CN107100124A - The Intelligent road purging system and control method of lifting drive are provided using unmanned plane - Google Patents

The Intelligent road purging system and control method of lifting drive are provided using unmanned plane Download PDF

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Publication number
CN107100124A
CN107100124A CN201710302500.4A CN201710302500A CN107100124A CN 107100124 A CN107100124 A CN 107100124A CN 201710302500 A CN201710302500 A CN 201710302500A CN 107100124 A CN107100124 A CN 107100124A
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CN
China
Prior art keywords
road
unmanned plane
cleaning mechanism
processor
cleaning
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Granted
Application number
CN201710302500.4A
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Chinese (zh)
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CN107100124B (en
Inventor
韩斌
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Henan Yizhan Technology Co ltd
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Suzhou Liang Lei Intellectual Property Operation Co Ltd
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Priority to CN201710302500.4A priority Critical patent/CN107100124B/en
Publication of CN107100124A publication Critical patent/CN107100124A/en
Application granted granted Critical
Publication of CN107100124B publication Critical patent/CN107100124B/en
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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01HSTREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E01H1/0827Dislodging 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • B64C39/024Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20Rotors; Rotor supports
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00UAVs characterised by their flight controls
    • B64U2201/20Remote controls

Abstract

A kind of utilization unmanned plane provides the Intelligent road purging system of lifting drive, including unmanned plane, stretching device, road-cleaning mechanism, drive device and roller;Unmanned plane is connected by iron chains with stretching device, and unmanned plane is provided with wireless device and some cameras, and the wireless device is connected with some cameras;The road-cleaning mechanism is connected with stretching device;The roller is connected with road-cleaning mechanism, the drive device is connected with the roller, for driving road-cleaning mechanism to walk, the road-cleaning mechanism includes body, collecting bin, discharge port, clearing apparatus, loudspeaker, dust exhaust apparatus, radar sensor, velocity sensor, infrared sensor, positioner and processor;The processor is connected with wireless device, clearing apparatus, loudspeaker, dust exhaust apparatus, radar sensor, velocity sensor and infrared sensor respectively;The rubbish on road can be effectively cleaned using the combination of road-cleaning mechanism and unmanned plane.

Description

The Intelligent road purging system and control method of lifting drive are provided using unmanned plane
Technical field
The present invention relates to unmanned plane field, the Intelligent road that more particularly to a kind of utilization unmanned plane provides lifting drive is cleaned System and its control method.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself The not manned aircraft that presetting apparatus is manipulated.It can be divided into from technical standpoint definition:Unmanned fixed-wing aircraft, unmanned VTOL Machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.The people With aspect, unmanned plane+sector application is that unmanned plane has really just been needed;At present taking photo by plane, agricultural, plant protection, miniature auto heterodyne, express delivery Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, system The application in romance etc. field is made, the purposes of unmanned plane in itself has greatly been expanded, developed country also answers in actively extension industry With with developing unmanned air vehicle technique.
So have various unmanned planes on the market, it is few to be applied to road-cleaning field, how by unmanned plane with Road-cleaning combines, so as to reduce substantial amounts of manpower and materials.
The content of the invention
Goal of the invention:In order to overcome the shortcoming in background technology, carried the embodiments of the invention provide one kind using unmanned plane For the Intelligent road purging system and its control method of lifting drive, it can effectively solve the problem that what is be related in above-mentioned background technology asks Topic.
