CN112278170B - Unmanned aerial vehicle and unmanned ship cooperative water area cleaning method and system - Google Patents
Unmanned aerial vehicle and unmanned ship cooperative water area cleaning method and system Download PDFInfo
- Publication number
- CN112278170B CN112278170B CN202011067325.3A CN202011067325A CN112278170B CN 112278170 B CN112278170 B CN 112278170B CN 202011067325 A CN202011067325 A CN 202011067325A CN 112278170 B CN112278170 B CN 112278170B
- Authority
- CN
- China
- Prior art keywords
- unmanned
- area
- aerial vehicle
- sub
- cleaning
- 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.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 157
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 146
- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 57
- 238000004891 communication Methods 0.000 claims description 33
- 239000003643 water by type Substances 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000002195 synergetic effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000034699 Vitreous floaters Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明涉及一种无人机与无人船协同的水域清理方法及系统，通过将需要清理的水域分为若干子区域，并通过无人机采集图像获得子区域内的垃圾分布信息，并分配给不同的无人船对已获取垃圾分布信息的子区域进行清理，直至所有子区域清理完成，解决了现有技术中存在的无人机与无人船协同效率不高的技术问题，达到了提高无人机与无人船协同下的水域清理速度的效果。
The invention relates to a water area cleaning method and system coordinated by an unmanned aerial vehicle and an unmanned ship. The water area to be cleaned is divided into several sub-areas, and the garbage distribution information in the sub-area is obtained by collecting images by the unmanned aerial vehicle, and the distribution information is distributed. The sub-areas where the garbage distribution information has been obtained are cleaned for different unmanned ships until all the sub-areas are cleaned up, which solves the technical problem of the low coordination efficiency between the drone and the unmanned ship in the prior art, and achieves the The effect of improving the speed of water cleaning under the coordination of drones and unmanned ships.
Description
Technical Field
The invention relates to the technical field of water area cleaning, in particular to a water area cleaning method and system with cooperation of an unmanned aerial vehicle and an unmanned ship.
Background
In recent years, with the continuous progress and maturity of intelligent device technology, it becomes feasible to perform repeated and heavy work with unmanned devices to assist people even instead of people. Especially for the task on water, use unmanned equipment to replace artifical, can be fine avoid the staff to face the dangerous condition because of the unstability of water condition, when liberating the manpower, guaranteed people's safety.
The unmanned ship has great advantages in the aspect of performing overwater operation, particularly performing a water area garbage cleaning task. For example, an unmanned ship for cleaning developed by eastern water conservancy companies can be used for fishing solid garbage such as water surface floaters of oceans, lakes and ponds. The ship is provided with an intelligent monitoring device on the ship body for identifying a planned path; in addition, two fan wheels are arranged in front of the ship body to collect the garbage in the fixed area in front of the ship body to the chain wheel net, and the garbage is rolled into the cabin through the chain wheel net. On one hand, the application of the unmanned ship frees a large amount of manpower and ensures the personal safety of people to a great extent; on the other hand, when the unmanned ship executes a cleaning task, due to limited visual field, the whole water area is often required to be fully covered to determine the position of the garbage, that is, at least one complete traversal is required. For the situation that the area of the water area is large or the garbage distribution area is relatively concentrated, the ship traverses the whole water area, undoubtedly, large time cost is generated, and meanwhile, resources are wasted.
The unmanned aerial vehicle is used for directly picking up the suspended garbage on the water surface to clean the water area. The unmanned aerial vehicle has a larger global view advantage, and the area of the area which can be covered in unit time is far larger than that of the unmanned ship; but because ordinary unmanned aerial vehicle is general nimble small and exquisite, often single flight can only pick up a target object and time of endurance is short, if carry out the clearance task alone, then need return many times and fix the suspended solid of taking off and land and placing the pick-up or change the battery, can make unmanned aerial vehicle battery energy mostly be consumeed on the way that comes and goes of rubbish and take off and land point, can cause the very big waste of resource equally.
