Autonomous flying garbage recycling system and recycling method

Abstract

The present invention proposes an autonomous flying garbage recycling system and recycling method. The recycling system includes: a garbage bin for holding garbage; a platform for placing the garbage bin; a transporter for transporting the garbage bin; a monitoring station, which is connected to the garbage bin and the transporter for communication and scheduling of garbage dumping tasks; wherein, when collecting garbage, the garbage bin is placed on the platform; after being filled with garbage, the garbage bin sends a request message to the monitoring station, and the monitoring station sends an instruction to the transporter according to the information sent by the garbage bin, and the transporter flies above the garbage bin, grabs the garbage bin, transports it to a designated location to dump the garbage, and then transports the garbage bin back and places it on the platform. The garbage bin of the present invention flexibly controls the garbage dumping time according to the amount and growth rate of the garbage. The rotor drone transports the garbage bin and dumps the garbage in a flying manner, and has a strong adaptability to the terrain of the use environment.

Description

Technical Field

[0001] The present invention belongs to the field of garbage recycling, and in particular relates to an autonomous flying garbage recycling system and a recycling method. Background Art

[0002] my country produces nearly 1 billion tons of garbage every year, and the total amount of garbage ranks among the highest in the world. In recent years, with the increase in the number of tourists, the cost of garbage recycling in tourist attractions has also risen sharply. For example, the total amount of garbage in a certain scenic spot has reached 3,000 tons per year, and the cost of manpower and material resources consumed for recycling has reached hundreds of thousands of yuan.

[0003] For areas with flat terrain, garbage collection trucks can be used to quickly recycle and dump garbage bins. However, in mountainous scenic spots with steep terrain, garbage collection trucks cannot reach garbage bins located halfway up the mountain or on the top of the mountain. They can only rely on manpower to walk to the top of the mountain or deep in the scenic area for recycling, which consumes a lot of manpower and time, and has low recycling efficiency. In addition, relying on manpower to recycle garbage has high salary costs. When there is a sudden increase in the number of tourists, it is often impossible to replenish enough people to dump garbage in time, and the amount of garbage in each garbage bin cannot be counted in real time, resulting in some garbage bins being unable to be recycled in time after being full.

[0004] In addition, for toxic and hazardous waste, such as medical waste, chemical waste, etc., recycling work also faces risks such as high recycling and transportation costs and easy health damage to recycling personnel.

[0005] Therefore, there is a need in the art for an autonomous flying garbage recycling system to reduce labor costs and avoid health damage to recycling personnel. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the present invention proposes an autonomous flying garbage recycling system. Aiming at the problems of poor convenience and high cost of garbage recycling in some areas, a garbage bin with garbage capacity and weight measurement function is used to monitor the amount of garbage in real time, report the amount of garbage to the monitoring station, and recycle and dump the garbage bin through a rotor drone, replacing garbage recycling vehicles and manual recycling, so as to improve the efficiency of garbage recycling and reduce the cost of garbage recycling.

[0007] According to one aspect of the present invention, there is provided an autonomous flying garbage collection system, comprising:

[0008] Trash bins, used to hold trash;

[0009] A platform for placing the trash bin;

[0010] A transporter, used for transporting the garbage bin;

[0011] A monitoring station, which is in communication with the garbage bin and the transporter, and is used for allocating and scheduling garbage dumping tasks;

[0012] When collecting garbage, the garbage bin is placed on the platform; after being filled with garbage, the garbage bin sends a request message to the monitoring station, and the monitoring station sends instructions to the transporter based on the information sent by the garbage bin. The transporter flies above the garbage bin, grabs the garbage bin, transports it to the designated place to dump the garbage, and then transports the garbage bin back and places it on the platform.

[0013] Furthermore, the platform comprises:

[0014] The base is fixed to the ground and has a horizontal upper surface;

[0015] A plurality of wind-resistant columns are rigidly connected to the base, and trash bins are placed between the plurality of wind-resistant columns;

[0016] A landing mark is arranged on the upper surface of the base.