Technical scheme:A kind of utilization unmanned plane provides the Intelligent road purging system of lifting drive, including unmanned plane, drawing Stretch device, road-cleaning mechanism, drive device and roller;The unmanned plane is connected by iron chains with stretching device, the nothing Man-machine setting has wireless device and some cameras, and the wireless device is connected with some cameras;The road cleaner Structure is connected with stretching device;The roller is connected with road-cleaning mechanism, and the drive device is connected with the roller, for driving Dynamic road-cleaning mechanism walking;
The road-cleaning mechanism includes body, collecting bin, discharge port, clearing apparatus, loudspeaker, dust exhaust apparatus, velocity pick-up Device, infrared sensor, positioner and processor;The collecting bin is arranged at body interior, the rubbish for storing inspiration, The collecting bin is provided with rubbish detection means, for detecting rubbish quantity in collecting bin;The discharge port is located at this body side surface Lower position, for the rubbish in collecting bin to be drawn off;The clearing apparatus is respectively arranged at body side-lower, for cleaning ground Face rubbish;The loudspeaker is arranged at body centre position, is warned for sending alarming sound;The dust exhaust apparatus is arranged at Centre position below body, for drawing ground refuse;The velocity sensor is arranged above body, for detecting the road Road cleaning agency speed;The infrared sensor is arranged at body side centre position, for detecting whether front has live body;Institute State positioner to set and body top position, for positioning road-cleaning mechanism current location;The processor respectively with nothing Line apparatus, clearing apparatus, loudspeaker, dust exhaust apparatus, velocity sensor, infrared sensor and positioner connection.
As a kind of preferred embodiment of the present invention, the stretching device is hydraulic stem, and the road-cleaning mechanism also includes: Hydraulic pump, the hydraulic pump is arranged at road-cleaning mechanism body interior top position, the hydraulic pump respectively with hydraulic stem with And processor connection, for driving hydraulic stem to stretch.
As a kind of preferred embodiment of the present invention, in addition to:Shut down plate, the shutdown plate be arranged above hydraulic stem and with Hydraulic stem is connected, for parking unmanned plane.
As a kind of preferred embodiment of the present invention, in addition to:Guider, the guider is connected with processor, is used In the sweep-out pattern and its refuse depot distributing position that set the Intelligent road cleaning agency.
A kind of utilization unmanned plane provides the control method of the Intelligent road purging system of lifting drive, comprises the following steps:
In road-cleaning mechanism startup optimization, the route that the road-cleaning mechanism is pre-set according to guider is carried out Road-cleaning;
Speed detector in road-cleaning mechanism detects present speed and is transmitted to processor;
The processor carries out speed identical with road-cleaning mechanism using wireless device control unmanned plane after receiving and flown;
Its Stop message is transferred to processor if speed detector detects the road-cleaning mechanism stopping;
The processor hovers over road-cleaning mechanism overhead after receiving using wireless device control unmanned plane;
Vehicle information is utilized into wireless device if the camera on unmanned plane is absorbed to the motor vehicle in the first preset range Processor is transferred to, whether the processor analysis motor vehicle is close to itself;
If then controlling unmanned plane to hide motor vehicle with clearing apparatus rising progress and taken the photograph using camera using wireless device Take motor vehicle whether remote;
Declined if camera intake to motor vehicle away from if using wireless device control unmanned plane with road-cleaning mechanism.
As a kind of preferred embodiment of the present invention, when control unmanned plane rises with road-cleaning mechanism, the step is also Including:
The processor sends drive command to hydraulic pump;
Start driving hydraulic stem if the hydraulic pump receives the drive command of processor transmission to shrink.
As a kind of preferred embodiment of the present invention, the road-cleaning mechanism carries out road according to the route pre-set It is further comprising the steps of during cleaning:
Pedestrian information is transferred to processor, the processor if infrared sensor detects and has pedestrian in the second preset range Analysis cleans whether road mechanism can collide pedestrian;
If can if control the loudspeaker in road-cleaning mechanism to send default decibel alarm song it is warned.
As a kind of preferred embodiment of the present invention, the road-cleaning mechanism carries out road according to the route pre-set It is further comprising the steps of during cleaning:
Detected if the rubbish detection means in collecting bin if collecting bin rubbish reaches predeterminated position and described information is transferred to place Manage device;
The processor receives using wireless device control unmanned plane to rise after described information to be risen with road-cleaning mechanism And control positioner to position current location information;
The unmanned plane flies the rubbish in collecting bin to the refuse depot nearest from current location information with road-cleaning mechanism Rubbish is down to refuse depot;
The unmanned plane is with road-cleaning mechanism restoring to normal position information position after rubbish in by collecting bin is down to refuse depot Continue to clean road.
