KR102087091B1 - System for collecting garbage using drone - Google Patents

Abstract

According to the present invention, provided is a garbage collecting system. The garage collecting system comprises: a store terminal disposed at a store, transmitting a store advertisement signal by using Bluetooth low energy (BLE) communication, and transmitting store identification information in response to a connection request signal; a user terminal receiving the store advertisement signal by using the BLE communication, receiving the store identification information by transmitting the connection request signal, matching the store identification information and user identification information, and receiving order information with regard to products at the store and payment type information of a payment means for payment of the order information; and an operation server receiving the store identification information and the user identification information which match each other, and transmitting store product information corresponding to the store identification information to the user terminal.

Description

System for collecting garbage using drone

The present invention relates to a garbage collection system using a drone, and more particularly, to a garbage collection system for collecting a garbage storage device in which garbage is stored using a drone.

As residential environment facilities develop into modern group apartment complexes or high-rise residential complexes, the scale of household waste also increases astronomically, limiting the conventional waste collection method.

For more advanced garbage collection methods suitable for large residential complexes, the transport pipeline is isolated from the building to the garbage collection site, and the waste is transported to the internal air flow automatically. Background Art A waste collection system is known in which a blowing and vacuum conveying system is transported to a waste collection site. Such waste collection system is transported to the waste collection place by the blower transport method for the general waste, and food waste is transported to the waste collection place by the vacuum transport method. However, the conventional waste collection system has a high space occupancy, and the height control of the basement floor to be used as a waste collection place must be made essentially, so there is a problem in that the number of floors is low or the economic efficiency is not low in a single building. That is, in the conventional waste collection system, since the devices for collecting and disposing of general waste or food waste are not modularized but individually configured, the waste collection system has a high space occupancy and is uneconomical due to the horizontal pipe in which waste is moved. There is this.

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Korean Patent Registration No. 10-1173461

According to the present invention, the unmanned flying device and the final garbage collection station are respectively selected from the plurality of unmanned flying devices and the plurality of garbage collection houses so that the garbage collection time is minimized. It is about the system.

In addition, the present invention, if the third battery consumption information of the collection unmanned flying device that collects and moves the garbage storage device exceeds the remaining battery information, the garbage storage device in the collection unmanned flying device other than the unmanned flying device and take over unmanned flying device or The present invention relates to a waste collection system for collecting a waste storage device into a final garbage dump by being handed over to a garbage collection vehicle.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention, which are not mentioned above, can be understood by the following description, and more clearly by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The garbage collection system according to the present invention for solving the above technical problem is a system for collecting garbage using a plurality of unmanned flying devices, storing the garbage, comparing the size between the storage amount of the waste and the preset reference storage amount A waste storage device configured to transmit a storage excess notification signal when the storage amount of the garbage exceeds the preset reference storage amount; A user terminal that receives the storage excess notification signal and transmits a collection request signal when a collection request is received from a user in response to the storage excess notification signal; When the collection request signal is received, each of the plurality of unmanned flying devices calculates first flight time information required for each flight to the collection location where the garbage storage device is located, and each of the plurality of unmanned flying devices is Calculating second flight time information required for each flight from the collection location to the plurality of collection locations where the plurality of garbage dumps are located, wherein the first flight time information, the second flight time information, and the plurality of garbage dumps And calculating collection time information for each of the plurality of garbage dumps of each of the plurality of unmanned flying devices, based on the collection time information required for the garbage storage device to be collected, from among the plurality of unmanned flight devices and the plurality of garbage dumps. Satisfying the first selection condition set based on the collection time information; An operation server that selects the unmanned flight device and the garbage collection station as collection unmanned flight devices and the final garbage collection station, respectively, and sends a collection command signal to the collection unmanned flight device to instruct the collection of the garbage storage device to be collected into the final garbage collection station; And retrieving the recycling indication information from the image information photographing the waste storage device. When the recycling indication information is retrieved from the image information, the garbage is determined to be a recycling type corresponding to the recycling indication information. And an unmanned flying device for collecting the waste storage device in a recycling collection area corresponding to the type of recycling among recycling collection areas of the recycling collection area.

Preferably, the operation server may include first battery consumption rate information indicating battery power consumed when the unmanned aerial vehicle is collected without the garbage storage device and the first flight time information of the unmanned aerial vehicle; Calculating first battery consumption information based on the first battery consumption information; and obtaining second battery consumption information indicating battery power consumed when the unmanned aerial vehicle is flying in a state where the garbage storage device is collected. Calculating based on the storage amount, calculating second battery consumption information based on the second battery consumption information and the second flight time information, and adding the first battery consumption information and the second battery consumption information to total battery consumption; Information, and the total battery consumption information is When the battery residual information of the unmanned aerial vehicle is exceeded, the collected unmanned aerial vehicle may be reselected.

Preferably, the operation server calculates third flight time information required when the unmanned flying device is flying from the current flight position to the final storage position where the final garbage dump is located while collecting and flying the garbage storage device. And calculating third battery consumption information based on the second battery consumption rate information and the third flight time information, and when the third battery consumption information exceeds battery remaining information of the collection unmanned aerial vehicle, the second battery. Set a first flightable area of the collection unmanned flight device based on the consumption rate information and the battery remaining amount information, and each of the other unmanned flight devices not selected as the collection unmanned flight device from the current position to the first flightable area. Flying to the final collecting position via a take over position included A second set position of each of the take-over positions so that the path length information of the system flight path is the shortest; Selecting the unmanned flying device that satisfies the selection condition, and selecting the unmanned flying device, and the first unmanned flying device to command the garbage storage device to take over from the collected unmanned flying device to the takeover unmanned flying device; It can transmit to the takeover unmanned flying device.