[0017] Furthermore, the trash can comprises:

[0018] The upper part of the shell is provided with two symmetrical garbage inlets;

[0019] A bottom cover, one end of which is mounted on the bottom of the housing via a rotating shaft, and the other end of which is connected to the electromagnetic pin;

[0020] A hanging frame, arranged on the top of the shell;

[0021] a weighing sensor and / or a capacity sensor, disposed in the housing;

[0022] a communication module for communicating with the monitoring station and the transporter;

[0023] The controller is in communication connection with the electromagnetic pin, the weighing sensor and / or the capacity sensor and the communication module, receives the signal of the weighing sensor and / or the capacity sensor, and sends a request to the monitoring station through the communication module when the trash bin is full, so as to control the electromagnetic pin to open when dumping the trash.

[0024] Furthermore, the trash can also includes:

[0025] A satellite positioning module, connected to the controller for providing satellite positioning information;

[0026] A positioning indicator light is installed at the top center of the housing;

[0027] A storage battery, installed in the trash bin, to provide power for the trash bin;

[0028] A solar panel is installed on the top of the trash bin to charge the battery.

[0029] Furthermore, the hanging frame is an annular structure and is arranged around the top of the shell.

[0030] Furthermore, the transporter comprises:

[0031] A rotary wing UAV, including a controller and a communication module;

[0032] A hook, mounted below the fuselage;

[0033] The controller of the rotary-wing UAV is communicatively connected with the communication module and the hook respectively.

[0034] Furthermore, the transporter further comprises:

[0035] A directional satellite antenna installed above the rotor of the rotary-wing UAV;

[0036] An obstacle avoidance sensor, mounted on the fuselage of the rotary-wing UAV;

[0037] An altitude sensor is installed below the rotor of the rotary-wing UAV;

[0038] A garbage bin positioning camera is installed at the center below the body of the rotary-wing UAV;

[0039] The platform positioning camera is installed below the propeller of the rotor;

[0040] A fill light is installed below the rotor and close to the platform positioning camera;

[0041] The controller of the rotary-wing UAV is respectively connected to the directional satellite antenna, the obstacle avoidance sensor, the height measurement sensor, the garbage bin positioning camera, the platform positioning camera, and the fill light for communication.

[0042] Furthermore, the monitoring station includes: a communication base station, a differential satellite positioning base station and a dispatching computer;

[0043] The communication base station receives the downlink data of the garbage bin and the transporter and forwards it to the dispatch computer, and sends the uplink data of the differential satellite positioning base station and the dispatch computer;

[0044] The differential satellite positioning base station provides uplink differential satellite positioning data;

[0045] The dispatching computer processes the downlink data of the garbage bin and the transporter and generates uplink control instructions.

[0046] According to another aspect of the present invention, there is provided an autonomous flying garbage collection method, comprising:

[0047] The trash bin monitors the weight or volume of the trash and sends trash loading information to the monitoring station when the indicator reaches the threshold;

[0048] After receiving the garbage loading information of the garbage bin, the monitoring station sends a garbage dumping instruction to the idle transporter;

[0049] The transporter flies to the top of the garbage bin, determines the position of the garbage bin, and grabs the garbage bin with a hook;

[0050] The transporter carries the garbage bin to the location where garbage is dumped, sends a garbage dumping instruction to the garbage bin, and the garbage bin opens the bottom cover to dump the garbage;

[0051] The transporter carries the garbage bin back and lands at a designated location.

[0052] Furthermore, after receiving the instruction to dump garbage, the transporter determines whether the instruction contains route information, and if so, flies according to the route information provided by the monitoring station;

[0053] If the instruction does not include the route information, the transporter determines whether it has stored the route information based on the identification code and location information of the garbage bin in the garbage dumping instruction, and if it has, it uses the stored route information to fly.

[0054] Furthermore, the information sent by the trash bin to the monitoring station includes the trash bin's identification code, trash weight and volume, location, and remaining battery power;

[0055] The information sent by the transporter to the monitoring station includes the transporter's identification code, idle state, location, mission execution progress and mission route;

[0056] The information sent by the transporter to the trash bin includes an electromagnetic pin opening instruction, a positioning indicator light opening instruction and position data.

[0057] The beneficial effects of the content of the present invention are:

[0058] (1) The trash bin has trash capacity, weight monitoring and wireless communication functions, and can flexibly control the trash dumping time according to the amount and growth rate of trash.

[0059] (2) Rotor drones transport trash bins and dump garbage by flying, and have strong adaptability to the terrain of the operating environment, making them particularly suitable for use in mountainous areas with complex terrain.