As a kind of preferred embodiment of the present invention, the road-cleaning mechanism carries out road according to the route pre-set It is further comprising the steps of during cleaning:
If on unmanned plane camera intake in the 3rd preset range without motor vehicle if will be wireless without motor vehicle Information Pull Device is transferred to processor;
The processor stops to enter park mode to shutdown plate after receiving using wireless device control unmanned plane.
As a kind of preferred embodiment of the present invention, the road-cleaning mechanism carries out road according to the route pre-set It is further comprising the steps of during cleaning:
The walking for controlling the road cleaning device is connected with the wireless device in the road-cleaning mechanism using external equipment Direction and the speed of travel;
The walking for controlling the road cleaning device is connected with the wireless device in the road-cleaning mechanism using external equipment Route.
The present invention realizes following beneficial effect:In road-cleaning mechanism startup optimization, the road-cleaning mechanism according to The route that guider is pre-set carries out the speed detector detection present speed in road-cleaning, road-cleaning mechanism And processor is transmitted to, the processor is carried out and road-cleaning mechanism after receiving using wireless device control unmanned plane Identical speed flight, processing is transferred to if speed detector detects the road-cleaning mechanism stopping by its Stop message Device, the processor hovers over road-cleaning mechanism overhead after receiving using wireless device control unmanned plane, if on unmanned plane Camera intake to the motor vehicle in the first preset range then by vehicle information using wireless device transmissions to processor, institute Processor analysis motor vehicle is stated whether to itself sailing, if then rising using wireless device control unmanned plane with clearing apparatus Whether progress is hidden motor vehicle and is crossed using camera intake motor vehicle, and nothing is utilized if camera intake is crossed to motor vehicle Line apparatus controls unmanned plane to decline with road-cleaning mechanism;Find there is motor vehicle to sail when road cleaning agency is in road-cleaning Cross to avoid in time.
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.
The schematic diagram for the Intelligent road purging system that Fig. 1 provides for one of example of the invention;
The side schematic view for the Intelligent road purging system that Fig. 2 provides for one of example of the invention;
The flow chart of the control method for the Intelligent road purging system that Fig. 3 provides for one of example of the invention;
The flow chart of the hydraulic pressure pump startup for the Intelligent road purging system that Fig. 4 provides for one of example of the invention;
The flow chart of the detection pedestrian's method for the Intelligent road purging system that Fig. 5 provides for one of example of the invention;
The full flow chart of the collecting bin of the Intelligent road purging system that Fig. 6 provides for one of example of the invention;
The flow chart of the unmanned plane dormancy for the Intelligent road purging system that Fig. 7 provides for one of example of the invention;
The flow chart of the state of a control for the Intelligent road purging system that Fig. 8 provides for one of example of the invention;
The electronic device connection figure for the Intelligent road purging system that Fig. 9 provides for one of example of the 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
With reference to Fig. 1-2, shown in Fig. 9, the schematic diagram for the Intelligent road purging system that Fig. 1 provides for one of example of the invention;
The side schematic view for the Intelligent road purging system that Fig. 2 provides for one of example of the invention;Fig. 9 for the present invention wherein The electronic device connection figure for the Intelligent road purging system that one example is provided.