Preferably, when the unmanned flying device that satisfies the second selection condition is not among the other unmanned flying devices, the operation server includes a portion of a vehicle moving path included in the first flightable area among a plurality of garbage collection vehicles. The garbage collection vehicle may be selected as a takeover garbage collection vehicle, and a second takeover command signal may be transmitted to the collection unmanned aerial vehicle so that the garbage storage device takes over from the collection unmanned flying device to the takeover garbage collection vehicle.

Preferably, the operation server compares the magnitude between the collection limit amount information and the storage amount of the collection unmanned flying device, and when the storage amount exceeds the collection limit information, the plurality of unmanned flight devices based on the collection time information The collection unmanned flying device may be further selected from among.

Preferably, the waste storage device comprises a plurality of first fastening members formed on one side to be fastened or separated from one or more unmanned flying devices; And a plurality of second fastening members formed on the other side and fastened or separated from each of the plurality of first fastening members of another waste storage device.

Preferably, the unmanned flying device includes a fastening portion fastened or separated from at least one of the plurality of first fastening members, and when collecting a plurality of waste storage devices, a first waste storage device among the plurality of waste storage devices. The first waste storage apparatus when the at least one of the plurality of first fastening members and the fastening portion move to fasten, and when at least one of the plurality of first fastening members and the fastening portion are fastened, And each of the plurality of first fastening members of the plurality of first fastening members and the plurality of first fastening members of the second waste storage device of the plurality of waste storage devices are fastened.

According to the present invention, when the storage amount of the waste stored in the waste storage device exceeds a preset reference storage amount, the garbage can be collected using an unmanned flying device without restriction on the existing waste collection time.

In addition, according to the present invention, according to the battery remaining amount of the unmanned aerial vehicle to collect the garbage storage device, the garbage storage device is handed over from the collection unmanned aerial vehicle to the unmanned aerial vehicle and other takeover unmanned flying device or garbage collection vehicle to the final garbage By collecting to a collection place, it is possible to prevent the phenomenon of garbage collection.

1 is a view illustrating a garbage collection system according to various embodiments of the present disclosure.
2 is a block diagram illustrating the components of a garbage storage device according to an embodiment of the present invention.
3 is a perspective view showing a garbage storage device according to an embodiment of the present invention.
4 is a block diagram illustrating components of a user terminal according to an exemplary embodiment.
5 is a block diagram illustrating components of an operation server according to an exemplary embodiment.

Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings. However, this is not intended to limit the invention to the particular embodiments, it should be understood to include various modifications, equivalents, and / or alternatives to the embodiments of the present invention. In connection with the description of the drawings, similar reference numerals may be used for similar components.

In this document, expressions such as "have", "may have", "include", or "may include" include the presence of a corresponding feature (e.g., numerical, functional, operational, or component such as a component). Does not exclude the presence of additional features.

In this document, expressions such as "A or B", "at least one of A or / and B", or "one or more of A or / and B" may include all possible combinations of items listed together. . For example, "A or B", "at least one of A and B", or "at least one of A or B" includes (1) at least one A, (2) at least one B, Or (3) both of cases including at least one A and at least one B.

As used herein, the expressions “first,” “second,” “first,” or “second,” etc. may modify various components in any order and / or in importance. It is used to distinguish it from other components and does not limit the components. For example, the first user device and the second user device may indicate different user devices regardless of the order or importance. For example, without departing from the scope of rights described herein, the first component may be referred to as the second component, and similarly, the second component may be referred to as the first component.

One component (such as a first component) is "(functionally or communicatively) coupled with / to" to another component (such as a second component) or " When referred to as "connected to," it is to be understood that any component may be directly connected to the other component or may be connected through another component (e.g., a third component). On the other hand, when a component (e.g., a first component) is said to be "directly connected" or "directly connected" to another component (e.g., a second component), the component and the It may be understood that no other component (eg, a third component) exists between the other components.

The expression "configured to" used in this document is, for example, "suitable for", "having the capacity to ), "Designed to", "adapted to", "made to", or "capable of" . The term "configured to" may not necessarily mean only "specifically designed to" in hardware. Instead, the expression "device configured to" in some situations may mean that the device "can" with other devices or components. For example, the phrase “controller configured (or set up) to perform A, B, and C” may be executed by executing a dedicated processor (eg, an embedded processor) or one or more software programs stored in memory to perform the operation. It may mean a general-purpose processor (eg, a CPU or an application processor) capable of performing corresponding operations.

The terminology used herein is for the purpose of describing particular embodiments only and may not be intended to limit the scope of other embodiments. Singular expressions may include plural expressions unless the context clearly indicates otherwise. The terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art. Among the terms used in this document, the terms defined in the general dictionary may be interpreted as having the same or similar meaning as the meaning in the context of the related art, and unless it is clearly defined in this document, in an ideal or excessively formal meaning. Not interpreted. In some cases, even if terms are defined in the specification, they may not be interpreted to exclude embodiments of the present disclosure.

1 is a view illustrating a garbage collection system 10 according to various embodiments of the present disclosure.