By last, unmanned aerial vehicle respectively has its advantage with unmanned ship when carrying out the waters clearance task, has consequently appeared the third kind clearance scheme: unmanned aerial vehicle unmanned ship clearance in coordination. According to the scheme, the unmanned aerial vehicle is used for executing a covering task, and water surface images are collected and transmitted back to the unmanned ship; the unmanned ship analyzes the image to determine the area where the garbage is located, generates an optimal path leading to each garbage node, and executes a cleaning task. Although the scheme improves the cleaning efficiency to a certain extent, certain defects exist. Firstly, in the process of executing a coverage task by the unmanned aerial vehicle, the unmanned aerial vehicle is always in a waiting state; when the unmanned ship executes a cleaning task, the unmanned ship also needs to wait for the unmanned ship to complete the task due to the communication distance and the electric quantity of the unmanned ship; secondly, the single flight distance of the present civil unmanned aerial vehicle is about 10 kilometers, and if the unmanned aerial vehicle fixed-point take-off and landing scheme is adopted, the unmanned ship still needs to be frequently returned so as to replace the battery. The above two points make the unmanned aerial vehicle unmanned ship not have high cooperative efficiency.
Disclosure of Invention
The invention provides a method and a system for cleaning a water area by cooperation of an unmanned aerial vehicle and an unmanned ship, and aims to solve the technical problem that the cooperation efficiency of the unmanned aerial vehicle and the unmanned ship is low during cleaning the water area in the prior art.
The invention solves the technical problem and provides a water area cleaning method by cooperation of an unmanned aerial vehicle and an unmanned ship, which comprises the following steps:
dividing a target cleaning water area into regular sub-areas with preset sizes, controlling the unmanned aerial vehicle to traverse water surface images in the target sub-areas, controlling the unmanned aerial vehicle to traverse next target sub-areas after the unmanned aerial vehicle finishes traversing, and generating sub-area garbage distribution information according to all the traversed water surface images;
after synchronizing the garbage distribution information of the sub-area to all unmanned ships, issuing cleaning tasks of the target sub-area to the unmanned ships which are closest to the target sub-area and have no cleaning tasks;
after the unmanned aerial vehicle traverses all the subregions, the unmanned aerial vehicle is controlled to land to a distance from the unmanned aerial vehicle to the nearest unmanned ship, and after all the subregion cleaning tasks are completed, all the unmanned ships are controlled to go to a preset place, and the water area cleaning is completed.
Preferably, the step of dividing the target cleaning water area into regular sub-areas of a preset size, controlling the unmanned aerial vehicle to traverse the water surface images in the target sub-areas, after the unmanned aerial vehicle traverses the target sub-areas, controlling the unmanned aerial vehicle to traverse the next target sub-area, and generating sub-area garbage distribution information for all the water surface images which are traversed includes:
dividing a target cleaning water area into regular subregions with preset sizes;
controlling the unmanned aerial vehicle to collect a water surface image and controlling the unmanned aerial vehicle to send the water surface image to a nearest unmanned ship;
after the unmanned aerial vehicle traverses, controlling the unmanned aerial vehicle to traverse a next target area;
and controlling the unmanned ship to analyze all the traversed water surface images to generate garbage distribution information.
Preferably, after the unmanned aerial vehicle traverses the next target area, the step of controlling the unmanned aerial vehicle to traverse the next target area further includes:
after the unmanned aerial vehicle finishes traversing, the unmanned aerial vehicle sends a request for obtaining the distance of the nearest unmanned ship;
and the unmanned aerial vehicle executes the action of returning to the nearest unmanned ship to replace a battery or traversing the next target sub-region according to the received distance information between the unmanned aerial vehicle and the nearest unmanned ship, the self electric quantity and the power consumption for traversing the target sub-region.
Preferably, the step of dividing the target cleaning water area into regular sub-areas of preset size further includes:
planning a traversal sequence of the unmanned aerial vehicle according to the divided target cleaning water area shape and numbering all the subareas;
and taking the sub-region with the smallest number and not traversed as a target sub-region, and taking the sub-region with the second smallest number and not traversed as a next target sub-region.
Preferably, after synchronizing the garbage distribution information of the sub-area to all unmanned ships, the step of issuing a cleaning task of the target sub-area to the unmanned ship which is closest to the target sub-area and has no cleaning task further includes:
generating a cleaning path of the unmanned ship by adopting a shortest path algorithm according to the garbage distribution information and the unmanned ship position information for executing the cleaning task;
and controlling the unmanned ship to clean the target sub-area according to the cleaning path.
Preferably, the unmanned ship is controlled to clean the target sub-area according to the cleaning path. After the step (2), further comprising:
and after the cleaning task is finished, controlling the unmanned ship to move forward to the next area needing cleaning and having no subarea of the unmanned ship.