Specifically, the present embodiment provides the Intelligent road purging system that a kind of utilization unmanned plane provides lifting drive, including Unmanned plane 1, stretching device 2, road-cleaning mechanism 3, drive device 4 and roller 5;The unmanned plane 1 passes through iron chains and stretching Device 2 is connected, and the unmanned plane 1 is provided with wireless device 11 and some cameras 12, and the wireless device 11 is taken the photograph with some As first 12 connections;The road-cleaning mechanism 3 is connected with stretching device 2;The roller 5 is connected with road-cleaning mechanism 3, described Drive device 4 is connected with the roller 5, for driving road-cleaning mechanism 3 to walk, the road-cleaning mechanism 3 include body, It is collecting bin 31, discharge port 32, clearing apparatus 33, loudspeaker 34, dust exhaust apparatus 35, velocity sensor 36, infrared sensor 37, fixed Position device 38 and processor 39;The collecting bin 31 is arranged at body interior, the rubbish for storing inspiration, the collecting bin 31 are provided with rubbish detection means 311, for detecting rubbish quantity in collecting bin 31;The discharge port 32 is located under this body side surface Orientation is put, for the rubbish in collecting bin 31 to be drawn off;The clearing apparatus 33 is respectively arranged at body side-lower, for cleaning Ground refuse;The loudspeaker 34 is arranged at body centre position, is warned for sending alarming sound;The dust exhaust apparatus 35 Centre position below body is arranged at, for drawing ground refuse;The velocity sensor 36 is arranged above body, for examining Survey the speed of road-cleaning mechanism 3;The infrared sensor 37 is arranged at body side centre position, is for detection front It is no to have live body;The positioner 38 is set and body top position, for positioning the current location of road-cleaning mechanism 3;It is described Processor 39 respectively with wireless device 11, clearing apparatus 33, loudspeaker 34, dust exhaust apparatus 35, velocity sensor 36, infrared sensing Device 37 and positioner 38 are connected.
Specifically, some cameras 12 on the unmanned plane 1 can absorb the environmental images in the range of 360 °;The rolling Wheel 5 is located at the lower section of road cleaning device 33;When the infrared sensor 37 can detect that road-cleaning mechanism 3 carries out road-cleaning The pedestrian of direction of advance.
As a kind of preferred embodiment of the present invention, the stretching device 2 is hydraulic stem 13, and the road-cleaning mechanism 3 is also Including:Hydraulic pump 40, the hydraulic pump 40 is arranged at the body interior top position of road-cleaning mechanism 3,40 points of the hydraulic pump It is not connected with hydraulic stem 13 and processor 39, for driving hydraulic stem 13 to stretch.
As a kind of preferred embodiment of the present invention, in addition to:Plate 14 is shut down, the shutdown plate 14 is arranged on hydraulic stem 13 Fang Bingyu hydraulic stems 13 are connected, for parking unmanned plane 1.
As a kind of preferred embodiment of the present invention, in addition to:Guider 41, the guider 41 connects with processor 39 Connect, sweep-out pattern and its refuse depot distributing position for setting the Intelligent road cleaning agency 3.
Specifically, the driving of hydraulic pump 40 hydraulic stem 13 is flexible upwards can to accelerate unmanned plane 1 with road cleaner The rate of climb of structure 3;The plate 14 of shutting down is used to park the unmanned plane 1 into park mode;Specific guider 41 is stored There are the route map of current city and the distributing position information of current city refuse depot.
Embodiment two
With reference to shown in Fig. 1-3, Fig. 9, the control method for the Intelligent road purging system that Fig. 3 provides for one of example of the invention Flow chart.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, and one kind is utilized Unmanned plane provides the control method of the Intelligent road purging system of lifting drive, comprises the following steps:
S1, in 3 startup optimization of road-cleaning mechanism, what the road-cleaning mechanism 3 was pre-set according to guider 41 Route carries out road-cleaning;
Speed detector in S2, road-cleaning mechanism 3 detects present speed and is transmitted to processor 39;
S3, the processor 39 are carried out mutually synchronized with road-cleaning mechanism 3 using the control unmanned plane 1 of wireless device 11 after receiving Degree flight;
S4, detected if speed detector if the road-cleaning mechanism 3 stops its Stop message is transferred to processor 39;
S5, the processor 39 hover over the overhead of road-cleaning mechanism 3 after receiving using the control unmanned plane 1 of wireless device 11;
S6, if the camera 12 on unmanned plane 1 is absorbed to the motor vehicle in the first preset range by vehicle information utilize nothing Line apparatus 11 is transferred to processor 39, and whether the analysis of processor 39 motor vehicle is close to itself;
If S7, then controlling unmanned plane 1 to rise progress with clearing apparatus 33 using wireless device 11 to hide motor vehicle and utilize Whether the intake motor vehicle of camera 12 is remote;
S8, if camera 12 intake to motor vehicle away from if using wireless device 11 control unmanned plane 1 with road-cleaning mechanism 3 Decline.