Referring to FIG. 1, the garbage collection system 10 includes a garbage storage device 100, a user terminal 200, an operation server 300, a plurality of unmanned flying devices 400, and a plurality of garbage storage terminals 500. It may include.

The garbage storage device 100 stores garbage, compares the magnitude between the storage amount of the garbage and the preset reference storage amount, and when the storage amount of the garbage exceeds the preset reference storage amount, the storage amount exceeding notification signal to the user terminal 200. I can send it.

The place where the waste storage device 100 is disposed is not limited. For example, the place where the waste storage device 100 is disposed may be a residential building, a commercial building, and a public building.

The user terminal 200 may receive an excess storage notification signal from the garbage storage device 100, and receive a collection request from the user in response to the excess storage notification signal. Thereafter, when the user terminal 200 receives a collection request from the user, the user terminal 200 may transmit a collection request signal to the operation server 300.

The user terminal 200 may be a terminal used by a user who discharges waste to the waste storage device 100 and manages the waste storage device 100.

When the operation server 300 receives the collection request signal from the user terminal 200, the operation server 300 calculates collection time information for each of the plurality of unmanned flying apparatuses 300 and the plurality of garbage dumps, and is based on the collection time information. Selecting the unmanned flying device of the unmanned flying device 300 of the collection, select the final garbage collection of the plurality of garbage collection, collecting the collection command signal for instructing to collect the garbage storage device 100 to the final garbage collection Can transmit to unmanned aerial vehicles.

The collection time information described above will be described later in detail.

When the plurality of unmanned flight devices 400 are selected as the unmanned flight devices from the operation server 300 and receive a collection request signal, the plurality of unmanned flight devices 400 fly toward the waste storage device 100 to collect the waste storage device 100, The garbage storage device 100 may be collected by flying to a final garbage dump selected from a plurality of garbage dumps.

The plurality of unmanned flying devices 400 retrieve the recycling mark information from the image information of the garbage storage device 100, and if the recycling mark information is retrieved from the image information, determine that the garbage is a recycling type corresponding to the recycling mark information. The garbage storage device 100 may be collected in a recycling collection area corresponding to the type of recycling among the recycling collection areas of the final garbage collection site.

Meanwhile, the plurality of unmanned flying devices 400 may include a fastening part 410 that is fastened or separated from one or more of the plurality of first fastening members 160 of FIG. 3.

When the plurality of unmanned flying devices 400 collect a plurality of waste storage devices, the plurality of unmanned flying devices 400 may include a plurality of first fastening members (160 in FIG. 3) of the first waste storage device 100 of FIG. 3. When the at least one and the fastening part 410 moves to be fastened, and the fastening part 410 is fastened with at least one of the plurality of first fastening members 160 of FIG. 3 of the first waste storage device 100 of FIG. 3. 3, a plurality of first fastening members of the second waste storage device (100 ′ of FIG. 3) of the plurality of second fastening members (170 of FIG. 3) of the first waste storage device (100 of FIG. 3) and the plurality of waste storage devices. The fastening member (160 ′ in FIG. 3) may move to be fastened.

Such a plurality of unmanned flying devices 400 may be a vehicle manufactured to perform a designated task without boarding a pilot. Such a plurality of unmanned flying devices 400 may be one or more of a drone and an unmanned aircraft system. The plurality of unmanned flying devices 400 may be wirelessly communicated with a remote control device through a computer device mounted therein so that the position and attitude may be controlled remotely.

The plurality of garbage collection terminals 500 may be disposed in each of the plurality of garbage collection stations to transmit collection time information of each of the plurality of garbage collection stations to the operation server 300.

Here, the collection time information may be time information that is required for the waste storage device 100 to be collected in the garbage collection place. For example, when the number of garbage storage devices 100 that arrive at the garbage dump and wait for the collection exceeds the number of possible garbage collections per hour of the garbage dump, the collection time information of the garbage dump may increase. That is, the collection time information may mean an elapsed time from the arrival time when the garbage storage device 100 arrives at the garbage dump to the completion time of the collection of the garbage stored in the garbage storage device 100 to the garbage dump.

Hereinafter, components of each of the waste storage device 100, the user terminal 200, the operation server 300, the plurality of unmanned flying devices 400, and the plurality of garbage storage terminals 500 of the garbage collection system 10 may be provided. This will be described in detail.

2 is a block diagram showing the components of the garbage storage device 100 according to an embodiment of the present invention, Figure 3 is a perspective view showing a garbage storage device 100 according to an embodiment of the present invention.

1 to 3, the garbage storage device 100 includes a housing 110, a measurement unit 120, a communication unit 130, a storage unit 140, a control unit 150, and a plurality of first fastening members ( 160 and a plurality of second fastening members 170.

The housing 110 may accommodate the components of the waste storage device 100 therein, and in particular, the waste may be stored therein.

To this end, the housing 110 may have a waste inlet 111 through which waste can be introduced into the front, and a storage space in which the disposed waste is stored may be formed therein.

The housing 110 may be formed of at least a portion of a transparent material so that the stored garbage can be identified from the outside.

When the waste stored in the housing 110 is recycled waste, the recycling indication information corresponding to the recycle type of waste may be displayed on one side.

The measuring unit 120 may measure the storage amount of garbage stored therein. To this end, the measuring unit 120 may be provided with a weight sensor for measuring the weight.

The communication unit 130 may transmit the storage excess notification signal to the user terminal 200 by using general-purpose communication.