Preferably, the unmanned aerial vehicle and unmanned ship coordinated water area cleaning method further comprises:
after the unmanned aerial vehicle traverses the target sub-area, acquiring position information of all unmanned ships;
taking a preset communication distance as the communication radius of the unmanned ship, and judging whether the traversal path of the unmanned aerial vehicle is at least positioned in the communication radius of one unmanned ship or not according to the position information of all the unmanned ships;
and when the unmanned aerial vehicle is not positioned in the communication radius of one unmanned aerial vehicle, adjusting the navigation route of the unmanned aerial vehicle which is not executing the cleaning task, so that the traversal path of the unmanned aerial vehicle is positioned in at least one communication radius of the unmanned aerial vehicle.
The invention also provides a water area cleaning system with the cooperation of the unmanned aerial vehicle and the unmanned ship, which comprises the following components:
the dividing and collecting unit is used for dividing a target cleaning water area into regular sub-areas with preset sizes, controlling the unmanned aerial vehicle to traverse the water surface images in the target sub-areas, controlling the unmanned aerial vehicle to traverse the next target sub-area after the unmanned aerial vehicle finishes traversing, and generating sub-area garbage distribution information according to all the traversed water surface images;
the distribution and cleaning unit is used for synchronizing the garbage distribution information of the subareas to all unmanned ships and then sending cleaning tasks of the target subareas to the unmanned ships which are closest to the target subarea and have no cleaning tasks;
and the return unit is used for controlling the unmanned aerial vehicle to land to a distance after the unmanned aerial vehicle traverses all the sub-areas, the unmanned aerial vehicle is nearest to the unmanned ship, and after all the sub-area cleaning tasks are completed, all the unmanned ships are controlled to go to a preset place, and the water area cleaning is completed.
The invention also provides a water area cleaning and calculating device with the cooperation of the unmanned aerial vehicle and the unmanned ship, which comprises the following components: the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method comprises a memory, a processor and a unmanned aerial vehicle and unmanned ship cooperative water area cleaning calculation program which is stored in the memory and can run on the processor, wherein the unmanned aerial vehicle and unmanned ship cooperative water area cleaning calculation program realizes the steps of the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method when being executed by the processor.
The invention also provides a readable storage medium, wherein the readable storage medium is stored with a water area cleaning calculation program with cooperation of the unmanned aerial vehicle and the unmanned ship, and the water area cleaning calculation program with cooperation of the unmanned aerial vehicle and the unmanned ship is executed by a processor to realize the steps of the water area cleaning method with cooperation of the unmanned aerial vehicle and the unmanned ship.
The unmanned aerial vehicle and the unmanned aerial vehicle can directly go to the next subarea to collect the water surface image after the water surface image collection of the subareas is finished, so that the technical problem that the cooperation efficiency of the unmanned aerial vehicle and the unmanned aerial vehicle in the water area cleaning is low in the prior art is solved, and the effect of improving the cooperation efficiency of the unmanned aerial vehicle and the unmanned aerial vehicle in the water area cleaning is achieved.
Drawings
Fig. 1 is a schematic structural diagram of a server of a hardware operating environment related to an embodiment of a method for cleaning a water area by cooperation of an unmanned aerial vehicle and an unmanned ship.
FIG. 2 is a schematic flow chart illustrating a method for cleaning a water area by using a unmanned aerial vehicle and an unmanned ship in cooperation according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart of another embodiment of the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method according to the present invention;
FIG. 4 is a schematic flow chart illustrating a method for cleaning a water area by using a unmanned aerial vehicle and an unmanned ship in cooperation according to another embodiment of the present invention;
fig. 5 is a schematic flow chart of another embodiment of the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with specific embodiments, the examples given are intended to illustrate the invention and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a server structure of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the server may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage server separate from the processor 1001.
Those skilled in the art will appreciate that the architecture shown in FIG. 1 does not constitute a limitation on the servers, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include an operating system, a network communication module, a user interface module, and a water clearing calculation program in which the drone cooperates with the unmanned ship.
In the network device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting peripheral equipment; the network device calls, through the processor 1001, the water clearing calculation program in which the drone and the unmanned ship cooperate, which is stored in the storage 1005, and performs the following operations:
dividing a target cleaning water area into regular sub-areas with preset sizes, controlling the unmanned aerial vehicle to traverse water surface images in the target sub-areas, controlling the unmanned aerial vehicle to traverse next target sub-areas after the unmanned aerial vehicle finishes traversing, and generating sub-area garbage distribution information according to all the traversed water surface images;
after synchronizing the garbage distribution information of the sub-area to all unmanned ships, issuing cleaning tasks of the target sub-area to the unmanned ships which are closest to the target sub-area and have no cleaning tasks;
after the unmanned aerial vehicle traverses all the subregions, the unmanned aerial vehicle is controlled to land to a distance from the unmanned aerial vehicle to the nearest unmanned ship, and after all the subregion cleaning tasks are completed, all the unmanned ships are controlled to go to a preset place, and the water area cleaning is completed.
