）, second Material collecting box for harvesting（16）It is automatically controlled that bottom is provided with second
Switch（25）, first electric-controlled switch（24）And second electric-controlled switch（25）With the control device（9）Connection.
6. a kind of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 1, it is characterised in that：It is described
First Material collecting box for harvesting（15）And second Material collecting box for harvesting（16）Bottom is provided with metal screen（26）, the metal screen（26）With
Seawater in filtering spam thing.
7. a kind of work side of the unmanned boat cleaning systems of the and unmanned plane integration of operation according to claim any one of 1-6
Method, it is characterised in that including following job step：
a）First set unmanned plane（1）And unmanned boat（2）Movement travel；
b）Velocity sensor（12）Detect unmanned boat（2）Movement velocity and send it to processor（5）, processor（5）To
Unmanned plane（1）Output signal, controls unmanned plane（1）With unmanned boat（2）Keep same speed；
c）First laser rangefinder（22）Detect rubbish and the first Material collecting box for harvesting（15）The distance at top simultaneously sends it to processor
（5）；
d）If processor（5）Judge the first Material collecting box for harvesting（15）Inside have been filled with finishing, then to control device（9）And unmanned plane（1）
Output control signal, control device（9）Control the first electric control valve（17）Close, while controlling the second electric control valve（18）Open
Open；
e）Unmanned plane（1）It is disconnected device（3）, adsorbent equipment the first Material collecting box for harvesting of absorption（15）, unmanned plane（1）First is gathered materials
Case（15）Band to the refuse depot nearest from current location carries out discharging, the second Material collecting box for harvesting（16）Start to collect；f）Positioner
（10）By unmanned boat（2）Coordinate be sent to processor（5）, processor（5）Navigation device（7）Navigation signal is exported, nobody
Machine（1）Unmanned boat is returned to according to navigation signal（2）Position.
8. a kind of method of work of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 7, it is special
Levy and be, step b）Also include：
Camera device（6）The picture that will take photo by plane sends processor to（5）, processor（5）Judge unmanned boat（2）Front whether have ship or
Person's reef, to unmanned boat if having（2）Output avoids signal, unmanned boat（2）Barrier is got around when receiving signal.
9. a kind of method of work of unmanned boat cleaning systems with unmanned plane integration of operation according to claim 7, it is special
Levy and be, step e）Also include：
In advance in guider（7）In mark the positions of local all refuse depots, positioner（10）By unmanned boat（2）Position
Put coordinate and be sent to processor（5）, processor（5）Judge the unmanned boat received（2）Between coordinate and rubbish station coordinates away from
From by a closest refuse depot in guider（7）In select come, unmanned plane（1）The rubbish is flown to according to navigation
Rubbish station.
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| CN201710356869.3A CN107097910B (en) | 2017-05-19 | 2017-05-19 | A kind of unmanned boat cleaning systems and its working method with unmanned plane integration of operation |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727081A (en) * | 2017-09-28 | 2018-02-23 | 成都万江港利科技股份有限公司 | A kind of intelligence based on He Hu storehouses ditch patrols river system system |
| CN108166467A (en) * | 2018-01-17 | 2018-06-15 | 苏州亮磊知识产权运营有限公司 | A kind of water plant with unmanned boat integration of operation removes equipment and its method of work |
| CN108275246A (en) * | 2018-03-12 | 2018-07-13 | 南昌简净智能科技有限公司 | Automatically it searches for and handles the unmanned boat of garbage on water and unmanned boat system |
| CN108455131A (en) * | 2018-04-03 | 2018-08-28 | 赵诺 | A kind of municipal refuse bucket intelligent management system |
| CN108755520A (en) * | 2018-06-13 | 2018-11-06 | 苏州若依玫信息技术有限公司 | A kind of automation mountain rank cleaning equipment and its system |
| CN109050811A (en) * | 2018-08-30 | 2018-12-21 | 深圳市研本品牌设计有限公司 | It is a kind of for clearing up the unmanned plane and storage medium of rubbish |
| CN110244763A (en) * | 2019-06-21 | 2019-09-17 | 浙江海洋大学 | The remote supervision system and monitoring method of seawater contamination |
| CN110539856A (en) * | 2019-08-29 | 2019-12-06 | 西安图唯谷创新科技有限公司 | Water surface garbage cleaning ship |
| CN111576369A (en) * | 2020-05-26 | 2020-08-25 | 李和平 | Cleaning device is dragged for to water surface filth |
| CN112215131A (en) * | 2020-10-10 | 2021-01-12 | 李睿宸 | Automatic garbage picking system and manual operation and automatic picking method thereof |
| CN113443087A (en) * | 2021-07-23 | 2021-09-28 | 广州小鲇智能科技有限公司 | Unmanned aerial vehicle and unmanned ship lake surface rubbish cleaning device in coordination |
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| CN107727081A (en) * | 2017-09-28 | 2018-02-23 | 成都万江港利科技股份有限公司 | A kind of intelligence based on He Hu storehouses ditch patrols river system system |
| CN108166467A (en) * | 2018-01-17 | 2018-06-15 | 苏州亮磊知识产权运营有限公司 | A kind of water plant with unmanned boat integration of operation removes equipment and its method of work |
| CN108275246A (en) * | 2018-03-12 | 2018-07-13 | 南昌简净智能科技有限公司 | Automatically it searches for and handles the unmanned boat of garbage on water and unmanned boat system |
| CN108455131A (en) * | 2018-04-03 | 2018-08-28 | 赵诺 | A kind of municipal refuse bucket intelligent management system |
| CN108755520A (en) * | 2018-06-13 | 2018-11-06 | 苏州若依玫信息技术有限公司 | A kind of automation mountain rank cleaning equipment and its system |
| CN109050811A (en) * | 2018-08-30 | 2018-12-21 | 深圳市研本品牌设计有限公司 | It is a kind of for clearing up the unmanned plane and storage medium of rubbish |
| CN110244763A (en) * | 2019-06-21 | 2019-09-17 | 浙江海洋大学 | The remote supervision system and monitoring method of seawater contamination |
| CN110244763B (en) * | 2019-06-21 | 2021-11-02 | 浙江海洋大学 | Remote monitoring system and monitoring method for seawater pollutants |
| CN110539856A (en) * | 2019-08-29 | 2019-12-06 | 西安图唯谷创新科技有限公司 | Water surface garbage cleaning ship |
| CN111576369A (en) * | 2020-05-26 | 2020-08-25 | 李和平 | Cleaning device is dragged for to water surface filth |
| CN112215131A (en) * | 2020-10-10 | 2021-01-12 | 李睿宸 | Automatic garbage picking system and manual operation and automatic picking method thereof |
| CN113443087A (en) * | 2021-07-23 | 2021-09-28 | 广州小鲇智能科技有限公司 | Unmanned aerial vehicle and unmanned ship lake surface rubbish cleaning device in coordination |
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