To this end, the communication unit 130 may be connected to a communication network to perform communication with the user terminal 200 using universal communication. To this end, the communication unit 130 may include a general purpose communication module for performing general purpose communication.

Here, the general-purpose communication is a communication using the Internet network, or as a cellular communication protocol, for example, Long-Term Evolution (LTE), LTE Advanced (LTE-A), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), At least one of Universal Mobile Telecommunications System (UMTS), Wireless Broadband (WiBro), and Global System for Mobile Communications (GSM) may be used. General purpose communication may also include, for example, near field communication. The short range communication may include, for example, at least one of Wi-Fi, MST, and GNSS.

The storage 140 may store an operation program programmed by the waste storage device 100 to be controlled by the controller 150.

The storage unit 140 may include a nonvolatile memory and a volatile memory, and an operation program may be stored in the nonvolatile memory and loaded and operated in the volatile memory.

The controller 150 may control the overall operation of the waste storage device 100. For example, the controller 150 may control the measurement unit 120 to measure the storage amount of the stored garbage. In addition, the controller 150 may control the communication unit 130 to transmit or receive information and signals. In addition, the controller 150 may control the storage 140 to load or store necessary information and operation programs.

The controller 150 compares the magnitude between the storage amount of the waste measured by the measuring unit 120 and the preset reference storage amount, and when the storage amount of the garbage exceeds the preset reference storage amount, the user terminal 200 provides a notification indicating the storage amount exceeded. The communicator 130 may be controlled to transmit to

In this case, the controller 150 may control the communication unit 130 to include the device identification information of the garbage storage device 100 in the storage amount exceeding notification signal and transmit the same to the user terminal 200.

Meanwhile, when the storage amount of the garbage exceeds a preset reference storage amount, the controller 150 according to another embodiment includes the device identification information of the garbage storage device 100 in the storage amount exceeding notification signal and transmits it to the operation server 300. The communication unit 130 may be controlled to perform the control.

The controller 150 according to an embodiment may include one or more of a central processing unit (CPU), an application processor (AP), and a communication processor (CP). The controller 150 may execute, for example, an operation or data processing related to control and / or communication of at least one other component of the garbage storage device 100.

The plurality of first fastening members 160 may be formed at one side of the waste storage device 100. For example, the plurality of first fastening members 160 may be formed on the upper side of the housing 110.

The plurality of first fastening members 160 may be fastened or separated from the one or more unmanned flight devices 100. Specifically, any one of the plurality of first fastening members 160 may be fastened or separated from one unmanned flight device 100, and two or more may be fastened or separated from each of the two or more unmanned flight devices 100. have.

The plurality of first fastening members 160 may be formed in a protrusion shape so as to be fitted into the fastening portion of the unmanned flight device 100.

Due to the configuration of the present invention, the garbage storage device 100 may be collected by being fastened with one or more unmanned flight devices 100.

The plurality of second fastening members 170 may be formed at the other side of the waste storage device 100. For example, the plurality of second fastening members 170 may be formed below the housing 110.

As illustrated in FIG. 3, the plurality of second fastening members 170 may be fastened or separated from the first fastening members 160 ′ of the other waste storage devices 100 ′, respectively.

The plurality of second fastening members 170 may be formed in a cylindrical shape such that the plurality of first fastening members 160 ′ of the other waste storage device 100 ′ formed in the shape of protrusions may be inserted into and fastened inward. In addition, the plurality of second fastening members 170 transmit external force applied from the outside to the plurality of first fastening members 160 ′ of the other waste storage device 100 ′ fastened and press the outward force to the other fastened members. A separation member 171 may be provided to separate the plurality of first fastening members 160 ′ of the garbage storage device 100 ′.

Due to the configuration of the present invention, the waste storage device 100 may be collected by being fastened with one or more unmanned flying devices 100 in a state of being fastened with another waste storage device 100.

4 is a block diagram illustrating components of the user terminal 200 according to an exemplary embodiment.

1 and 4, the user terminal 200 may include a communication unit 210, an input unit 220, a display unit 230, a storage unit 240, and a control unit 250.

The communication unit 210 may be connected to a communication network to communicate with the waste storage device 100 and the operation server 300 by using universal communication. To this end, the communication unit 210 may include a general purpose communication module for performing general purpose communication.

The communication unit 210 may receive an excess storage notification signal including the device identification information of the waste storage device 100 from the waste storage device 100.

The communication unit 210 may transmit the collection request signal to the operation server 300 when a collection request is input from the user in response to the storage excess notification signal. At this time, the communication unit 210 may include the received device identification information included in the storage excess notification signal to the collection request signal to transmit to the operation server (300).

Meanwhile, the universal communication performed by the universal communication module of the communication unit 210 is a communication using the Internet network or is a cellular communication protocol, for example, at least one of LTE, LTE-A, CDMA, WCDMA, UMTS, WiBro, and GSM. You can use one. General purpose communication may also include, for example, near field communication. The short range communication may include, for example, at least one of Wi-Fi, MST, and GNSS.

The input unit 220 may receive various information from a user through a touch screen combined with the display unit 230. In detail, the input unit 220 may receive a collection request for requesting collection of the garbage storage device 100 in response to a storage excess notification signal.

The display unit 230 may display an image or a video under the control of the controller 250. In particular, the display unit 230 may display an execution screen of the application, that is, a graphical user interface (GUI).