Further, dividing a target cleaning water area into regular sub-areas with preset sizes, controlling the unmanned aerial vehicle to traverse the water surface images in the target sub-areas, after the unmanned aerial vehicle traverses, controlling the unmanned aerial vehicle to traverse the next target sub-area, and generating sub-area garbage distribution information for all the water surface images which are traversed includes the following steps:
dividing a target cleaning water area into regular subregions with preset sizes;
controlling the unmanned aerial vehicle to collect a water surface image and controlling the unmanned aerial vehicle to send the water surface image to a nearest unmanned ship;
after the unmanned aerial vehicle traverses, controlling the unmanned aerial vehicle to traverse a next target area;
and controlling the unmanned ship to analyze all the traversed water surface images to generate garbage distribution information.
Further, after the unmanned aerial vehicle traverses the next target area, the step of controlling the unmanned aerial vehicle to traverse the next target area further includes:
after the unmanned aerial vehicle finishes traversing, the unmanned aerial vehicle sends a request for obtaining the distance of the nearest unmanned ship;
and the unmanned aerial vehicle executes the action of returning to the nearest unmanned ship to replace a battery or traversing the next target sub-region according to the received distance information between the unmanned aerial vehicle and the nearest unmanned ship, the self electric quantity and the power consumption for traversing the target sub-region.
Further, the step of dividing the target cleaning water area into regular sub-areas of a preset size further includes:
planning a traversal sequence of the unmanned aerial vehicle according to the divided target cleaning water area shape and numbering all the subareas;
and taking the sub-region with the smallest number and not traversed as a target sub-region, and taking the sub-region with the second smallest number and not traversed as a next target sub-region.
Further, after synchronizing the garbage distribution information of the sub-area to all unmanned ships, the step of issuing the cleaning task of the target sub-area to the unmanned ship which is closest to the target sub-area and has no cleaning task further includes:
generating a cleaning path of the unmanned ship by adopting a shortest path algorithm according to the garbage distribution information and the unmanned ship position information for executing the cleaning task;
and controlling the unmanned ship to clean the target sub-area according to the cleaning path.
Further, the unmanned ship is controlled to clean the target sub-area according to the cleaning path. After the step (2), further comprising:
and after the cleaning task is finished, controlling the unmanned ship to move forward to the next area needing cleaning and having no subarea of the unmanned ship.
Further, the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method further comprises the following steps:
after the unmanned aerial vehicle traverses the target sub-area, acquiring position information of all unmanned ships;
taking a preset communication distance as the communication radius of the unmanned ship, and judging whether the traversal path of the unmanned aerial vehicle is at least positioned in the communication radius of one unmanned ship or not according to the position information of all the unmanned ships;
and when the unmanned aerial vehicle is not positioned in the communication radius of one unmanned aerial vehicle, adjusting the navigation route of the unmanned aerial vehicle which is not executing the cleaning task, so that the traversal path of the unmanned aerial vehicle is positioned in at least one communication radius of the unmanned aerial vehicle.
This embodiment is through the mode that uses subregion division, has reduced unmanned ship and has waited for unmanned aerial vehicle to gather the latency of surface of water image, makes unmanned aerial vehicle need not to wait for unmanned ship task completion through the mode that adopts a plurality of unmanned ships, can directly go next subregion and gather the surface of water image, has solved prior art and has had unmanned aerial vehicle and unmanned ship not high technical problem in the waters clearance collaborative efficiency, has reached the effect that improves unmanned aerial vehicle and unmanned ship and collaborate in waters clearance collaborative efficiency.
Based on the hardware structure, the embodiment of the water area cleaning method with the cooperation of the unmanned aerial vehicle and the unmanned ship is provided.
The unmanned aerial vehicle and unmanned ship cooperative water area cleaning method with reference to fig. 2 comprises the following steps:
s10, dividing a target cleaning water area into regular sub-areas with preset sizes, controlling the unmanned aerial vehicle to traverse the water surface images in the target sub-areas, controlling the unmanned aerial vehicle to traverse the next target sub-area after the unmanned aerial vehicle traverses, and generating sub-area garbage distribution information according to all the traversed water surface images;
it is easily understood that, this embodiment has reduced unmanned ship and has waited the time that unmanned aerial vehicle adopted the water surface image through dividing the target clearance water area into a plurality of subregions, the unilateral length is confirmed according to unmanned aerial vehicle's effective visual angle and safe flying height usually to the regular subregion of predetermineeing the size, and the regular subregion is the square usually, adjusts to the rectangle according to actual conditions when target clearance water area edge.
