CN109178308A - A kind of method and system of unmanned plane cleaning lake surface rubbish - Google Patents
A kind of method and system of unmanned plane cleaning lake surface rubbish Download PDFInfo
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- CN109178308A CN109178308A CN201811004091.0A CN201811004091A CN109178308A CN 109178308 A CN109178308 A CN 109178308A CN 201811004091 A CN201811004091 A CN 201811004091A CN 109178308 A CN109178308 A CN 109178308A
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- lake surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- 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
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- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses a kind of method and system of unmanned plane cleaning lake surface rubbish, which comprises obtains lake surface image information, and identifies to described image, identifies the position of lake surface rubbish；Carry garbage collection basket, there are the place flights of rubbish on lake surface, and collect the rubbish on lake surface；It when detecting that the weight of the garbage collection basket reaches preset value, seeks help to vessel for collecting refuse from open, and rubbish is poured into vessel for collecting refuse from open, the preset value includes the first preset value and the second preset value；The system comprises: unmanned plane, vessel for collecting refuse from open.The present invention completes entire salvaging process by unmanned plane, it is automatically flown and is salvaged above entire lake surface by image recognition, without being manually entered lake surface processing, completion is transferred to ship nearby by information after salvaging and is collected to rubbish, in this way, just instead of a large amount of artificial cleanings for carrying out lake surface rubbish are employed, while improving rubbish cleaning efficiency, the cost input of rubbish cleaning is decreased.
Description
Technical field
The present invention relates to air vehicle technique fields, more specifically, being related to a kind of method of unmanned plane cleaning lake surface rubbish
And system.
Background technique
Since people ignore environmental protection, so that world environments was increasingly severe in recent years, the rubbish in lake, river is dirty
Dye is seen everywhere, and the floating material of the water surface is more and more, causes marine pollution, health is influenced, or even hinder navigation channel, especially in trip
The lake surface at scenic spot is swum if there is many visible floating material rubbish, the environmental beauty at entire scenic spot can be seriously affected, be
These garbage floating on water surface are cleared up, environmental protection administration will put into a large amount of human and material resources and financial resources every year, periodically carry out artificial
It salvages, and if really artificial salvaging, present artificial fishing tool is fishing spoon, dredger or simple small-sized salvaging
Equipment causes the large labor intensity manually salvaged, and operating efficiency is low, and cleaning effect is also undesirable.
Summary of the invention
The present invention can realize automatically the salvaging of lake surface rubbish by unmanned plane, largely manually carry out lake surface rubbish instead of employing
The manual cleaning of rubbish while improving rubbish cleaning efficiency, reduces the cost input of rubbish cleaning, provide it is a kind of nobody
The method and system of machine cleaning lake surface rubbish.
The purpose of the present invention is achieved through the following technical solutions:
A kind of method of unmanned plane cleaning lake surface rubbish, which comprises
Lake surface image information is obtained, and described image is identified, identifies the position of lake surface rubbish；
Carrying garbage collection basket, there are the place flights of rubbish on lake surface, and collect the rubbish on lake surface；
When detecting that the weight of the garbage collection basket reaches preset value, seek help to vessel for collecting refuse from open, and rubbish is poured into
In vessel for collecting refuse from open, the preset value includes the first preset value and the second preset value.
Preferably, the acquisition lake surface image information, and described image is identified, identify the position of lake surface rubbish
Include:
Take pictures by the video camera being arranged on unmanned plane and obtains lake surface image.
Preferably, lake surface image information is obtained, and described image is identified, identifies the position packet of lake surface rubbish
It includes: image being identified by image processing module, described image is compared with the rubbish picture prestored, if described
There are common ground then to illustrate having rubbish for image, and determines the position of the rubbish.
Preferably, it when the weight for detecting the garbage collection basket reaches preset value, seeks help to vessel for collecting refuse from open, and
Rubbish is poured into vessel for collecting refuse from open, the preset value include the first preset value and the second preset value comprising steps of
The weight of interval detection garbage collection basket, and the weight is compared with preset value；If the weight is super
The first preset value is crossed, stops collecting rubbish, and search for the position of vessel for collecting refuse from open.
Preferably, it when the weight for detecting the collection frame reaches preset value, and seeks help to vessel for collecting refuse from open, and handle
Rubbish pours into vessel for collecting refuse from open, and the preset value includes that the first preset value and the second preset value further comprise the steps of:
Behind the position for determining vessel for collecting refuse from open, garbage collection basket is dragged on vessel for collecting refuse from open, and rubbish is poured into rubbish
In collecting ship.