The display unit 230 may notify the user by displaying a notification signal indicating that the storage amount of the garbage stored in the garbage storage device 100 exceeds a preset reference storage amount when the storage amount exceeding notification signal is received by the troughing unit 210.

According to an exemplary embodiment, the display unit 230 may be a touch screen display combined with a touch screen.

The storage unit 240 may store an operation program programmed by the user terminal 200 to be controlled by the controller 250.

The storage unit 240 may include a nonvolatile memory and a volatile memory, and an operation program may be stored in the nonvolatile memory and loaded and operated in the volatile memory.

The controller 250 may control the overall operation of the user terminal 200. For example, the controller 250 may control the communication unit 210 to transmit or receive information and signals. In addition, the controller 250 may control the input unit 220 to receive various information from the user. In addition, the controller 250 may control the display unit 230 to display an image including information. In addition, the controller 250 may control the storage 240 to load or store necessary information and operation programs.

In particular, when the collection request is input to the input unit 220, the controller 250 may control the communication unit 210 to include the device identification information in the collection request signal and transmit the device identification information to the operation server 300.

5 is a block diagram illustrating components of an operation server 300 according to an exemplary embodiment.

1 and 5, the operation server 300 may include a communication unit 310, a storage unit 320, and a control unit 330.

The communication unit 310 may be connected to a communication network to perform communication with the garbage storage device 100, the user terminal 200, the plurality of unmanned flying devices 400, and the garbage storage terminal 500 using universal communication. To this end, the communication unit 310 may include a general purpose communication module 311 for performing general purpose communication.

The communicator 310 may receive an excess storage notification signal including the device identification information from the garbage storage device 100.

The communication unit 310 may receive a collection request signal from the user terminal 200.

The communication unit 310 may transmit a collection command signal to the collection unmanned flying device selected by the controller 330 among the plurality of unmanned flying devices 400.

The communication unit 310 may transmit the first takeover command signal to the collection unmanned flying device and the takeover unmanned flying device selected by the controller 330.

The communication unit 310 may transmit a second takeover command signal to the collection unmanned flying device when the takeover garbage collection vehicle is selected by the control unit 330.

The communicator 310 may receive battery remaining amount information, flight speed information, and current location information from each of the plurality of unmanned flight devices 400, the unmanned flight devices, and the unmanned flight devices.

The communication unit 310 may receive collection time information from each of the plurality of garbage collection terminals 500.

Meanwhile, the universal communication performed by the universal communication module of the communication unit 310 is a communication using the Internet network or is a cellular communication protocol, for example, at least one of LTE, LTE-A, CDMA, WCDMA, UMTS, WiBro, and GSM. You can use one.

The storage unit 320 may store an operation program programmed by the operation server 300 to be controlled by the controller 330.

The storage unit 320 may store device identification information, collection identification information, and location information of the collection storage in advance.

The storage unit 320 may include a nonvolatile memory and a volatile memory, and an operation program may be stored in the nonvolatile memory and loaded and operated in the volatile memory.

The storage unit 320 may store device identification information, collection identification information, and location information of the collection storage in advance.

When the collection request signal including the device identification information is received from the user terminal 200 by the communication unit 310, or the storage excess notification signal including the device identification information is received from the garbage storage device 100. The first flight time information and the second flight time information of each of the plurality of unmanned flight devices 400 may be calculated.

In detail, the control unit 330 calculates first flight time information required for each of the plurality of unmanned flying devices 400 to fly to the collection location where the garbage storage device 100 is located, and the plurality of unmanned flying devices 400 may calculate second flight time information required for each flight from the collection location to the plurality of collection locations where the plurality of garbage dumps are located.

To this end, the control unit 330 is the first flight time information based on the flight speed information of each of the plurality of unmanned flying device 400 received by the communication unit 310 and the first flight distance information from the current position to the collection position The second flight time information may be calculated based on the flight speed information and the second flight distance information from the collection position to each of the plurality of collection positions.

Subsequently, the controller 330 may be configured based on the first flight time information, the second flight time information, and the collection time information required to collect the garbage storage device 100 from the plurality of garbage collection boxes received by the communication unit 310. The unmanned aerial vehicle 400 may calculate collection time information for each of a plurality of garbage dumps.

In detail, the controller 330 may add the unmanned flight device 400 and the plurality of unmanned flight devices 400 by adding up the first flight time information, the second flight time information, and the collection time information for each of the plurality of garbage dumps. It is possible to calculate the collection time information of each garbage dump.

The garbage collection system 10 includes an unmanned aerial vehicle A1, an unmanned aerial vehicle A2, a garbage dump B1, and a garbage dump B2, and the collection time information of the garbage dump B1 and the garbage dump B2 is t3-1 and t3-2, respectively. This will be described as an example.

The control unit 330 calculates the first flight time information of the unmanned flight device A1 as t1-1, and the second flight time information of the unmanned flight device A1 to fly into the garbage dump B1 and the garbage dump B2, respectively, t2-1 and t2. Can be calculated as -1.

Thereafter, the control unit 330 adds t1-1, t2-1, and t3-1 to the collection time information, which is the total time information required for the unmanned flying device A1 to collect the garbage storage device 100 and to collect the garbage storage B1. And the collection time information, which is the total time information required for the unmanned flying device A1 to collect the garbage storage device 100 and to the garbage storage B2, is calculated by adding t1-1, t2-2 and t3-2. Can be.