S20, synchronizing the garbage distribution information of the sub-area to all unmanned ships, and then sending cleaning tasks of the target sub-area to the unmanned ships which are closest to the target sub-area and have no cleaning tasks;
it should be noted that, in this embodiment, the unmanned ship has a plurality of unmanned ships dispersed in the target cleaning water area, and each sub-area generally has only one unmanned ship, and when there is an unmanned ship executing a cleaning task, the remaining unmanned ships need to pass through the sub-area executing the cleaning task, so as to avoid interfering with the cleaning task of the unmanned ship.
S30, after the unmanned aerial vehicle traverses all the sub-areas, the unmanned aerial vehicle is controlled to land to a distance from the unmanned ship nearest to the unmanned aerial vehicle, and after all the sub-area cleaning tasks are completed, all the unmanned ships are controlled to go to a preset place, and the cleaning of the water area is completed.
It is worth emphasizing that the unmanned aerial vehicle has weak cruising ability, so that the unmanned aerial vehicle can take off and land on the unmanned aerial vehicle, the flight range of the unmanned aerial vehicle is expanded, and the efficiency of acquiring water surface images by the unmanned aerial vehicle is improved.
The embodiment divides the target cleaning water area into a plurality of sub-areas, and utilizes an unmanned aerial vehicle and a plurality of unmanned ships to respectively carry out image information acquisition and garbage cleaning on the plurality of sub-areas, thereby greatly reducing the waiting time of the unmanned ships and unmanned aerial vehicles for waiting for the other side to complete tasks, solving the technical problem of low cooperative efficiency of unmanned aerial vehicles and unmanned ships in the prior art, and achieving the effect of improving the water area cleaning speed of the unmanned aerial vehicles and unmanned ships under cooperation.
Referring to fig. 3, dividing a target cleaning water area into regular sub-areas of a preset size, controlling the unmanned aerial vehicle to traverse the water surface images in the target sub-areas, after the unmanned aerial vehicle traverses the target sub-areas, controlling the unmanned aerial vehicle to traverse the next target sub-area, and generating sub-area garbage distribution information for all the water surface images which are traversed:
s11, dividing the target cleaning water area into regular sub-areas with preset sizes;
it is easy to understand that dividing the cleaning water area into a plurality of sub-areas is favorable for reducing the waiting time of the unmanned ship, and can make a plurality of unmanned ships simultaneously clean the garbage for each sub-area, thereby greatly improving the garbage cleaning efficiency.
S12, controlling the unmanned aerial vehicle to collect water surface images and controlling the unmanned aerial vehicle to send the water surface images to the nearest unmanned ship;
it should be noted that, in order to reduce the power consumption of the unmanned aerial vehicle and increase the cruising ability of the unmanned aerial vehicle, the function of processing the acquired pictures is set on the unmanned ship, and all the unmanned ships directly form a mesh-shaped communication network on the unmanned aerial vehicle, thereby reducing the probability of communication abnormality.
S13, controlling the unmanned aerial vehicle to traverse the next target area after the unmanned aerial vehicle completes traversing;
it is worth emphasizing that, in this embodiment, unmanned aerial vehicle need not to wait for unmanned ship to clean after traversing, can directly carry out the traversal work of next target area, greatly reduced unmanned aerial vehicle's latency, improved synergistic efficiency.
And S14, controlling the unmanned ship to analyze all the traversed water surface images to generate garbage distribution information.
It is easy to understand that the picture processing function is arranged on the unmanned ship, so that all collected water surface images are spliced by the unmanned ship, and garbage in the images is identified and positioned, thereby facilitating subsequent garbage cleaning work.
Specifically, after the unmanned aerial vehicle traverses the target area, the step of controlling the unmanned aerial vehicle to traverse the next target area further includes:
after the unmanned aerial vehicle finishes traversing, the unmanned aerial vehicle sends a request for obtaining the distance of the nearest unmanned ship;
it should be noted that, because the cruising ability of the unmanned aerial vehicle is weak, in order to avoid the situation that the unmanned aerial vehicle needs to traverse again after half of the power failure and the battery is replaced, and time is wasted, it is necessary to estimate whether the unmanned aerial vehicle can complete the work of the next stage after the traversal is completed.
