CN110282120A - It is a kind of for picking up the UAV system and its working method of rubbish - Google Patents
It is a kind of for picking up the UAV system and its working method of rubbish Download PDFInfo
- Publication number
- CN110282120A CN110282120A CN201910388064.6A CN201910388064A CN110282120A CN 110282120 A CN110282120 A CN 110282120A CN 201910388064 A CN201910388064 A CN 201910388064A CN 110282120 A CN110282120 A CN 110282120A
- Authority
- CN
- China
- Prior art keywords
- rubbish
- main control
- control module
- uav system
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/16—Lids or covers
-
- 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
Abstract
The invention belongs to air vehicle technique fields, and in particular to a kind of for picking up the UAV system and its working method of rubbish.This UAV system includes: main control module, by information collecting device, pick device and the rotor drive device of main control module control；Wherein the information collecting device is suitable for acquisition junk information, and is sent to main control module and is identified；The main control module after identifying junk information, picked up rubbish with driving unmanned plane to advance and passing through pick device by control rotor drive device.The UAV system and its working method for being used to pick up rubbish of the invention, the dust man that can be used on the high-risk area such as steep cliff, mountainous region, reservoir make, and reduce the risk manually picked up.
Description
Technical field
The invention belongs to air vehicle technique fields, and in particular to a kind of UAV system and its work side for picking up rubbish
Method.
Background technique
With the development of economy, people's lives level increasingly improves, and more and more people go scenic spot to visit tourism,
Although having driven local economic development, many pressure also are brought to local environment simultaneously.For example, fall steep cliff, mountainous region,
The rubbish such as plastic bottle, polybag, the pop can of the water surface, they are not easy manual cleaning and be easy to cause environmental pollution.
Therefore, it is necessary to design a UAV system for picking up rubbish to solve existing technical problem.
Summary of the invention
The object of the present invention is to provide a kind of for picking up the UAV system and its working method of rubbish.
In order to solve the above-mentioned technical problems, the present invention provides a kind of for picking up the UAV system of rubbish, comprising:
Main control module, information collecting device, pick device and the rotor drive device controlled by main control module；Wherein
The information collecting device is suitable for acquisition junk information, and is sent to main control module and is identified；
After identifying junk information, control rotor drive device is picked up the main control module with driving unmanned plane to advance and pass through
Device is taken to pick up rubbish.
Further, the UAV system further include: locating module, processor module and with the processor module electrical property
Connect wireless module；
The processor module is suitable for the location information of unmanned plane in locating module being sent to master control by wireless module
Module.
Further, the rotor drive device include: be evenly distributed on fuselage surrounding propeller and with each propeller
The brushless motor being correspondingly arranged；
Each brushless motor with main control module be electrically connected, and the brushless motor be suitable for driving propeller rotational with
Drive unmanned plane movement.
Further, the main control module is electrically connected a balance regulator；
The balance regulator includes: balance sensor and balance regulator；
The balance sensor is adapted to detect for unmanned plane equilibrium state and is sent to main control module, in unmanned plane disequilibrium
When, then main control module controls balance regulator so that unmanned plane is adjusted to equilibrium state.
Further, the information collecting device include: suspension be arranged in the holder of fuselage bottom, high-definition camera and with
The horizontal stage electric machine that main control module is electrically connected；
The horizontal stage electric machine is suitable for driving holder so that high-definition camera rotates with shooting.
Further, the pick device include: the multi-jointed mechanical arm that fuselage bottom is set, manipulator and with each section machine
The steering engine that tool arm is correspondingly arranged；
Each steering engine is electrically connected with main control module, and the servo driving mechanical arm is to drive manipulator to grab rubbish
Rubbish.
Further, the centre of the palm portion of the manipulator is provided with miniature webcam.
Further, rubbish storage case is provided with above the fuselage；
The lid of the rubbish storage case is adsorbed on cabinet by magnet.
Another aspect, the present invention also provides a kind of for picking up the working method of the unmanned plane of rubbish, comprising:
The working method is suitable for carrying out cleaning rubbish using the unmanned plane for picking up rubbish.