Wherein, the predetermined paths are the road of user's selection in the current city route map being stored in guider 41 Line;It is that unmanned plane 1 keeps same with road-cleaning mechanism 3 that the unmanned plane 1, which is carried out with road-cleaning mechanism 3 identical speed flight, Speed is simultaneously flown directly over road-cleaning mechanism 3;The detection road-cleaning mechanism 3 stops as speed detector detection It is 0 to the present speed of road-cleaning mechanism 3;First preset range is preferably 1km in 0-5KM, the present embodiment;Institute State analysis motor vehicle whether include to itself sailing motor vehicle to itself and itself to motor vehicle;Whether the motor vehicle crosses It is motor vehicle away from itself current location.
Specifically, when road cleaning agency 3 brings into operation, the road-cleaning mechanism 3 in guider 41 according to using The route that the route of family selection is good carries out road-cleaning, while the current speed of speed detector detection in road-cleaning mechanism 3 Spend and be transmitted to processor 39, the processor 39 controls unmanned plane 1 and road after receiving using wireless device 11 Cleaning agency 3 keeps same speed and flown directly over road-cleaning mechanism 3, if speed detector detects the road The present speed of road cleaning agency 3 is 0 and its Stop message is transferred into processor 39, and the processor 39 is utilized after receiving The control unmanned plane 1 of wireless device 11 hovers over the positive overhead of road-cleaning mechanism 3, if some cameras 12 on unmanned plane 1 are taken the photograph Get the motor vehicle in the range of 1km and the Information Pull wireless device 11 of motor vehicle is then transferred to processor 39, the processor 39 analysis motor vehicles it is whether close to itself, if to itself it is close if using wireless device 11 control unmanned plane 1 with clean dress Put 33 risings advance and hide motor vehicle and whether remote using some cameras 12 intake motor vehicle, if some cameras 12 Absorb motor vehicle away from then using wireless device 11 control unmanned plane 1 with road-cleaning mechanism 3 drop to road surface continue into The cleaning works of trade road.
Embodiment three
With reference to Fig. 1-2, Fig. 4, shown in Fig. 9, the hydraulic pressure for the Intelligent road purging system that Fig. 4 provides for one of example of the invention The flow chart of pump startup.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, controls nobody When machine rises with road-cleaning mechanism 3, the step also includes:
S71, the processor 39 send drive command to hydraulic pump 40;
S72, if the hydraulic pump 40 receive processor 39 transmission drive command if start driving hydraulic stem 13 shrink.
Specifically, when being risen using the control unmanned plane 1 of wireless device 11 with road-cleaning mechanism 3, the processor 39 send drive command to hydraulic pump 40, and the drive command that the hydraulic pump 40 receives the transmission of processor 39 starts to drive hydraulic pressure Bar 13 is shunk, and accelerates unmanned plane 1 with the rate of climb of road-cleaning mechanism 3, motor vehicle is hidden in quickening.