[0060] (3) The trash bin has a light weight, and the weight monitoring function ensures that the weight of the trash does not exceed the maximum load capacity of the transporter, reducing the transportation burden. By configuring wind-resistant columns, the trash bin can be prevented from tipping over in windy weather.

[0061] (4) Garbage bins, transporters and monitoring stations can communicate via digital radio or mobile communication networks, which has high environmental adaptability and ensures reliable communication in complex terrain.

[0062] (5) The transporter is equipped with obstacle avoidance sensors and positioning sensors, which can accurately determine the position of itself, the platform, and the trash bin, and avoid collision accidents in complex terrain through reasonable route planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components in the exemplary embodiments of the present disclosure.

[0064] Figure 1 Schematic diagram of an autonomous flying garbage collection system according to an embodiment of the present invention.

[0065] Figure 2 Schematic diagram of a platform according to an embodiment of the present invention.

[0066] Figure 3 2 is a cross-sectional view of a trash can according to an embodiment of the present invention.

[0067] Figure 4 Schematic diagram of a transporter according to an embodiment of the present invention.

[0068] Figure 5 4 is a communication relationship diagram of a garbage bin, a transporter and a monitoring station according to an embodiment of the present invention.

[0069] Figure 6 Flowchart of the autonomous flying garbage collection method according to the present invention.

[0070] Figure 7 The following are operation steps of an autonomous flying garbage collection system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0071] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0072] The present invention discloses an autonomous flying garbage collection system, which is used for outdoor garbage collection, and is suitable for areas such as mountainous scenic spots where garbage trucks cannot travel, or medical garbage and other garbage that is harmful to the human body, to replace the manual collection of garbage in garbage bins. The system includes multiple platforms, garbage bins, transporters and a monitoring station. When collecting garbage, the garbage bin is placed on the platform. After the garbage bin is full, the transporter flies to the top of the garbage bin according to the instructions of the monitoring station, grabs the garbage bin, transports it to a designated location to dump the garbage, and then transports the garbage bin back and places it on the platform. The platform includes a base, a wind-resistant column and a landing mark. The garbage bin includes an outer shell, a bottom cover, a bottom cover shaft, an electromagnetic pin, a lifting frame, a weighing sensor, a capacity sensor, a controller, a digital radio, a battery, a satellite positioning module, a solar panel and a positioning indicator light. The transporter includes a rotor drone, a directional satellite antenna, an obstacle avoidance sensor, a height sensor, a positioning camera, a fill light and a hook. The monitoring station includes a communication base station, a differential satellite positioning base station and a scheduling computer. If the weight or volume of the garbage increases at a high rate, the garbage bin can notify the monitoring station in advance to send a transporter to dump the garbage. Solar panels can replenish the battery. When the terrain of the use environment is complex, resulting in the garbage bin, transporter and monitoring station being unable to communicate stably through the digital radio, the digital radio can be replaced with a mobile communication module and the mobile communication network can be used to achieve communication functions.

[0073] Specifically, the present invention proposes an autonomous flying garbage recycling system, including multiple platforms 100, garbage bins 200, transporters 300 and a monitoring station 400; when collecting garbage, the garbage bin 200 is placed on the platform 100; after being filled with garbage, the transporter 300 flies above the garbage bin 200, grabs the garbage bin 200, transports it to a designated location to dump the garbage, and then transports the garbage bin 200 back and places it on the platform 100; the monitoring station 400 is responsible for the allocation and scheduling of garbage dumping tasks.

[0074] The platform 100 may include: a base 101, wind-resistant columns 102, and landing marks 103. The base 101 is fixedly connected to the ground, and the upper surface is horizontal; there are 4 wind-resistant columns 102, which are rigidly connected to the base 101, perpendicular to the ground, and arranged in a square, and the length of the diagonal of the square is slightly larger than the diameter of the circular cross-section of the cylindrical body of the trash bin 200, so as to facilitate the removal and placement of the trash bin 200; there are 2 landing marks 103, which protrude from the upper surface of the base 101, on both sides of the wind-resistant columns 102.

[0075] The trash bin 200 may include: an outer shell 201, a bottom cover 202, a rotating shaft 203, an electromagnetic pin 204, a hanging frame 205, a weighing sensor 206, a capacity sensor 207, a controller 208, a digital radio 209, a battery 210, a satellite positioning module 211, a solar panel 212 and a positioning indicator light 213, etc. Each trash bin 200 has a unique identification code.