The control unit 330 may be an unmanned flying device and a final garbage collection device, respectively, which are an unmanned flying device and a garbage storage area that satisfy a first selection condition set based on collection time information among a plurality of unmanned flying devices 500 and a plurality of garbage collection sites. You can choose.

Here, the first selection condition may be set to have the shortest collection time information. That is, the controller 330 determines that the shortest collection time information among the calculated collection time information satisfies the first selection condition, and collects the unmanned flying device and the garbage dump corresponding to the shortest collection time information, respectively. And the final dumpster.

The controller 330 may control the communicator 310 to transmit a collection command signal to the collection unmanned flying device, which instructs the collection of the waste storage device 100 to be collected into the final garbage storage area.

In this case, the controller 330 may control the communication unit 310 to transmit the collection command signal including the device identification information and the terminal identification information of the final garbage dump to the collection unmanned flight device.

Meanwhile, when the collection unmanned flying device is selected, the controller 330 may reselect the collection unmanned flying device based on battery remaining amount information of the collection unmanned flying device.

In detail, the controller 330 may include first battery consumption rate information indicating battery power consumed when the unmanned aerial vehicle collects the garbage storage device 100 and the first flight time information of the unmanned aerial vehicle. Based on the first battery consumption information may be calculated.

That is, the controller 330 may calculate, as the first battery consumption information, the amount of power consumed by the battery when the unmanned aerial vehicle is flying from the current position to the collection position.

Subsequently, the controller 330 may include the first battery consumption rate information and the garbage storage device 100 as second battery consumption rate information indicating battery power consumed when the unmanned aerial vehicle is collected while flying in the state where the garbage storage device 100 is collected. It can be calculated based on the storage amount of garbage stored in the.

In detail, the controller 330 may calculate the second battery consumption rate information by applying the consumption rate weight corresponding to the storage amount to the first battery consumption rate information.

For example, the controller 330 may increase the consumption rate weight per 1KG of the storage amount by 0.1 and set the second battery consumption rate information. That is, when the storage amount is 3KG, the controller 330 may calculate the second battery consumption rate information by multiplying the first battery consumption rate information by 1.3.

Thereafter, the controller 330 may calculate second battery consumption information based on the second battery consumption rate information and the second flight time information.

That is, the controller 330 may calculate, as the second battery consumption information, the amount of power consumed by the battery when the unmanned aerial vehicle is flying from the collection location to the final collection location where the final garbage collection place is located.

The controller 330 may calculate the total battery consumption information by adding the calculated first battery consumption information and the second battery consumption information, and when the total battery consumption information exceeds the remaining battery information of the collection unmanned flying device, the collection unmanned flying device. You can reselect.

In this case, the controller 330 may reselect the collected unmanned flying device based on the collection time information among the remaining unmanned flying devices except for the unmanned flying device selected as the collecting unmanned flying device among the plurality of unmanned flying devices 400.

The controller 330 may repeat selection and deselection of the collection unmanned flying device until the collection unmanned flying device having the total battery consumption information is less than the battery remaining information is selected.

Meanwhile, the controller 330 may select the takeover unmanned flying device from among the plurality of unmanned flying devices 400 based on the battery remaining information of the collecting unmanned flying device while the collecting unmanned flying device receives and receives the collection command signal.

In detail, the control unit 330 may be configured to provide third flight time information required when the unmanned flying device flies from the current flight location to the final storage location where the final garbage storage station is located while collecting and flying the garbage storage device 100. The third battery consumption information may be calculated based on the second battery consumption rate information and the third flight time information.

That is, the controller 330 may calculate, as the third battery consumption information, the amount of power of the battery consumed when the unmanned aerial vehicle in flight is flying to the final collection position.

Thereafter, when the third battery consumption information exceeds the battery remaining information of the collection unmanned flying device, the controller 330 may set the first flightable area of the collecting unmanned flying device based on the second battery consumption information and the battery remaining information. .

In detail, the controller 330 calculates a discharge completion time at which the battery remaining amount information of the currently collected unmanned flying device becomes “0” using the second battery consumption rate, and calculates the discharge completion time and flight speed information of the collected unmanned flying device. The maximum distance can be calculated by multiplying, and a circle having a radius of the maximum distance as the center of the current position of the controller 330 can be set as the first flightable area.

The control unit 330 has the shortest path length information of the takeover flight path, in which each of the other unmanned flight devices not selected as the collection unmanned flight device is flying from the current position to the final collecting position via the takeover position included in the first flightable area. The takeover positions can be set individually so that

At this time, the controller 330 generates a second straight path perpendicular to the first flightable area from the first straight path from the current position to the final collecting position of each of the other unmanned flying devices, and the shortest second straight path. The point of the contactable first flightable area may be set as the take over position.

Accordingly, the takeover flight path of each of the other unmanned flying devices may be a starting position, a passing position, and an arrival position, respectively, at a current position, a takeover position, and a final collecting position.

Finally, the control unit 330 takes over the unmanned flying device that satisfies the second selection condition set based on the path length information, the fourth flight time information of the taking over flight path, and the remaining battery information, among other unmanned flying devices. You can choose.

Here, the fourth flight time information may mean a flight time required when the unmanned flight device is flying the takeover flight path, and the controller 330 transmits path length information of the takeover flight path to the flight speed of the unmanned flight device. It can be calculated by dividing the information.