Example IV
With reference to Fig. 1-2, Fig. 5, shown in Fig. 9, the detection for the Intelligent road purging system that Fig. 5 provides for one of example of the invention The flow chart of pedestrian's method.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, the road It is further comprising the steps of when cleaning agency 3 carries out road-cleaning according to the route pre-set:
S11, if infrared sensor 37 detects and has pedestrian in the second preset range pedestrian information is transferred to processor 39, institute State the analysis of processor 39 and clean whether road mechanism can collide pedestrian;
S12, if can if control the loudspeaker 34 in road-cleaning mechanism 3 to send default decibel alarm song it is warned.
Wherein, second preset range is 0-100 meters, in the present embodiment preferably 10 meters;The default decibel is 0-80 decibels, in the present embodiment preferably 40 decibels.
Specifically, the good route of the route of user's selection is carried out in the road-cleaning mechanism 3 is according to guider 41 During road-cleaning, by the information of pedestrian if the infrared sensor 37 in cleaning road mechanism detects and has pedestrian in the range of 10 meters Be transferred to processor 39, the analysis of processor 39 cleans whether road mechanism can collide pedestrian, if can if control road clear Sweep the loudspeaker 34 in mechanism 3 and send 40 decibels of alarm song and pedestrian is warned, prevent pedestrian from playing mobile phone when on foot and not having Notice road-cleaning mechanism 3 and knock.
Embodiment five
With reference to Fig. 1-2, Fig. 6, shown in Fig. 9, Intelligent road purging system that Fig. 6 provides for one of example of the invention gathers materials The full flow chart in storehouse.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, the road It is further comprising the steps of when cleaning agency 3 carries out road-cleaning according to the route pre-set:
S13, detect the letter if the rubbish of collecting bin 31 reaches predeterminated position if the rubbish detection means 311 in collecting bin 31 Breath is transferred to processor 39;
S14, the processor 39, which are received, utilizes the control unmanned plane 1 of wireless device 11 to rise with road-cleaning after described information Mechanism 3 rises and controls positioner 38 to position current location information;
S15, the unmanned plane 1 are with the flight of road-cleaning mechanism 3 to the refuse depot nearest from current location information by collecting bin Rubbish in 31 is down to refuse depot;
The unmanned plane 1 is with the restoring to normal position of road-cleaning mechanism 3 after S16, the rubbish in by collecting bin 31 are down to refuse depot Continue to clean road in information position.
Wherein, the predeterminated position reaches the top of collecting bin 31 for the quantity of rubbish;The current location information is nearest Refuse depot sets road intraline distance oneself distance most short refuse depot to be spread centered on current positioning position information to surrounding.
Specifically, the good route of the route of user's selection is carried out in the road-cleaning mechanism 3 is according to guider 41 During road-cleaning, if the rubbish quantity that the rubbish detection means 311 in collecting bin 31 is detected in collecting bin 31 reaches collecting bin 31 tip positions, illustrate in collecting bin 31 that rubbish is full, and the information transfer for then having expired rubbish is to processor 39, processor 39 Risen after receiving using the control unmanned plane 1 of wireless device 11 with road-cleaning mechanism 3 and control positioner 38 to position Current position value information, the unmanned plane 1 starts to fly to centered on current positioning position information with road-cleaning mechanism 3 Spread to surrounding and road intraline distance oneself distance most short refuse depot is set, then by discharge port 32 by the rubbish in collecting bin 31 Rubbish is down to refuse depot, and the unmanned plane 1 continues with the position of the prelocalization of the return of road-cleaning mechanism 3 after rubbish is finished down Start to clean road work.
Embodiment six
With reference to Fig. 1-2, Fig. 7, shown in Fig. 9, the Intelligent road purging system that Fig. 7 provides for one of example of the invention nobody The flow chart of machine dormancy.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, the road It is further comprising the steps of when cleaning agency 3 carries out road-cleaning according to the route pre-set:
S17, if the camera 12 on unmanned plane 1 absorb into the 3rd preset range without motor vehicle if will without vehicle information profit Processor 39 is transferred to wireless device 11;
S18, the processor 39 stop to enter dormancy to shutdown plate 14 after receiving using the control unmanned plane 1 of wireless device 11 Pattern.