[0076] The outer shell 201 is made of fiberglass, with two symmetrical garbage inlets on the upper part and an openable bottom cover 202 at the bottom for dumping garbage. One end of the bottom cover 202 is connected to the outer shell 201 through a rotating shaft 203, and the other end has a boss that can be stuck by an electromagnetic pin 204 installed on the outer side of the bottom of the outer shell 201. When the electromagnetic pin 204 is opened, the bottom cover 202 relies on its own weight and the garbage to flip down to an angle of less than 90°, and then the garbage falls.

[0077] The weighing sensor 206 is installed inside the bottom cover 202. The top is in the form of a flat plate for supporting garbage. There are sealing strips around it to reduce the inflow of liquid. A through hole is provided at the bottom of the bottom cover 202, and the liquid entering the weighing sensor 206 can flow out from the through hole.

[0078] A plurality of capacity sensors 207 are mounted on the inner side wall of the housing 201, and a controller 208, a digital radio station 209 and a battery 210 are mounted on the inner side of the top; the controller 208 is connected to the electromagnetic pin 204, the weighing sensor 206, the capacity sensor 207, the digital radio station 209, the battery 210, the satellite positioning module 211 and the positioning indicator light 213 via cables; the rod antenna of the digital radio station 209 extends out of the housing 201.

[0079] A hanging frame 205, a satellite positioning module 211, a solar panel 212 and a positioning indicator light 213 are installed on the outer side of the top of the outer shell 201; the hanging frame 205 adopts an annular structure, surrounding the top of the outer shell 201, so that the transporter 300 can grab the trash can 200 from any heading angle; the positioning indicator light 213 is installed at the center of the top.

[0080] The transporter 300 may include: a rotary wing drone 301, a directional satellite antenna 302, an obstacle avoidance sensor 303, a height sensor 304, a garbage bin positioning camera 305, a platform positioning camera 306, a fill light 307, and a hook 308;

[0081] The rotor UAV 301 is the main body of the transporter 300; there are two directional satellite antennas 302, which are installed above two symmetrical rotors respectively; there are six obstacle avoidance sensors 303, which are installed horizontally on the fuselage between the rotors; there are two height sensors 304, which are installed below the two symmetrical rotors respectively; the garbage bin positioning camera 305 is installed at the center below the body of the rotor UAV 301; there are two platform positioning cameras 306, which are installed below the propellers of the symmetrical rotors, and the spacing is consistent with the spacing of the two landing marks 103 of the platform 100; there are two fill lights 307, which are installed below the two symmetrical rotors and close to the platform positioning camera 306; there are four hooks 308 installed below the fuselage, which can be controlled to open or close by the rotor UAV 301.

[0082] The monitoring station 400 includes: a communication base station 401, a differential satellite positioning base station 402 and a dispatching computer 403, etc.;

[0083] The communication base station 401 receives the downlink data of the garbage bin 200 and the transporter 300 and forwards it to the scheduling computer 403, and sends the uplink data of the differential satellite positioning base station 402 and the scheduling computer 403; the differential satellite positioning base station 402 provides the uplink differential positioning data; the scheduling computer 403 processes the downlink data of the garbage bin 200 and the transporter 300 and generates uplink data.

[0084] The communication between the garbage bin 200, the transporter 300 and the monitoring station 400 all uses a duplex system;

[0085] The garbage dumping instruction sent by the monitoring station 400 to the transporter 300 includes the identification code and location information of the garbage bin 200, and may also include route information; the transporter 300 can store the received route information based on the identification code and location information, and call it when performing the dumping task of this garbage bin 200 later.

[0086] The information sent by the transporter 300 to the monitoring station 400 includes information such as the identification code, idle state, location, task execution progress and task route of the transporter 300 .

[0087] The information sent by the garbage bin 200 to the monitoring station 400 includes the identification code of the garbage bin 200 , the weight and volume of the garbage, the location, and the remaining power of the battery 210 .

[0088] The information sent by the transporter 300 to the trash bin 200 includes information such as an opening instruction of the electromagnetic pin 204, an opening instruction of the positioning indicator light 213, and position data.