And the unmanned aerial vehicle executes the action of returning to the nearest unmanned ship to replace a battery or traversing the next target sub-region according to the received distance information between the unmanned aerial vehicle and the nearest unmanned ship, the self electric quantity and the power consumption for traversing the target sub-region.
The unmanned aerial vehicle is characterized in that when the electric quantity of the unmanned aerial vehicle is not enough to traverse the next target area and return to the nearest unmanned ship to replace the battery, the unmanned aerial vehicle directly goes to the nearest unmanned ship to replace the battery, and if the electric quantity of the battery is enough to traverse the next target area and return to the nearest unmanned ship to replace the battery, the unmanned aerial vehicle executes the action of traversing the next target sub-area.
Specifically, the step of dividing the target cleaning water area into regular sub-areas of a preset size further includes:
planning a traversal sequence of the unmanned aerial vehicle according to the divided target cleaning water area shape and numbering all the subareas;
it is easily understood that, in order to improve traversal efficiency, reduce unmanned aerial vehicle's invalid flight, this embodiment reaches this purpose through planning the traversal order in advance, simultaneously, through numbering the subregion, is convenient for to unmanned aerial vehicle and unmanned ship appointed target subregion be which region, is convenient for artifical later stage simultaneously and is analyzed and review this rubbish cleaning work.
And taking the sub-region with the smallest number and not traversed as a target sub-region, and taking the sub-region with the second smallest number and not traversed as a next target sub-region.
It should be noted that, in this embodiment, the target sub-area and the next target sub-area are defined, so that the technical scheme is improved, the unmanned aerial vehicle and the unmanned ship can continue the previous traversal work according to the previous traversal condition, repetitive labor is avoided, and the garbage disposal efficiency is improved.
This embodiment passes through, refine unmanned aerial vehicle and unmanned ship's data acquisition and data processing and divide the worker, improved unmanned aerial vehicle's duration, and through the flow of rational planning unmanned aerial vehicle battery changing, reduced unmanned aerial vehicle jointly and traversed the time in complete individual target clearance waters, promoted rubbish cleaning efficiency, still serial number through pair sub-region, reduced the repetitive labor, improved rubbish cleaning efficiency, promoted unmanned aerial vehicle and unmanned ship's synergistic efficiency.
Referring to fig. 4, after synchronizing the sub-area garbage distribution information to all unmanned ships, the step of issuing a cleaning task of a target sub-area to the unmanned ship which is closest to the target sub-area and has no cleaning task further includes:
s21, generating a cleaning path of the unmanned ship by adopting a shortest path algorithm according to the garbage distribution information and the unmanned ship position information for executing the cleaning task;
it is easy to understand that, in the technical scheme of the embodiment, the path is reasonably planned through the shortest path algorithm, so that the time for cleaning the known garbage in the unmanned ship cleaning area is reduced, the garbage cleaning speed is increased, and the energy consumption is reduced.
And S22, controlling the unmanned ship to clean the target sub-area according to the cleaning path.
Specifically, as shown in fig. 5, the unmanned ship is controlled to clean the target sub-area according to the cleaning path. After the step (2), further comprising:
and S23, after the cleaning task is completed, controlling the unmanned ship to move forward and next to be cleaned and no subarea of the unmanned ship exists.
It should be noted that, this embodiment is through carrying out arrangement in advance to the unmanned ship that the clearance was accomplished for unmanned aerial vehicle has traversed the subregion after, and unmanned ship can be faster drop into the rubbish clearance work and go, has reduced the required time of rubbish clearance, has promoted rubbish clearance efficiency.
According to the unmanned ship cleaning method and device, the shortest path algorithm and the unmanned ship which is cleaned in advance are arranged in advance, the cleaning efficiency of the unmanned ship is greatly improved, the data communication stability of the unmanned ship and the unmanned ship is improved to a certain extent, the technical scheme is perfected, and the effect of improving the water area cleaning speed of the unmanned ship and the unmanned ship under the cooperation is further perfected.
According to the technical scheme, the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method further comprises the following steps:
after the unmanned aerial vehicle traverses the target sub-area, acquiring position information of all unmanned ships;
it is easily understood that, because unmanned aerial vehicle and unmanned ship have certain communication range, and unmanned aerial vehicle need send the surface of water image to unmanned ship, consequently, need ensure that unmanned aerial vehicle is in unmanned ship's communication range all the time, so need acquire the positional information of whole unmanned ship.