Wherein, the 3rd preset range is 0-10km, in the present embodiment preferably 2km.
Specifically, the good route of the route of user's selection is carried out in the road-cleaning mechanism 3 is according to guider 41 During road-cleaning, if the camera 12 on unmanned plane 1 absorb there is no motor vehicle in the range of 2km if by the information without motor vehicle Processor 39 is transferred to using wireless device 11, the processor 39 controls unmanned plane 1 after receiving using wireless device 11 Stop to shutting down into park mode on plate 14, save electric power.
Embodiment seven
With reference to Fig. 1-2, shown in Fig. 8-9, the control shape for the Intelligent road purging system that Fig. 8 provides for one of example of the invention The flow chart of state.
Specifically, the present embodiment and embodiment two are substantially consistent, difference part is, in the present embodiment, the road It is further comprising the steps of when cleaning agency 3 carries out road-cleaning according to the route pre-set:
S19, the control road cleaning device is connected with the wireless device 11 in the road-cleaning mechanism 3 using external equipment 33 direction of travel and the speed of travel;
S20, the control road cleaning device is connected with the wireless device 11 in the road-cleaning mechanism 3 using external equipment 33 track route.
Specifically, user can by using the wireless device 11 in external equipment and the road-cleaning mechanism 3 company The control direction of travel of road-cleaning mechanism 3 and the speed of travel are fetched, and can also be by using external equipment and institute The connection of the wireless device 11 in road-cleaning mechanism 3 is stated to change the track route scope of the road-cleaning mechanism 3.
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 of utilization unmanned plane offer lifting drive, including unmanned plane, stretching device, road are clear Sweep mechanism, drive device and roller;The unmanned plane is connected by iron chains with stretching device, and the unmanned plane is provided with wirelessly Device and some cameras, the wireless device are connected with some cameras;The road-cleaning mechanism connects with stretching device Connect;The roller is connected with road-cleaning mechanism, and the drive device is connected with the roller, for driving road-cleaning mechanism Walking, it is characterised in that
The road-cleaning mechanism includes body, collecting bin, discharge port, clearing apparatus, loudspeaker, dust exhaust apparatus, velocity pick-up Device, infrared sensor, positioner and processor;The collecting bin is arranged at body interior, the rubbish for storing inspiration, The collecting bin is provided with rubbish detection means, for detecting rubbish quantity in collecting bin;The discharge port is located at this body side surface Lower position, for the rubbish in collecting bin to be drawn off;The clearing apparatus is respectively arranged at body side-lower, for cleaning ground Face rubbish;The loudspeaker is arranged at body centre position, is warned for sending alarming sound;The dust exhaust apparatus is arranged at Centre position below body, for drawing ground refuse;The velocity sensor is arranged above body, for detecting the road Road cleaning agency speed;The infrared sensor is arranged at body side centre position, for detecting whether front has live body;Institute State positioner to set and body top position, for positioning road-cleaning mechanism current location;The processor respectively with nothing Line apparatus, clearing apparatus, loudspeaker, dust exhaust apparatus, velocity sensor, infrared sensor and positioner connection.
2. a kind of utilization unmanned plane according to claim 1 provides the Intelligent road purging system of lifting drive, its feature It is, the stretching device is hydraulic stem, the road-cleaning mechanism also includes:Hydraulic pump, the hydraulic pump is arranged at road Cleaning agency body interior top position, the hydraulic pump is connected with hydraulic stem and processor respectively, for driving hydraulic stem It is flexible.
3. a kind of utilization unmanned plane according to claim 2 provides the Intelligent road purging system of lifting drive, its feature It is, in addition to:Plate is shut down, the shutdown plate is arranged above hydraulic stem and is connected with hydraulic stem, for parking unmanned plane.