[0089] like Figure 6 As shown, an autonomous flying garbage collection method is provided, comprising:

[0090] The trash bin monitors the weight or volume of the trash and sends trash loading information to the monitoring station when the indicator reaches the threshold;

[0091] After receiving the garbage loading information of the garbage bin, the monitoring station sends a garbage dumping instruction to the idle transporter;

[0092] The transporter flies to the top of the garbage bin, determines the position of the garbage bin, and grabs the garbage bin with a hook;

[0093] The transporter carries the garbage bin to the location where garbage is dumped, sends a garbage dumping instruction to the garbage bin, and the garbage bin opens the bottom cover to dump the garbage;

[0094] The transporter carries the garbage bin back and lands at a designated location.

[0095] Furthermore, after receiving the instruction to dump garbage, the transporter determines whether the instruction contains route information, and if so, flies according to the route information provided by the monitoring station;

[0096] If the instruction does not include the route information, the transporter determines whether it has stored the route information based on the identification code and location information of the garbage bin in the garbage dumping instruction, and if it has, it uses the stored route information to fly.

[0097] To facilitate understanding of the solution and effects of the embodiments of the present invention, a specific application example is given below. Those skilled in the art should understand that this example is only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0098] like Figure 1 As shown, the present invention proposes an autonomous flying garbage recycling device, including: multiple platforms 100, multiple garbage bins 200, multiple transporters 300 and a monitoring station 400.

[0099] The garbage bin 200 communicates with the monitoring station 400 via a digital radio. The transporter 300 also communicates with the monitoring station 400 and receives instructions from the monitoring station 400.

[0100] When collecting garbage, the garbage bin 200 is placed between the four wind-resistant columns 102 of the platform 100 to prevent it from tipping over in windy weather.

[0101] After the trash bin 200 is full of trash, a request is sent to the monitoring station 400, and the monitoring station 400 sends an instruction to the transporter 300. The transporter 300 flies above the trash bin 200, grabs the trash bin 200, transports it to a designated location to dump the trash, then transports the trash bin 200 back and accurately places the trash bin 200 on the platform 100.

[0102] like Figure 2 As shown, the platform 100 includes: a base 101, a wind-resistant column 102, a landing mark 103, etc.

[0103] The base 101 is fixedly connected to the ground to ensure the stability and wind resistance of the trash can 200; if the ground has a certain slope, the base 101 can be set to a gradual thickness to ensure that the upper surface is level.

[0104] There are 4 wind-resistant columns 102, which are perpendicular to the ground, rigidly connected to the base 101, and arranged in a square. The length of the diagonal of the square is slightly larger than the diameter of the trash can 200, which is convenient for taking out and placing the trash can 200 and can prevent the trash can 200 from tipping over in windy weather.

[0105] There are two landing marks 103 protruding from the upper surface of the base 101 and used for the transporter 300 to identify the position of the base 101 .

[0106] like Figure 3 As shown, the trash bin 200 includes: a housing 201, a bottom cover 202, a rotating shaft 203, an electromagnetic pin 204, a hanging frame 205, a weighing sensor 206, a capacity sensor 207, a controller 208, a digital radio 209, a battery 210, a satellite positioning module 211, a solar panel 212 and a positioning indicator light 213. Each trash bin 200 has a unique identification code.

[0107] The housing 201 is made of glass fiber reinforced plastic to reduce the load of the transporter 300. Two symmetrical garbage inlets are provided on the upper half of the side, and a bottom cover 202 is provided at the bottom for dumping garbage. One end of the bottom cover 202 is connected to the housing 201 through a rotating shaft 203, and the other end is provided with a boss, which can be stuck by an electromagnetic pin 204 installed on the outer surface of the housing 201. When dumping garbage, the electromagnetic pin 204 opens, and the bottom cover 202 is flipped down by itself and the weight of the garbage to an angle less than 90°, and then the garbage falls.

[0108] The weighing sensor 206 is installed inside the bottom cover 202. The top is in the form of a flat plate for supporting garbage. There are sealing strips around it to reduce the inflow of liquid. A through hole is provided at the bottom of the bottom cover 202, and the liquid entering the weighing sensor 206 can flow out from the through hole.

[0109] The housing 201 is provided with a capacity sensor 207, a controller 208, a digital radio 209, and a battery 210. There are multiple capacity sensors 207, which are distributed at different positions on the inner wall of the side of the housing 201, and are used to measure the volume of the loaded garbage. The controller 208 is connected to the electromagnetic pin 204, the weighing sensor 206, the capacity sensor 207, the digital radio 209, the battery 210, the satellite positioning module 211, and the positioning indicator light 213 through a cable. The rod antenna of the digital radio 209 extends out of the housing 201.