The controller 330 determines that the remaining battery capacity information is greater than or equal to the fourth battery consumption information required to fly the takeover flight path, and the shorter the path length information and the fourth flight time information of the takeover flight path satisfy the second selection condition. can do.

In this way, the controller 330 may provide the unmanned flying device having the shortest path length information and the fourth flight time information among the unmanned flying devices charged so that the battery can fly all of the flying flight paths among other unmanned flying devices. You can choose to take over an unmanned aerial vehicle.

In this case, the controller 330 takes over the unmanned flying device in which the path length information and the fourth flight time information of the take over flight path exceed the preset reference path length information and the preset reference flight time information, respectively. Can be selected.

In addition, when the path length information of the takeover flight path and the unmanned flight device having the shortest fourth flight time are different from each other, the controller 330 may select the unmanned flight device having the shortest fourth flight time information as the takeover unmanned flight device. .

The control unit 330 controls the communication unit 310 to transmit a first takeover command signal for instructing the garbage storage device 100 to take over from the collection unmanned flying device to the takeover unmanned flying device to the collection unmanned flying device and the takeover unmanned flying device. can do.

The controller 330 may control the communication unit 310 to transmit the first takeover command signal including the device identification information, the storage identification information, and the takeover location information of the takeover location to the collection unmanned flight device and the takeover unmanned flight device.

Due to the configuration of the present invention, when the collection unmanned flying device does not fly to the final storage position due to the sudden discharge of the battery while collecting and flying the garbage storage device 100, the takeover unmanned flying device 100 is the garbage storage device 100 Take over to collect the waste storage device 100 to the final garbage collection in the shortest distance and the minimum time.

On the other hand, when there is no unmanned flying device that satisfies the second selection condition among other unmanned flying devices, the control unit 330 includes a garbage collecting vehicle in which a part of the vehicle moving path is included in the first flightable area among the plurality of garbage collecting vehicles. Can be selected as a takeover garbage collection vehicle.

Here, the garbage collection vehicle may be a vehicle that collects the garbage storage device 100 while moving the time and the vehicle movement path according to a predetermined time.

In addition, the vehicle movement path of the garbage collection vehicle may be information indicating a path that the garbage collection vehicle moves after the current time.

The controller 330 may control the communication unit 310 to transmit the second takeover command signal to the collection unmanned flying device so that the garbage storage device 100 takes over from the collection unmanned flying device to the takeover garbage collection vehicle.

In this case, the controller 330 may control the communication unit 310 to transmit the second takeover command signal including the device identification information, the storage identification information, the takeover location information, and the vehicle identification information of the takeover garbage collection vehicle to the collection unmanned flying device. Can be.

Due to the configuration of the present invention, when the collection unmanned flying device does not fly to the final collection position due to the sudden discharge of the battery while collecting and flying the garbage storage device 100, the garbage storage device 100 takes over the garbage collection vehicle It can be turned over to collect the waste storage device 100 to the final garbage dump.

On the other hand, the control unit 330 compares the magnitude between the collection limit information and the storage amount of the collection unmanned flying device, and when the storage amount exceeds the collection limit information, based on the collection time information collection of the unmanned flying device from the plurality of unmanned flying devices More choices.

That is, the control unit 330 does not fly when the unmanned flying device does not fly because the storage amount of the garbage stored in the waste storage device 100 exceeds the collection limit information indicating the weight that the selected unmanned aerial vehicle can collect. The flying device may be further selected to allow the plurality of selected unmanned flying devices to collect the garbage storage device 100 together.

To this end, the controller 330 separately classifies the collection time information of the garbage collection corresponding to the final garbage collection among the calculated collection time information, and collects the unmanned flying device corresponding to the shortest collection time information from the classified collection time information. You can choose more with a drone.

Thereafter, the controller 330 may control the communication unit 310 to transmit the collection command signal to the plurality of selected unmanned aerial vehicle.

The controller 330 according to an embodiment may include one or more of a central processing unit (CPU), an application processor (AP), and a communication processor (CP). The controller 330 may execute, for example, an operation or data processing related to control and / or communication of at least one other component of the garbage storage device 100.

Meanwhile, the controller 330 according to another exemplary embodiment may calculate collection fee information based on collection time information. In detail, the controller 330 according to another embodiment may include a first rate rate, a second rate rate, and a third rate rate in the first flight time information, the second flight time information, and the collection time information, respectively, included in the collection time information. The collection fee information may be calculated by applying each of them.

The controller 330 may set the second rate based on the storage amount. In detail, the controller 330 may set the rate rate weight corresponding to the storage amount as the second rate by applying the rate weight to the first rate.

For example, the controller 330 may set the rate rate weight per 1KG of the storage amount by 0.1 and calculate the second rate. That is, when the storage amount is 3KG, the controller 330 may calculate the second rate by multiplying the first rate by 1.3.

Finally, the controller 330 may calculate, as collection fee information, a result obtained by multiplying the first flight time information, the second flight time information, and the collection time information by multiplying the first rate rate, the second rate rate, and the third rate rate by each. have.

According to the present invention, while recommending a plurality of products sold to other users with a similar age and region of residence, if the product to be recommended is different from the products confirmed to have been purchased from the past purchase history of the user, that is, to the taste of the user If the product is different from the product to be recommended, the product may be recommended based on the purchase history of the user.