The invention has the advantages that the UAV system and its working method for being used to pick up rubbish of the invention, passes through letter
It ceases acquisition device and is suitable for acquisition junk information, and be sent to main control module and identified, the main control module is in identification rubbish letter
After breath, control rotor drive device is picked up rubbish with driving unmanned plane to advance and passing through pick device, can comprehensive discovery it is winged
Rubbish in row region, the rubbish for avoiding the omission of rubbish, and being suitably employed in steep cliff, mountainous region, reservoir etc. on high-risk area are clear
Science and engineering is made, and the risk manually picked up is reduced.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the functional block diagram of the UAV system for picking up rubbish of the invention；
Fig. 2 is the schematic diagram of the UAV system for picking up rubbish of the invention；
Fig. 3 is the side view of the pickup rubbish of the UAV system for picking up rubbish of the invention；
Fig. 4 is the side view of the placement rubbish of the UAV system for picking up rubbish of the invention；
Fig. 5 is the cross-sectional view of the rubbish storage case of the UAV system for picking up rubbish of the invention；
Fig. 6 is the work flow diagram of the unmanned plane for picking up rubbish of the invention.
In figure:
Fuselage 1, propeller 2, brushless motor 3, high-definition camera 4, holder 5, horizontal stage electric machine 6, manipulator 7, miniature video camera
First 8, rubbish storage case 9, cabinet 901, lid 902, the first magnet 903, the second magnet 904.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
Fig. 1 is the functional block diagram of the UAV system for picking up rubbish of the invention；
Fig. 2 is the schematic diagram of the UAV system for picking up rubbish of the invention；
As depicted in figs. 1 and 2, it present embodiments provides a kind of for picking up the UAV system of rubbish, comprising: master control mould
Block, information collecting device, pick device and the rotor drive device controlled by main control module；Wherein the information collecting device is suitable
In acquisition junk information, and it is sent to main control module and is identified；The main control module controls rotor after identifying junk information
Driving device is picked up rubbish with driving unmanned plane to advance and passing through pick device.The UAV system for being used to pick up rubbish can
Dust man on the high-risk area such as steep cliff, mountainous region, reservoir makees, can rubbish in comprehensive discovery flight range, keep away
The omission for having exempted from rubbish compensates for currently in the short slab of Special geographical position rubbish Removal Technology.
In the present embodiment, the UAV system further include: locating module, processor module and with the processor module
It is electrically connected wireless module；The processor module is suitable for sending out the location information of unmanned plane in locating module by wireless module
It send to main control module.Wherein, locating module can be, but not limited to using big-dipper satellite global positioning system.
In the present embodiment, the rotor drive device include: be evenly distributed on 1 surrounding of fuselage propeller 2 and with it is each
The brushless motor 3 that propeller 2 is correspondingly arranged；Each brushless motor 3 is electrically connected with main control module, and the brushless motor
3 are suitable for the driving rotation of propeller 2 to drive unmanned plane to move.
In the present embodiment, the main control module is electrically connected a balance regulator；The balance regulator includes: flat
Weigh sensor and balance regulator；The balance sensor is adapted to detect for unmanned plane equilibrium state and is sent to main control module,
When unmanned plane disequilibrium, then main control module controls balance regulator so that unmanned plane is adjusted to equilibrium state.
Fig. 3 is the side view of the pickup rubbish of the UAV system for picking up rubbish of the invention；
Fig. 4 is the side view of the placement rubbish of the UAV system for picking up rubbish of the invention.
As shown in Figure 3 and Figure 4, the information collecting device includes: that the holder 5 of 1 bottom of fuselage is arranged in suspension, high definition is taken the photograph
As first 4 and the horizontal stage electric machine 6 with main control module electric connection；The horizontal stage electric machine 6 is suitable for driving holder 5 so that high-definition camera
First 4 rotate with shooting.The image that high-definition camera 4 is shot is sent to main control module and is analyzed and processed, and can obtain target
The approximate location and landform of object.
Wherein, high-definition camera can be, but not limited to using Sony HXR-MC2500 model camera, and the camera is maximum
Pixel 6,590,000, valid pixel 614w, 12 Zoom Lens, 200 times of digital zooms, practical zoom f=2.9-34.8mm.
In the present embodiment, the pick device include: the multi-jointed mechanical arm that 1 bottom of fuselage is set, manipulator 7 and with
The steering engine that each section mechanical arm is correspondingly arranged；Each steering engine is electrically connected with main control module, and the servo driving mechanical arm
To drive manipulator 7 to grab rubbish.