[0110] A hanging frame 205, a satellite positioning module 211, a solar panel 212 and a positioning indicator light 213 are installed on the outer side of the top of the housing 201. The hanging frame 205 adopts a ring structure, which surrounds the top of the housing 201. After the transporter 300 is aligned with the center of the garbage bin 200, it is convenient to grab the garbage bin 200 from any heading angle; the positioning indicator light 213 is installed at the center of the top, and is used for the transporter 300 to identify the position of the garbage bin 200.

[0111] like Figure 4As shown, the transporter 300 includes: a rotary-wing UAV 301, a directional satellite antenna 302, an obstacle avoidance sensor 303, a height sensor 304, a garbage bin positioning camera 305, a platform positioning camera 306, a fill light 307 and a hook 308, etc.

[0112] The rotor drone 301 is the main body of the transporter 300 and has an autonomous flight control function.

[0113] There are two directional satellite antennas 302, which are installed above two symmetrical rotors respectively.

[0114] There are 6 obstacle avoidance sensors 303 in total, which are horizontally installed on the fuselage between the rotors and are used to measure obstacles in the horizontal direction of the transporter 300.

[0115] There are two height sensors 304, which are installed under two symmetrical rotors respectively, and are used to measure the height of the transporter 300 from the ground.

[0116] The garbage bin positioning camera 305 is installed at the center position below the body of the rotary wing drone 301 and is used to determine the relative position relationship between the transporter 300 and the garbage bin 200.

[0117] There are two platform positioning cameras 306 , which are installed under the propellers of the symmetrical rotors, respectively. The spacing between them is consistent with the spacing between the two landing marks 103 of the platform 100 , and are used to determine the relative position relationship between the transporter 300 and the platform 100 .

[0118] There are two fill lights 307 , which are installed under two symmetrical rotors, close to the platform positioning camera 306 , and are used for fill lighting at night or in an environment with insufficient light, so that the platform positioning camera 306 can capture the landing mark 103 .

[0119] There are four hooks 308 installed under the fuselage, which can be opened or closed. In the open state, they are docked with the hanging frame 205, and when closed, the transporter 300 is fixed to the garbage bin 200. When the hooks 308 are opened again, the transporter 300 can be separated from the garbage bin 200.

[0120] The monitoring station 400 includes: a communication base station 401, a differential satellite positioning base station 402 and a dispatching computer 403, etc.;

[0121] The communication base station 401 receives the downlink data of the garbage bin 200 and the transporter 300 and forwards it to the scheduling computer 403, and sends the uplink data of the differential satellite positioning base station 402 and the scheduling computer 403; the differential satellite positioning base station 402 provides the uplink differential positioning data; the scheduling computer 403 processes the downlink data of the garbage bin 200 and the transporter 300 and generates uplink data.

[0122] like Figure 5As shown, the communication between the garbage bin 200, the transporter 300 and the monitoring station 400 all uses a duplex system. The garbage dumping instruction sent by the monitoring station 400 to the transporter 300 includes the identification code and location information of the garbage bin 200, and may also include information such as the route; the transporter 300 may store the received route information according to the identification code and location information, and call it when executing the dumping task of this garbage bin 200 later.

[0123] The information sent by the transporter 300 to the monitoring station 400 includes information such as the identification code, idle state, location, task execution progress and task route of the transporter 300 .

[0124] The information sent by the garbage bin 200 to the monitoring station 400 includes the identification code of the garbage bin 200 , the weight and volume of the garbage, the location, and the remaining power of the battery 210 .

[0125] The information sent by the transporter 300 to the trash bin 200 includes information such as an opening instruction of the electromagnetic pin 204, an opening instruction of the positioning indicator light 213, and position data.