So far I looked at the center of the preferred embodiment for the present invention. Those skilled in the art will understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope should be construed as being included in the present invention.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

10: Garbage Collection System
100: garbage storage device
200: user terminal
300: production server
400: Multiple Unmanned Flight Devices
500: a plurality of garbage dump terminals

Claims (7)

In the garbage collection system using an unmanned flying device that collects garbage using a plurality of unmanned flying devices,
A garbage storage device for storing the garbage, comparing the magnitude between the storage amount of the garbage and a preset reference storage amount, and transmitting an excess storage notification signal when the storage amount of the garbage exceeds the preset reference storage amount;
A user terminal that receives the storage excess notification signal and transmits a collection request signal when a collection request is received from a user in response to the storage excess notification signal;
When the collection request signal is received, each of the plurality of unmanned flying devices calculates first flight time information required for each flight to the collection location where the garbage storage device is located, and each of the plurality of unmanned flying devices is Calculating second flight time information required for each flight from the collection location to the plurality of collection locations where the plurality of garbage dumps are located, wherein the first flight time information, the second flight time information, and the plurality of garbage dumps And calculating collection time information for each of the plurality of garbage dumps of each of the plurality of unmanned flying devices, based on the collection time information required for the garbage storage device to be collected, from among the plurality of unmanned flight devices and the plurality of garbage dumps. Satisfying the first selection condition set based on the collection time information; An operation server that selects the unmanned flight device and the garbage collection station as collection unmanned flight devices and the final garbage collection station, respectively, and sends a collection command signal to the collection unmanned flight device to instruct the collection of the garbage storage device to be collected into the final garbage collection station; And
The recycling display information is retrieved from the image information photographing the waste storage device. When the recycling display information is retrieved from the image information, the garbage is determined to be a recycling type corresponding to the recycling display information. And an unmanned flying device configured to collect the waste storage device in a recycling collection area corresponding to the type of recycling among recycling collection areas.
The operational server
Comparing the magnitude between the collection threshold information and the storage amount of the collection unmanned flying device, and when the storage amount exceeds the collection threshold information, the collection unmanned flying device is selected from the plurality of unmanned flying devices based on the collection time information. Choose more,
The garbage storage device
A plurality of first fastening members formed on one side and fastened or separated from the one or more unmanned flight devices; And
And a plurality of second fastening members formed on the other side and respectively fastened or separated from the plurality of first fastening members of the other waste storage device.
The operational server
And a controller configured to calculate collection fee information by applying the first rate rate, the second rate rate, and the third rate rate to each of the first flight time information, the second flight time information, and the collection time information.
The control unit
A fare rate weight is set based on the storage amount, and the second fare rate is set by applying the fare rate weight to the first fare rate.
The method of claim 1,
The operational server
First battery consumption based on first battery consumption information indicating battery power consumed when the unmanned aerial vehicle is collected without the garbage storage device and the first flight time information of the unmanned aerial vehicle; Produces information,
Calculating second battery consumption rate information indicating battery power consumed when the unmanned aerial vehicle in flight collects the garbage storage device based on the first battery consumption rate information and the storage amount, and the second battery consumption rate Calculating second battery consumption information based on the information and the second flight time information;
Total battery consumption information is calculated by summing the first battery consumption information and the second battery consumption information, and when the total battery consumption information exceeds battery remaining information of the collection unmanned flying device, reselecting the collection unmanned flying device; Garbage collection system using an unmanned aerial vehicle, characterized in that.
The method of claim 2,
The operational server
The third unmanned flying device calculates third flight time information required when flying from the current flight position to the final storage position where the final garbage storage station is located while collecting and flying the garbage storage device, and the second battery consumption rate Third battery consumption information is calculated based on the information and the third flight time information;
If the third battery consumption information exceeds the battery remaining information of the collection unmanned flying device, the first flightable area of the collection unmanned flying device is set based on the second battery consumption rate information and the battery remaining information, and the collection The handover is performed so that the path length information of the handover flight path that each of the other unmanned flight devices not selected as the unmanned flight device fly from the current position to the final collecting position via the takeover position included in the first flightable area is the shortest. Set each location,
Selecting an unmanned flying device as an unmanned flying device that satisfies a second selection condition set based on the path length information, the fourth flight time information of the takeover flight path, and battery remaining amount information among the other unmanned flying devices;
Using the unmanned flying device, characterized in that for transmitting the unmanned flying device and the unmanned flying device, a first take over command signal for commanding the garbage storage device to take over from the unmanned flying device to the takeover unmanned flying device. Garbage collection system.
The method of claim 3,
The operational server
When there is no unmanned flying device that satisfies the second selection condition among the other unmanned flying devices, the garbage collection vehicle in which any part of the vehicle moving path is included in the first flightable area among the plurality of garbage collecting vehicles is taken over. Select it as a vehicle,
And a second takeover command signal to the collection unmanned flying device so that the garbage storage device takes over from the collection unmanned flying device to the takeover garbage collection vehicle.
delete delete Claim 7 was abandoned upon payment of a set-up fee. The method of claim 1,
The unmanned flying device
A fastening part fastened or separated from at least one of the plurality of first fastening members;
When collecting a plurality of waste storage devices, one or more of the plurality of first fastening members of the first waste storage device of the plurality of waste storage devices is moved to fasten the fastening portion,
When at least one of the plurality of first fastening members of the first waste storage device and the fastening portion are fastened, each of the plurality of second fastening members of the first waste storage device and the second waste of the plurality of waste storage devices. And a plurality of first fastening members of the storage device are moved to be fastened.

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