4. a kind of utilization unmanned plane according to claim 1 provides the Intelligent road purging system of lifting drive, its feature It is, in addition to:Guider, the guider is connected with processor, for setting the Intelligent road cleaning agency Sweep-out pattern and its refuse depot distributing position.
5. the Intelligent road that a kind of utilization unmanned plane according to any one of claim 1-4 provides lifting drive cleans system The control method of system, it is characterised in that comprise the following steps:
In road-cleaning mechanism startup optimization, the route that the road-cleaning mechanism is pre-set according to guider is carried out Road-cleaning;
Speed detector in road-cleaning mechanism detects present speed and is transmitted to processor;
The processor carries out speed identical with road-cleaning mechanism using wireless device control unmanned plane after receiving and flown;
Its Stop message is transferred to processor if speed detector detects the road-cleaning mechanism stopping;
The processor hovers over road-cleaning mechanism overhead after receiving using wireless device control unmanned plane;
Vehicle information is utilized into wireless device if the camera on unmanned plane is absorbed to the motor vehicle in the first preset range Processor is transferred to, whether the processor analysis motor vehicle is close to itself;
If then controlling unmanned plane to hide motor vehicle with clearing apparatus rising progress and taken the photograph using camera using wireless device Take motor vehicle whether remote;
Declined if camera intake to motor vehicle away from if using wireless device control unmanned plane with road-cleaning mechanism.
6. a kind of utilization unmanned plane according to claim 5 provides the controlling party of the Intelligent road purging system of lifting drive Method, it is characterised in that when control unmanned plane rises with road-cleaning mechanism, the step also includes:
The processor sends drive command to hydraulic pump;
Start driving hydraulic stem if the hydraulic pump receives the drive command of processor transmission to shrink.
7. a kind of utilization unmanned plane according to claim 5 provides the controlling party of the Intelligent road purging system of lifting drive Method, it is characterised in that when the road-cleaning mechanism carries out road-cleaning according to the route pre-set, in addition to following step Suddenly:
Pedestrian information is transferred to processor, the processor if infrared sensor detects and has pedestrian in the second preset range Analysis cleans whether road mechanism can collide pedestrian;
If can if control the loudspeaker in road-cleaning mechanism to send default decibel alarm song it is warned.
8. a kind of utilization unmanned plane according to claim 5 provides the controlling party of the Intelligent road purging system of lifting drive Method, it is characterised in that when the road-cleaning mechanism carries out road-cleaning according to the route pre-set, in addition to following step Suddenly:
Detected if the rubbish detection means in collecting bin if collecting bin rubbish reaches predeterminated position and described information is transferred to place Manage device;
The processor receives using wireless device control unmanned plane to rise after described information to be risen with road-cleaning mechanism And control positioner to position current location information;
The unmanned plane flies the rubbish in collecting bin to the refuse depot nearest from current location information with road-cleaning mechanism Rubbish is down to refuse depot;
The unmanned plane is with road-cleaning mechanism restoring to normal position information position after rubbish in by collecting bin is down to refuse depot Continue to clean road.
9. a kind of utilization unmanned plane according to claim 5 provides the controlling party of the Intelligent road purging system of lifting drive Method, it is characterised in that when the road-cleaning mechanism carries out road-cleaning according to the route pre-set, in addition to following step Suddenly:
If on unmanned plane camera intake in the 3rd preset range without motor vehicle if will be wireless without motor vehicle Information Pull Device is transferred to processor;
The processor stops to enter park mode to shutdown plate after receiving using wireless device control unmanned plane.
10. a kind of utilization unmanned plane according to claim 5 provides the control of the Intelligent road purging system of lifting drive Method, it is characterised in that when the road-cleaning mechanism carries out road-cleaning according to the route pre-set, in addition to it is following Step:
The walking for controlling the road cleaning device is connected with the wireless device in the road-cleaning mechanism using external equipment Direction and the speed of travel;
The walking for controlling the road cleaning device is connected with the wireless device in the road-cleaning mechanism using external equipment Route.
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