[0126] like Figure 7 As shown, the system operation steps of this embodiment are as follows:

[0127] S1, when recycling garbage, the garbage bin 200 is placed between the four wind-resistant columns 102 of the platform 100, and the weight of the garbage is monitored in real time by the weighing sensor 206, and the volume of the garbage is monitored in real time by the capacity sensor 207, and the data is sent to the controller 208. When the weight or volume index of the garbage reaches the threshold, enter S2, otherwise continue monitoring;

[0128] S2, the controller 208 sends garbage loading information to the monitoring station 400 via the digital radio 209;

[0129] S3, after receiving the garbage loading information of the garbage bin 200, the monitoring station 400 determines whether there is an idle transporter 300, if yes, it proceeds to S4, otherwise it waits in this step;

[0130] S4, the monitoring station 400 sends a garbage dumping instruction to the idle transporter 300;

[0131] S5, after receiving the instruction to dump garbage, the transporter 300 determines whether the instruction contains route information, if so, proceeds to step S6, otherwise proceeds to step S7;

[0132] S6, the transporter 300 flies according to the route information provided by the monitoring station 400, and enters S10;

[0133] S7, the transporter 300 determines whether it has stored the route information according to the identification code and location information of the garbage bin 200 in the garbage dumping instruction, and if it has stored the route information, it proceeds to S8, otherwise it proceeds to S9;

[0134] S8, the transporter 300 flies using the route information stored in itself, and enters S10;

[0135] S9, the transporter 300 feeds back no route information to the monitoring station 400, and returns to S4;

[0136] S10, the transporter 300 arrives above the trash bin 200, sends a command to turn on the positioning indicator light 213 to the trash bin 200, and uses the trash bin positioning camera 305 to identify the positioning indicator light 213 to determine the position of the trash bin 200;

[0137] S11, the transporter 300 descends and lands on the top of the trash bin 200, docks the hook 308 in the open state with the hanging frame 205, and then closes the hook 308 to grab the trash bin 200;

[0138] S12, the transporter 300 carries the garbage container 200 along the original route back to the monitoring station 400 where the garbage is dumped;

[0139] S13, the transporter 300 sends a garbage dumping instruction to the garbage bin 200, and the garbage bin 200 receives the instruction through the digital radio 209 and sends it to the controller 208, and then the controller 208 drives the electromagnetic pin 204 to open, and the bottom cover 202 is flipped down by its own weight and the garbage to an angle less than 90°, and the garbage falls;

[0140] S14, the transporter 300 carrying the trash can 200 descends to the ground, the bottom cover 202 is closed under the pressure of the ground and the shell 201, and is locked again by the electromagnetic pin 204;

[0141] S15, the transporter 300 carries the garbage container 200 back to the top of the platform 100 according to the original route;

[0142] S16, the transporter 300 turns on the fill light 307, uses the platform positioning camera 306 to identify the two landing marks 103, and determines the position of the platform 100;

[0143] S17, the transporter 300 descends and places the trash bin 200 between the four wind-resistant columns 102, and then opens the hook 308 to separate from the trash bin 200;

[0144] S18, the transporter 300 completes the task and becomes idle.

[0145] The multiple capacity sensors 207 in the trash bin 200 are arranged in a matrix and use microwave ranging. When the garbage gradually increases, the capacity sensor 207 located at the bottom detects the garbage first, and the capacity sensor 207 located at the top detects the garbage later. The volume of the garbage in the trash bin 200 can be obtained. If the growth rate of the garbage weight or volume is high, the monitoring station 400 can be notified in advance to send a transporter 300 to dump the garbage.

[0146] The solar panel 212 of the trash bin 200 can supplement the electric energy for the storage battery 210. When the electric energy generated by the solar panel 212 is insufficient to supplement the electric energy consumed by the storage battery 210, the storage battery 210 can be charged by the charger when the trash bin 200 returns to the monitoring station 400.

[0147] When the terrain of the use environment is complex and the garbage bin 200, the transporter 300 and the monitoring station 400 cannot communicate stably through the digital radio, the digital radio can be replaced with a mobile communication module and the mobile communication network can be used to realize the communication function.