In Fig. 3, due to pick device be suspension status, by the joint of the length of mechanical arm and mechanical arm into
Row is appropriate to be omitted, which does not interfere understanding of the those skilled in the art to the structure and working principle of pick device.
Further, the centre of the palm portion of the manipulator 7 is provided with miniature webcam 8.Miniature webcam 8 can be to object institute
The terrain environment at place does further judgement, then lock onto target object exact position, is grabbed convenient for manipulator 8.
Fig. 5 is the cross-sectional view of the rubbish storage case of the UAV system for picking up rubbish of the invention；
As shown in figure 5, the top of the fuselage 1 is provided with rubbish storage case 9；The lid 902 of the rubbish storage case 9 is logical
Magnet is crossed to be adsorbed on cabinet 901.Specifically, after manipulator 7 picks up rubbish, it will be under the side of the lid 902 of rubbish storage case 9
Pressure, lid 902 rotated by shaft, enters rubbish in rubbish storage case 9, and the on the other side of subsequent lid 902
Two magnet 904 are adsorbed by magnet adsorption capacity and 903 phase of the first magnet on cabinet 901, and lid 902 is made to be close to cabinet 901, with
Anti- rubbish is blown out from the upper end of rubbish storage case 9.
Embodiment 2
Fig. 6 is the work flow diagram of the unmanned plane for picking up rubbish of the invention.
As shown in fig. 6, on the basis of embodiment 1, present embodiments providing a kind of for picking up the work of the unmanned plane of rubbish
Make method, suitable for carrying out cleaning rubbish using the unmanned plane for being used to pick up rubbish as described in Example 1.
Specific working method: unmanned plane passes through high-definition camera 4 in the sky and takes photo by plane, and image is sent to master control
Module is analyzed and processed, if unmanned plane continues to fly and take photo by plane without rubbish, if after hair conventional garbage, main control module
It controls manipulator 7 and grabs rubbish, during grabbing rubbish, if fuselage disequilibrium, main control module controls balance regulator
Unmanned plane is adjusted to equilibrium state, finally the rubbish of crawl is put into rubbish storage case 9.
In conclusion the UAV system and its working method for being used to pick up rubbish of the invention, passes through information collecting device
It suitable for acquiring junk information, and is sent to main control module and is identified, the main control module is after identifying junk information, control rotation
Wing driving device is picked up rubbish with driving unmanned plane to advance and passing through pick device, can rubbish in comprehensive discovery flight range
Rubbish the dust man on high-risk area such as avoids the omission of rubbish, and is suitably employed in steep cliff, mountainous region, reservoir and make, reduces
The risk manually picked up；Using dual camera distance matching model, in 7 centre of the palm portion of manipulator, installation miniature webcam 8 obtains standard
True real-time image information completes rubbish pickup work convenient for control mechanical arm and manipulator 7.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (9)
1. a kind of for picking up the UAV system of rubbish characterized by comprising
Main control module, information collecting device, pick device and the rotor drive device controlled by main control module；Wherein
The information collecting device is suitable for acquisition junk information, and is sent to main control module and is identified；
The main control module controls rotor drive device after identifying junk information to drive unmanned plane to advance and pass through pickup dress
It sets and picks up rubbish.
2. UAV system as described in claim 1, which is characterized in that
The UAV system further include: locating module, processor module and be electrically connected wireless mould with the processor module
Block；
The processor module is suitable for the location information of unmanned plane in locating module being sent to main control module by wireless module.
3. UAV system as claimed in claim 2, which is characterized in that
The rotor drive device includes: the nothing for being evenly distributed on the propeller of fuselage surrounding and being correspondingly arranged with each propeller
Brush motor；
Each brushless motor is electrically connected with main control module, and the brushless motor is suitable for driving propeller rotational to drive
Unmanned plane movement.
4. UAV system as claimed in claim 3, which is characterized in that
The main control module is electrically connected a balance regulator；
The balance regulator includes: balance sensor and balance regulator；
The balance sensor is adapted to detect for unmanned plane equilibrium state and is sent to main control module, in unmanned plane disequilibrium,
Then main control module controls balance regulator so that unmanned plane is adjusted to equilibrium state.
5. UAV system as claimed in claim 4, which is characterized in that
The information collecting device include: suspension be arranged in the holder of fuselage bottom, high-definition camera and with main control module electricity
Property connection horizontal stage electric machine；
The horizontal stage electric machine is suitable for driving holder so that high-definition camera rotates with shooting.
6. UAV system as claimed in claim 5, which is characterized in that
The pick device includes: the multi-jointed mechanical arm that fuselage bottom is arranged in, manipulator and corresponding with each section mechanical arm sets
The steering engine set；
Each steering engine is electrically connected with main control module, and the servo driving mechanical arm is to drive manipulator to grab rubbish.
7. UAV system as claimed in claim 6, which is characterized in that
The centre of the palm portion of the manipulator is provided with miniature webcam.
8. UAV system as claimed in claim 6, which is characterized in that
Rubbish storage case is provided with above the fuselage；
The lid of the rubbish storage case is adsorbed on cabinet by magnet.
9. a kind of for picking up the working method of the unmanned plane of rubbish characterized by comprising
The working method is suitable for carrying out cleaning rubbish using such as the described in any item unmanned planes for picking up rubbish of claim 1-8
Rubbish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910388064.6A CN110282120A (en) | 2019-05-10 | 2019-05-10 | It is a kind of for picking up the UAV system and its working method of rubbish |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910388064.6A CN110282120A (en) | 2019-05-10 | 2019-05-10 | It is a kind of for picking up the UAV system and its working method of rubbish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110282120A true CN110282120A (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910388064.6A Pending CN110282120A (en) | 2019-05-10 | 2019-05-10 | It is a kind of for picking up the UAV system and its working method of rubbish |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469131A (en) * | 2020-05-10 | 2020-07-31 | 上海大学 | Unmanned ship water surface garbage cleaning control system and method with mechanical arm |
| CN113602511A (en) * | 2021-09-01 | 2021-11-05 | 浙江图盛输变电工程有限公司温州科技分公司 | Multi-rotor unmanned aerial vehicle based on automatic line patrol technology |
| CN113978732A (en) * | 2021-12-08 | 2022-01-28 | 长沙市第三医院 | Four-rotor unmanned aerial vehicle for taking medicine |
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| CN201305288Y (en) * | 2008-12-10 | 2009-09-09 | 段毅 | Foot-driven dustbin |
| CN105882952A (en) * | 2016-04-20 | 2016-08-24 | 羊丁 | Unmanned aerial vehicle for automatically clearing garbage on overhead lines |
| CN107933918A (en) * | 2017-12-20 | 2018-04-20 | 江苏航丰智控无人机有限公司 | Search and rescue unmanned plane and cluster cooperative system and its method of work |
| CN207402800U (en) * | 2017-04-06 | 2018-05-25 | 上海岭先机器人科技股份有限公司 | A kind of manipulator |
| CN109649653A (en) * | 2018-12-20 | 2019-04-19 | 深圳职业技术学院 | A kind of high-altitude garbage cleaning device |
-
2019
- 2019-05-10 CN CN201910388064.6A patent/CN110282120A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201305288Y (en) * | 2008-12-10 | 2009-09-09 | 段毅 | Foot-driven dustbin |
| CN105882952A (en) * | 2016-04-20 | 2016-08-24 | 羊丁 | Unmanned aerial vehicle for automatically clearing garbage on overhead lines |
| CN207402800U (en) * | 2017-04-06 | 2018-05-25 | 上海岭先机器人科技股份有限公司 | A kind of manipulator |
| CN107933918A (en) * | 2017-12-20 | 2018-04-20 | 江苏航丰智控无人机有限公司 | Search and rescue unmanned plane and cluster cooperative system and its method of work |
| CN109649653A (en) * | 2018-12-20 | 2019-04-19 | 深圳职业技术学院 | A kind of high-altitude garbage cleaning device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469131A (en) * | 2020-05-10 | 2020-07-31 | 上海大学 | Unmanned ship water surface garbage cleaning control system and method with mechanical arm |
| CN113602511A (en) * | 2021-09-01 | 2021-11-05 | 浙江图盛输变电工程有限公司温州科技分公司 | Multi-rotor unmanned aerial vehicle based on automatic line patrol technology |
| CN113978732A (en) * | 2021-12-08 | 2022-01-28 | 长沙市第三医院 | Four-rotor unmanned aerial vehicle for taking medicine |
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Application publication date: 20190927 |
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