Preferably, it when the weight for detecting the collection frame reaches preset value, and seeks help to vessel for collecting refuse from open, and handle
Rubbish pours into vessel for collecting refuse from open, and the preset value includes that the first preset value and the second preset value further comprise the steps of:
If the weight exceeds the second preset value, alarms and send help signal to vessel for collecting refuse from open, wait and collecting
Ship is close and rubbish is poured into vessel for collecting refuse from open.
A kind of system of unmanned plane cleaning lake surface rubbish, comprising: unmanned plane, vessel for collecting refuse from open, the unmanned plane with it is described
Vessel for collecting refuse from open communication connection；
The unmanned plane includes:
Communication module, for being communicated with the vessel for collecting refuse from open；
Module is obtained, for obtaining lake surface image and identification described image；
Locating module, for positioning the position of itself and positioning the position of the vessel for collecting refuse from open；
Garbage collection module, for collecting the rubbish on lake surface；
Detection module, for detecting the weight of garbage collection basket；
Memory module, for storing image and preset value；
The vessel for collecting refuse from open includes:
Communication module is used for and the UAV Communication；
Waste deposit module, the rubbish being collected into for storing unmanned plane.
Preferably, the garbage collection module includes: the drag gear being arranged on the unmanned plane and drags with described
The rotary components that drawing mechanism is correspondingly arranged；Garbage collection basket can be fixed by the drag gear and rotary components in this way
On the unmanned plane, unmanned plane carries out garbage collection with the garbage basket on lake surface.
Preferably, the garbage collection module further include: on the drag gear, tail end is suspended on described front suspension
Garbage collection basket on rotary components.The unmanned plane can pass through the drag gear and the rotary components rubbish in tow
It collects basket and carries out garbage collection on lake surface；It, can be by the rotary components by garbage collection basket also, when needing to tip rubbish
Tail portion lift, such garbage collection basket it is opening down, the purpose tiped rubbish upward, is realized in tail portion.
Preferably, the unmanned plane further includes alarm module, when the weight is more than preset value, for alarming.Work as institute
State unmanned plane detect the garbage weight of garbage collection basket exceeded unmanned plane setting the second preset value when, the unmanned plane
It can alarm and illustrate the rubbish of garbage collection basket overweight, and vessel for collecting refuse from open is requested to provide support.
Bring of the present invention passes through image recognition the utility model has the advantages that the method is to complete entire salvaging process by unmanned plane
It can be achieved automatically that flight carries out salvaging to rubbish above entire lake surface, complete to notify that nearby ship is gone to pair after salvaging
Rubbish is collected, and during this, is handled without being manually entered lake surface rubbish salvaging, in this way, just instead of employing a large amount of people
Work carries out the cleaning of lake surface rubbish, while improving rubbish cleaning efficiency, decreases the cost input of rubbish cleaning.
Detailed description of the invention
Fig. 1 is the method flow diagram in the embodiment of the present invention；
Fig. 2 is the matching flow chart in the embodiment of the present invention；
Fig. 3 is the system structure diagram in the embodiment of the present invention；
Fig. 4 is unmanned plane structural module diagram in the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Not
In the case where conflict, the feature in following embodiment and embodiment be can be combined with each other.
As shown in Figure 1, providing a kind of method of unmanned plane cleaning lake surface rubbish, which comprises
S100, lake surface image information is obtained, and described image is identified, identify the position of lake surface rubbish.
Specifically, image scanning is carried out to its lake surface situation first, to lake when the flight of unmanned plane 1 is entered above lake surface
Before planar condition carries out image scanning, unmanned plane 1 will open scanning system, open the video camera being arranged on unmanned plane 1, and lead to
Its video camera is crossed to obtain the image information of lake surface, the image information of lake surface identifies just whether can determine that lake surface by unmanned plane 1
There are salvageable floating refuses.
Further, unmanned plane 1 identifies lake surface image collected by image processing module, and unmanned plane 1
Lake surface rubbish comparative pattern is inside prestored, the lake surface image is compared with the rubbish picture prestored, if described image
There are common ground then to illustrate that lake surface with the presence of floating refuse, and determines the position of its floating refuse.
Further, the location information of floating refuse is identified by unmanned plane 1, and then determines the distribution of its floating refuse
Situation and floating refuse there are quantity, wherein the floating refuse may include the size of rubbish and the type of rubbish, and
The type of the floating refuse may include papery class, plastic bottle, polybag and fallen leaves etc..
As in a kind of possible embodiment of the present invention, unmanned plane 1 can be by image processing module to lake surface figure collected
As being identified, the type for swimming in the rubbish on lake surface is identified, and determine its position；Described image processing module includes:
Picture processor for acquiring the video camera of lake surface picture and for being analyzed and processed to the lake surface picture and
For storing pre-set picture and from the memory module of the collected lake surface picture of lake surface.Because of the rubbish type on lake surface
More, some rubbish can recycle, then can be configured in advance to the unmanned plane 1, only require it is described nobody
Machine 1 identifies the recyclable target rubbish floated on lake surface, and determines the position of the rubbish.For example, lake surface floating is returned
It is relatively more to receive bottle rubbish, so that it may be stored with bottle picture in the unmanned plane 1 in advance, collect when the video camera described in
Occur having to the bottle picture being stored in advance in the memory module in lake surface picture identical point or it is similar when, identify lake
The position of face rubbish bottle can targetedly be collected different rubbish in this way.If the rubbish on the lake surface does not have
Any utility value can salvage together.
There are the place flights of rubbish on lake surface for S101, carrying garbage collection basket, and collect drift existing on lake surface
Floating rubbish.
Specifically, after unmanned plane 1 obtains lake surface image information by video camera, when salvaging will flight to garbage floating on water surface
Top when flight and carries garbage collection frame and is salvaged, and garbage collection frame is in contact with its lake surface during salvaging, in turn
It drives garbage collection frame to move on the water surface since unmanned plane 1 flies, therefore floating refuse can be collected into garbage collection frame,
In, the garbage collection frame and unmanned plane 1 are consistent movement, and are connected through the fixed structures such as bar or drawstring and are fixed on
1 lower position of unmanned plane.
More specifically, since lake surface rubbish floats on lake surface substantially, no doubt the autologous density of rubbish is smaller, quality also phase
To smaller, and floating refuse will not be moved significantly on its lake surface, and floating refuse need to only be contacted with its garbage collection frame, nothing
When man-machine 1 flight drives garbage collection to frame shift dynamic, floating refuse is also driven in garbage collection frame simultaneously.
S102, it when detecting that the weight of the garbage collection basket reaches preset value, seeks help to vessel for collecting refuse from open 8, and rubbish
Rubbish pours into vessel for collecting refuse from open 8, and the preset value includes the first preset value and the second preset value.
Specifically, salvaging collected by its garbage collection frame together after lake surface floating refuse, the garbage collection frame is big
Small fixation, and collection rubbish quantity and weight are all limited.Wherein, the weight of garbage collection is provided on unmanned plane 1 default
Value, the preset value can be used for comparing the garbage weight in garbage collection frame, and unmanned plane 1 can judge institute by correlation data
Whether the garbage weight of collection is overweight.
Specifically, also to its unmanned plane 1, it arrives safety protection function to the preset value, detection rubbish in the interval of unmanned plane 1 is received
Collect garbage weight collected by frame, can avoid keeping its 1 lift of unmanned plane insufficient since floating refuse collection quantity is excessive and overweight
And it falls and accident occurs.
Further, if unmanned plane 1 detects that the weight of garbage collection frame reaches preset value, unmanned plane 1 will stop at this time
Only its garbage floating on water surface is salvaged in flight, will search for the position of vessel for collecting refuse from open 8 nearby, and send and succour to vessel for collecting refuse from open 8
Information, notifies its vessel for collecting refuse from open 8 to go to assistance, is collected processing to the rubbish in garbage collection frame.Vessel for collecting refuse from open 8 arrives
After reaching, unmanned plane 1 can fly to top, rotate garbage collection frame and directly pour into rubbish in frame in ship garbage case.
Further, signal dispatcher module is additionally provided on the unmanned plane 1, unmanned plane 1 searches for vessel for collecting refuse from open 8 nearby
Position after, just selection and nearest transmissions in its 1 position of unmanned plane relief information.Wherein, the relief information can pass through
GPRS mechanics of communication or wireless blue tooth etc. carry out being sent to vessel for collecting refuse from open 8, certainly, the similarly setting of vessel for collecting refuse from open 8
There are signal dispatcher module and positioning system, its 1 position of unmanned plane can be positioned after receiving help information, work people
Member simultaneously drives the vessel for collecting refuse from open 8 and rushes for 1 site of unmanned plane.
Further, described default including the first preset value and the second preset value, certainly, preset value twice, nothing are set
Man-machine 1 can bear the garbage weight in maximum preset value, reach the first preset value, and unmanned plane 1 no longer salvages floating refuse, search for
Neighbouring 8 position of vessel for collecting refuse from open, and send help information short distance flight can wait assistance ship to arrive in lake surface reaches the
When two preset values, unmanned plane 1 cannot also carry out salvaging floating refuse again, send after help information and can only the fallbacks such as original place
Help ship.
As a kind of possible embodiment, the preset value can also only be set as one certainly, role substantially phase
Together, all for comparing collected floating refuse weight in its garbage collection frame, if collected floating refuse weight is in pre-
If value, unmanned plane 1 can sound an alarm, will no longer salvage its floating refuse, can original place or flight to bank wait assistance ship
The arrival of oceangoing ship.
As alternatively possible embodiment, the vessel for collecting refuse from open 8 has collected all floatings in its garbage collection frame
After rubbish, classification processing can be carried out to its rubbish, floating refuse present in lake surface is mostly papery class, plastic bottle, plastics
Bag and fallen leaves etc., and wherein there are recyclable classes, such as papery class rubbish and plastic bottle to be processed after dried disinfecting
Manufacture relative article can be utilized again；Not recyclable class can carry out the processing such as burning, in this way, part rubbish while beautifying the environment
Rubbish is utilized again.
As shown in Fig. 2, in embodiments of the present invention, when the weight for detecting collection frame reaches preset value, and to rubbish
Rubbish collecting ship 8 is sought help, and rubbish is poured into vessel for collecting refuse from open 8, and the preset value includes that the first preset value and second are default
Value further comprises the steps of:
The weight of S110, interval detection garbage collection basket, and the weight is compared with preset value.
If the weight of S111, the garbage collection frame detected do not reach institute's preset value, unmanned plane 1 continues flight band
Dynamic garbage collection frame salvages its floating refuse.
If S112, the weight are more than the first preset value, and do not reach the second preset value, then unmanned plane 1 stops collecting
Rubbish, and search for the position of vessel for collecting refuse from open 8.
Specifically, unmanned plane 1 salvage floating refuse during interval time the weight of garbage collection frame is detected, and
Value be will test first compared with the first preset value carries out size, when institute's detected value is in except preset value, then illustrate garbage collection
The weight of frame is in overweight state, at this point, unmanned plane 1 flies on its lake surface and no longer salvages to floating refuse, therewith
The location information of vessel for collecting refuse from open 8 near inquiry sends help information, unmanned plane apart from nearest ship to self-position
1 can carry salvaged floating refuse carries out short distance flight on lake surface, or flight waits the arrival of assistance ship to loke shore.
If S113, the weight exceed the second preset value, alarms and send help signal to vessel for collecting refuse from open 8, wait
Collecting ship is close and rubbish is poured into vessel for collecting refuse from open 8.
Specifically, being then at this time unmanned plane 1 when the garbage collection frame weight that unmanned plane 1 is carried reaches the second preset value
To greatest extent, unmanned plane 1 will also not carry out the salvaging to lake surface floating refuse to born weight at this time, can only original place waiting
Assistance ship arrives and issues alarm.After vessel for collecting refuse from open 8 reaches, unmanned plane 1 can fly to top, rotate garbage collection frame
And directly pour into rubbish in frame in ship garbage case, collected lake surface floating refuse can be by staff voluntarily in ship
Reason.
As shown in figure 3, in the present embodiment, also providing a kind of system of unmanned plane cleaning lake surface rubbish, comprising: nobody
Machine, vessel for collecting refuse from open 8, the unmanned plane 1 are communicated to connect with the vessel for collecting refuse from open 8；
As shown in figure 4, the unmanned plane further include:
Module 2 is obtained, for obtaining lake surface image and identification described image；Unmanned plane 1 enters lake surface and carries out rubbish salvaging
Before, module 2 is obtained using described image and obtains lake surface information, and identifies its image, to learn floating existing on lake surface
The location information of rubbish.
Memory module 3, for storing image and preset value；Unmanned plane 1 by obtain lake surface image information after just by it
The rubbish image that image information is stored with itself compares, if with obtain image there are common ground if explanation have lake surface rubbish
In the presence of, and determine the position of the rubbish.
There are a maximum limit angle value, memory module 3 can deposit the receiving weight of the lake surface floating refuse of 1 pair of unmanned plane salvaging
One or more preset values are stored up, when the rubbish of salvaging is excessive, for comparing with the weight of garbage collection frame.
Detection module 4, for detecting the weight of garbage collection basket；Whether the weight that can determine whether garbage collection frame is more than nobody
The maximum bearing value of machine 1.Continue rubbish if in preset value to salvage, if exceeding preset value, unmanned plane 1 plays stopping
Fish out rubbish.
Garbage collection module 7, for collecting the rubbish on lake surface；And the garbage collection module is connected with unmanned plane 1, if
It is placed in 1 lower section of unmanned plane, its garbage collection module is also mobile simultaneously in 1 flight course of unmanned plane, and is in contact with the water surface, mobile
Lake surface floating refuse can be collected in the process.
Communication module 6, for being communicated with the vessel for collecting refuse from open 8；When the rubbish that unmanned plane 1 is salvaged is excessive, weight
When reaching preset value, relief information will be communicated and issued with vessel for collecting refuse from open 8 using its communication module 6, and notify its garbage collection
Ship 8 comes to handle the rubbish that unmanned plane 1 is salvaged.
Locating module 5, for positioning the position of itself and positioning the position of the vessel for collecting refuse from open 8；Unmanned plane 1 is salvaged
When reaching the upper limit, neighbouring vessel for collecting refuse from open 8 is needed to come to handle, neighbouring vessel for collecting refuse from open 8 is inquired using its locating module 5
Location information and itself present position is positioned, and a nearest ship is selected to send help information.
The vessel for collecting refuse from open 8 includes: that the vessel for collecting refuse from open 8 is provided with communication module, the communication module be used for
The unmanned plane 1 communicates；Just agree to that feedback information rushes for rapidly nothing to the transmission of unmanned plane 1 after receiving 1 help information of unmanned plane
Man-machine 1 location.
Waste deposit module, the waste deposit module is for storing the rubbish that unmanned plane 1 is collected into, after being convenient for
Artificial treatment.
In embodiments of the present invention, the garbage collection module include: the drag gear being arranged on the unmanned plane 1,
And the rotary components being correspondingly arranged with the drag gear；It in this way can be by the drag gear and rotary components by rubbish
Rubbish is collected basket and is fixed on the unmanned plane 1, and unmanned plane 1 carries out garbage collection with the garbage basket on lake surface.
In embodiments of the present invention, the garbage collection module further include: front suspension is on the drag gear, tail end
The garbage collection basket being suspended on the rotary components.The unmanned plane 1 can pass through the drag gear and rotary components
The garbage collection basket carries out garbage collection on lake surface in tow；Also, when needing to tip rubbish, the rotary components can be passed through
The tail portion of garbage collection basket is lifted, such garbage collection basket it is opening down, the purpose tiped rubbish upward, is realized in tail portion.
In embodiments of the present invention, it is additionally provided with alarm system in the unmanned plane 1, not due to 1 own vol of unmanned plane
Greatly, its staff may be difficult to find the specific location of unmanned plane 1 when assistance ship is rushed for, and alarm system can pass through report
Police can be more convenient, the easier staff made on vessel for collecting refuse from open 8 determines unmanned plane 1 to illustrate itself present position
Present position, well rubbish is further salvaged to it is collected processing.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limited to these instructions.General technical staff of the technical field of the invention is come
It says, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this hair
Bright protection scope.
Claims (10)
1. a kind of method of unmanned plane cleaning lake surface rubbish, which is characterized in that the described method includes:
Lake surface image information is obtained, and described image is identified, identifies the position of lake surface rubbish；
Carrying garbage collection basket, there are the place flights of rubbish on lake surface, and collect the rubbish on lake surface；
When detecting that the weight of the garbage collection basket reaches preset value, seek help to vessel for collecting refuse from open, and rubbish is poured into rubbish
In collecting ship, the preset value includes the first preset value and the second preset value.
2. a kind of method of unmanned plane cleaning lake surface rubbish according to claim 1, which is characterized in that the acquisition lake surface
Image information, and described image is identified, identify that the position of lake surface rubbish includes:
Take pictures by the video camera being arranged on unmanned plane and obtains lake surface image.
3. a kind of method of unmanned plane cleaning lake surface rubbish according to claim 1, which is characterized in that obtain lake surface image
Information, and described image is identified, identify that the position of lake surface rubbish includes:
Image is identified by image processing module, described image is compared with the rubbish picture prestored, if institute
Stating image, there are common ground then to illustrate having rubbish, and determines the position of the rubbish.
4. the method for any unmanned plane cleaning lake surface rubbish according to claim 1 to 3, which is characterized in that the detection
When reaching preset value to the weight of the garbage collection basket, seek help to vessel for collecting refuse from open, and rubbish is poured into vessel for collecting refuse from open,
The preset value include the first preset value and the second preset value comprising steps of
The weight of interval detection garbage collection basket, and the weight is compared with preset value；If the weight is more than the
One preset value stops collecting rubbish, and searches for the position of vessel for collecting refuse from open.
5. a kind of method of unmanned plane cleaning lake surface rubbish according to claim 4, which is characterized in that described to detect institute
When stating the weight of collection frame and reaching preset value, and seek help to vessel for collecting refuse from open, and rubbish is poured into vessel for collecting refuse from open, it is described pre-
If value includes that the first preset value and the second preset value further comprise the steps of:
Behind the position for determining vessel for collecting refuse from open, garbage collection basket is dragged on vessel for collecting refuse from open, and rubbish is poured into garbage collection
In ship.
6. the method for any unmanned plane cleaning lake surface rubbish according to claim 1 to 3, which is characterized in that the detection
When reaching preset value to the weight of the collection frame, and seek help to vessel for collecting refuse from open, and rubbish is poured into vessel for collecting refuse from open, institute
Stating preset value includes that the first preset value and the second preset value further comprise the steps of:
If the weight exceeds the second preset value, alarms and send help signal to vessel for collecting refuse from open, collecting ship is waited to lean on
Closely and rubbish is poured into vessel for collecting refuse from open.
7. a kind of system of unmanned plane cleaning lake surface rubbish characterized by comprising unmanned plane, vessel for collecting refuse from open, it is described nobody
Machine and the vessel for collecting refuse from open communicate to connect；
The unmanned plane includes:
Communication module, for being communicated with the vessel for collecting refuse from open；
Module is obtained, for obtaining lake surface image and identification described image；
Locating module, for positioning the position of itself and positioning the position of the vessel for collecting refuse from open；
Garbage collection module, for collecting the rubbish on lake surface；
Detection module, for detecting the weight of garbage collection basket；
Memory module, for storing image and preset value；
The vessel for collecting refuse from open includes:
Communication module is used for and the UAV Communication；
Waste deposit module, the rubbish being collected into for storing unmanned plane.
8. a kind of system of unmanned plane cleaning lake surface rubbish according to claim 7, which is characterized in that the garbage collection
Module includes: the drag gear being arranged on the unmanned plane and the rotary components that are correspondingly arranged with the drag gear.
9. a kind of system of unmanned plane cleaning lake surface rubbish according to claim 8, which is characterized in that the garbage collection
Module further include: for front suspension on the drag gear, tail end is suspended on the garbage collection basket on the rotary components.
10. the system of any unmanned plane cleaning lake surface rubbish according to claim 7-9, which is characterized in that the nothing
Man-machine further includes alarm module, when the weight is more than preset value, for alarming.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110424353A (en) * | 2019-07-29 | 2019-11-08 | 秒针信息技术有限公司 | The retrieval management method and device of rubbish in waters |
| CN110758658A (en) * | 2019-11-08 | 2020-02-07 | 湘潭大学 | Method for cleaning water surface floating garbage by using unmanned aerial vehicle and unmanned ship in cooperation |
| CN112046220A (en) * | 2020-08-24 | 2020-12-08 | 西北工业大学 | Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area |
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| CN106598072A (en) * | 2016-12-22 | 2017-04-26 | 徐州飞梦电子科技有限公司 | Unmanned plane operating method for clearing garbage on water surface |
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| CN110424353A (en) * | 2019-07-29 | 2019-11-08 | 秒针信息技术有限公司 | The retrieval management method and device of rubbish in waters |
| CN110758658A (en) * | 2019-11-08 | 2020-02-07 | 湘潭大学 | Method for cleaning water surface floating garbage by using unmanned aerial vehicle and unmanned ship in cooperation |
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