[0148] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0149] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An autonomous flying garbage collection system, characterized in that: include: Trash bins, used to hold trash; A platform for placing the trash bin; A transporter, used for transporting the garbage bin; A monitoring station, which is in communication with the garbage bin and the transporter, and is used for allocating and scheduling garbage dumping tasks; When collecting garbage, the garbage bin is placed on the platform; after being filled with garbage, the garbage bin sends a request message to the monitoring station, and the monitoring station sends a command to the transporter according to the message sent by the garbage bin, and the transporter flies above the garbage bin, grabs the garbage bin, transports it to a designated place to dump the garbage, and then transports the garbage bin back and places it on the platform; The platform includes: The base is fixed to the ground and has a horizontal upper surface; A plurality of wind-resistant columns are rigidly connected to the base, and trash bins are placed between the plurality of wind-resistant columns; A landing mark, arranged on the upper surface of the base; The trash can comprises: The upper part of the shell is provided with two symmetrical garbage inlets; A bottom cover, one end of which is mounted on the bottom of the housing via a rotating shaft, and the other end of which is connected to the electromagnetic pin; A hanging frame, arranged on the top of the shell; A weighing sensor and / or a capacity sensor, wherein the weighing sensor is arranged inside the bottom cover, and the capacity sensor is arranged on the inner wall of the side of the shell; a communication module for communicating with the monitoring station and the transporter; The controller is in communication connection with the electromagnetic pin, the weighing sensor and / or the capacity sensor and the communication module, receives the signal of the weighing sensor and / or the capacity sensor, and sends a request to the monitoring station through the communication module when the trash bin is full, so as to control the electromagnetic pin to open when dumping the trash.

2. The autonomous flying garbage collection system according to claim 1, characterized in that: The trash can also includes: A satellite positioning module, connected to the controller for providing satellite positioning information; A positioning indicator light is installed at the top center of the housing; A storage battery, installed in the trash bin, to provide power for the trash bin; A solar panel is installed on the top of the trash bin to charge the battery.

3. The autonomous flying garbage collection system according to claim 1, characterized in that: The transporter comprises: A rotary wing UAV, including a controller and a communication module; A hook, mounted below the fuselage; The controller of the rotary-wing UAV is communicatively connected with the communication module and the hook respectively.

4. The autonomous flying garbage collection system according to claim 3, characterized in that: The transporter further comprises: A directional satellite antenna installed above the rotor of the rotary-wing UAV; An obstacle avoidance sensor, mounted on the fuselage of the rotary-wing UAV; An altitude sensor is installed below the rotor of the rotary-wing UAV; A garbage bin positioning camera is installed at the center below the body of the rotary-wing UAV; The platform positioning camera is installed below the propeller of the rotor; A fill light is installed below the rotor and close to the platform positioning camera; The controller of the rotary-wing UAV is respectively connected to the directional satellite antenna, the obstacle avoidance sensor, the height measurement sensor, the garbage bin positioning camera, the platform positioning camera, and the fill light for communication.

5. The autonomous flying garbage collection system according to claim 1, characterized in that: The monitoring station includes: a communication base station, a differential satellite positioning base station and a dispatching computer; The communication base station receives the downlink data of the garbage bin and the transporter and forwards it to the dispatch computer, and sends the uplink data of the differential satellite positioning base station and the dispatch computer; The differential satellite positioning base station provides uplink differential satellite positioning data; The dispatching computer processes the downlink data of the garbage bin and the transporter and generates uplink control instructions.

6. An autonomous flying garbage collection method, based on the autonomous flying garbage collection system according to any one of claims 1 to 5, characterized in that: include: The trash bin monitors the weight or volume of the trash and sends trash loading information to the monitoring station when the indicator reaches the threshold; After receiving the garbage loading information of the garbage bin, the monitoring station sends a garbage dumping instruction to the idle transporter; The transporter flies to the top of the garbage bin, determines the position of the garbage bin, and grabs the garbage bin with a hook; The transporter carries the garbage bin to the location where garbage is dumped, sends a garbage dumping instruction to the garbage bin, and the garbage bin opens the bottom cover to dump the garbage; The transporter carries the garbage bin back and lands at a designated location.

7. The autonomous flying garbage collection method according to claim 6, characterized in that: After receiving the instruction to dump garbage, the transporter determines whether the instruction contains route information, and if so, flies according to the route information provided by the monitoring station; If the instruction does not include the route information, the transporter determines whether it has stored the route information based on the identification code and location information of the garbage bin in the garbage dumping instruction, and if it has, it uses the stored route information to fly.

8. The autonomous flying garbage collection method according to claim 6, characterized in that: The information sent by the trash bin to the monitoring station includes the trash bin's identification code, trash weight and volume, location, and remaining battery power; The information sent by the transporter to the monitoring station includes the transporter's identification code, idle state, location, mission execution progress and mission route; The information sent by the transporter to the trash bin includes an electromagnetic pin opening instruction, a positioning indicator light opening instruction and position data.

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