Taking a preset communication distance as the communication radius of the unmanned ship, and judging whether the traversal path of the unmanned aerial vehicle is at least positioned in the communication radius of one unmanned ship or not according to the position information of all the unmanned ships;
it should be noted that the situation of effective coverage of the communication signal can be obtained only by drawing a circle with a radius as the communication radius with the positions of all unmanned ships as the origin, and at this time, whether all the traversal paths of the unmanned aerial vehicle are located in the effective coverage range can be judged.
And when the unmanned aerial vehicle is not positioned in the communication radius of one unmanned aerial vehicle, adjusting the navigation route of the unmanned aerial vehicle which is not executing the cleaning task, so that the traversal path of the unmanned aerial vehicle is positioned in at least one communication radius of the unmanned aerial vehicle.
It is worth emphasizing that since the unmanned ship executing the cleaning task has a preset navigation route, only the unmanned ship not executing the cleaning task can be adjusted, and in general, coverage of the unmanned aerial vehicle traversal path can be realized only by arranging one unmanned ship in the middle range of the sub-area.
The position and the navigation route of unmanned ship are adjusted through this embodiment, have further ensured unmanned aerial vehicle and unmanned ship's communication stability, have reduced losing of surface of water image, have avoided the repeated collection of surface of water image, have promoted cooperative efficiency, have improved the efficiency of rubbish clearance, have further improved unmanned aerial vehicle and unmanned ship's cooperative efficiency.
The invention also provides a water area cleaning system with the cooperation of the unmanned aerial vehicle and the unmanned ship, which comprises the following components:
the dividing and collecting unit is used for dividing a target cleaning water area into regular sub-areas with preset sizes, controlling the unmanned aerial vehicle to traverse the water surface images in the target sub-areas, controlling the unmanned aerial vehicle to traverse the next target sub-area after the unmanned aerial vehicle finishes traversing, and generating sub-area garbage distribution information according to all the traversed water surface images;
the distribution and cleaning unit is used for synchronizing the garbage distribution information of the subareas to all unmanned ships and then sending cleaning tasks of the target subareas to the unmanned ships which are closest to the target subarea and have no cleaning tasks;
and the return unit is used for controlling the unmanned aerial vehicle to land to a distance after the unmanned aerial vehicle traverses all the sub-areas, the unmanned aerial vehicle is nearest to the unmanned ship, and after all the sub-area cleaning tasks are completed, all the unmanned ships are controlled to go to a preset place, and the water area cleaning is completed.
The invention also provides a water area cleaning and calculating device with the cooperation of the unmanned aerial vehicle and the unmanned ship, which comprises the following components: the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method comprises a memory, a processor and a unmanned aerial vehicle and unmanned ship cooperative water area cleaning calculation program which is stored in the memory and can run on the processor, wherein the unmanned aerial vehicle and unmanned ship cooperative water area cleaning calculation program realizes the steps of the unmanned aerial vehicle and unmanned ship cooperative water area cleaning method when being executed by the processor.
The invention also provides a readable storage medium, wherein the readable storage medium is stored with a water area cleaning calculation program with cooperation of the unmanned aerial vehicle and the unmanned ship, and the water area cleaning calculation program with cooperation of the unmanned aerial vehicle and the unmanned ship is executed by a processor to realize the steps of the water area cleaning method with cooperation of the unmanned aerial vehicle and the unmanned ship.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011067325.3A CN112278170B (en) | 2020-10-06 | 2020-10-06 | Unmanned aerial vehicle and unmanned ship cooperative water area cleaning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011067325.3A CN112278170B (en) | 2020-10-06 | 2020-10-06 | Unmanned aerial vehicle and unmanned ship cooperative water area cleaning method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112278170A CN112278170A (en) | 2021-01-29 |
| CN112278170B true CN112278170B (en) | 2021-12-07 |
Family
ID=74422313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011067325.3A Active CN112278170B (en) | 2020-10-06 | 2020-10-06 | Unmanned aerial vehicle and unmanned ship cooperative water area cleaning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112278170B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113389186B (en) * | 2021-07-07 | 2022-05-17 | 安徽工程大学 | Multi-unmanned-boat-cooperated sea surface oil stain cleaning method and system |
| CN113867404B (en) * | 2021-11-05 | 2024-02-09 | 交通运输部天津水运工程科学研究所 | Beach garbage inspection method and system based on unmanned aerial vehicle |
| CN114565635B (en) * | 2022-03-08 | 2022-11-11 | 安徽新宇环保科技股份有限公司 | Unmanned ship system capable of intelligently identifying river channel garbage and performing classified collection |
| CN114537666B (en) * | 2022-03-14 | 2023-02-21 | 湖北天宜机械股份有限公司 | Unmanned aerial vehicle and unmanned ship cooperative water surface floating garbage removing equipment and operation method |
| CN114545952B (en) * | 2022-04-20 | 2022-07-29 | 季华实验室 | Water surface cleaning method, operation system, device, electronic equipment and storage medium |
| CN119005305B (en) * | 2024-10-22 | 2025-02-11 | 山东科技大学 | Unmanned aerial vehicle and unmanned ship length endurance collaborative search method based on reinforcement learning |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234616B (en) * | 2017-07-07 | 2018-08-14 | 广州木木机器人技术有限公司 | Multirobot control method and device |
| KR20190093072A (en) * | 2018-01-31 | 2019-08-08 | 동아대학교 산학협력단 | Marine cleaning system including unmanned cleaning ship |
| CN109774960A (en) * | 2019-02-27 | 2019-05-21 | 集美大学 | Unmanned ship and unmanned aerial vehicle cooperation system and control method |
| CN210554248U (en) * | 2019-10-09 | 2020-05-19 | 张文馨 | Marine refuse treatment device |
| CN110758658A (en) * | 2019-11-08 | 2020-02-07 | 湘潭大学 | A method of using drones and unmanned ships to collaboratively clean up floating garbage on the water |
| CN111476459B (en) * | 2020-03-11 | 2022-03-18 | 珠海格力电器股份有限公司 | Cleaning machine cluster cooperative working method, device, equipment and computer readable medium |
| CN111391983B (en) * | 2020-04-01 | 2022-04-01 | 华中科技大学 | Multi-unmanned-boat cooperative water area sewage disposal device, system and method |
-
2020
- 2020-10-06 CN CN202011067325.3A patent/CN112278170B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112278170A (en) | 2021-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112278170B (en) | Unmanned aerial vehicle and unmanned ship cooperative water area cleaning method and system | |
| CN106405040B (en) | A kind of water quality inspection based on unmanned machine, pollutant source tracing method | |
| CN105549619B (en) | Multi-take-off and landing point route planning method for cruising ability of unmanned aerial vehicle | |
| DE112018003945T5 (en) | METHOD AND DEVICES FOR PROVIDING WIRELESS UPDATES TO SENSOR NODES ON THE INTERNET OF THINGS | |
| DE102018121335A1 (en) | ROBOT-BASED VIRTUAL LIMITS | |
| CN111047086B (en) | Vehicle path planning and unmanned aerial vehicle task allocation joint optimization method and device | |
| JP2021534481A (en) | Obstacle or ground recognition and flight control methods, devices, equipment and storage media | |
| CN108646728B (en) | Cloud server-based automatic water surface garbage cleaning method and system | |
| CN110244763B (en) | Remote monitoring system and monitoring method for seawater pollutants | |
| US20200408535A1 (en) | Map change detection | |
| DE102017127180A1 (en) | Soil cultivation by means of an autonomous mobile robot | |
| CN115202391B (en) | Collaborative mission planning method for vehicle-mounted multi-UAV for large-scale regional reconnaissance | |
| CN109947103A (en) | Unmanned control method, device, system and load bearing equipment | |
| CN113895575B (en) | Water surface cleaning robot salvaging system based on Arian cloud and convolutional neural network algorithm | |
| DE112018007178T5 (en) | CONTROL DEVICE, MOVABLE OBJECT, CONTROL METHOD AND PROGRAM | |
| CN110588906A (en) | A system and method for removing oil from offshore oil spills | |
| CN109298713A (en) | Instruction sending method, device and system, automatic driving vehicle | |
| DE102021105002A1 (en) | INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING SYSTEM AND INFORMATION PROCESSING METHOD | |
| CN117746688A (en) | Remote sensing communication control method, device, equipment and medium for multiple unmanned aerial vehicles | |
| CN115167504A (en) | A method and system for power line inspection based on UAV | |
| CN106485429B (en) | Unmanned aerial vehicle operation scheduling method and device | |
| CN117646402A (en) | Airport runway foreign matter cleaning method and device and cleaning equipment | |
| CN115928632A (en) | FOD surveys and cleaning system based on unmanned aerial vehicle | |
| CN114545952A (en) | Water surface cleaning method, operation system, device, electronic equipment and storage medium | |
| CN114995511A (en) | Airborne unmanned aerial vehicle swarm task cooperative management system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |