CN107622231A - A kind of water day integrally intelligent floating object collection system and its collection method - Google Patents
A kind of water day integrally intelligent floating object collection system and its collection method Download PDFInfo
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Abstract
The invention discloses a kind of water day integrally intelligent floating object collection system and its collection method.The system includes image capture module, image processing module, device for cleaning water surface rubbish.Image capture module obtains the image of lake surface for clearance by unmanned plane, and is changed by A/D, then image gray processing, carries out image preprocessing afterwards.Image processing module splits lake surface background in image and foreground object；Identify the target rubbish in foreground object：Excluded by the object that area in foreground object is more than to preset value；To the target rubbish identified, using the camera of unmanned plane itself as the origin of coordinates, coordinate is established, position coordinates is calculated under this coordinate.Device for cleaning water surface rubbish clears up target rubbish according to the position coordinates of target rubbish.Cleaning device and unmanned plane are combined the full-automation for realizing colleting garbage floated on water and greatly enhance the efficiency of water surface cleaning work by the present invention.
Description
Technical field
The present invention relates to a kind of collection system and its collection method, more particularly to integrally intelligent floating object is collected in a kind of water day
System and its collection method.
Background technology
With expanding economy, the living standard of people all increases, and house refuse also gradually increases, but due to one
The quality and behavioural habits of a little people does not have clear improvement, have ignored the protection of the protection to environment, especially water resource, water pollution
Turn into serious problems.According to statistics, the ocean rubbish simply on the Pacific Ocean has just reached 3,500,000 square kilometres, only 2010 years
The whole world just has 8,000,000 tons of plastics to flow into ocean lake, and this numeral rises year by year.According to France《Figaro, Le》Report,
2013,1,500,000 animals turned into the victim of plastic garbage in ocean.
It is not only ocean, the pollution in lake river also getting worse, causes the concern of society.Various floatings on lake surface
Rubbish, the landscape of water quality and lake surface is had a strong impact on, or even can also cause water pollution, water quality deterioration, and will eventually endangered
The life of evil mankind itself and health.For landscape lake, due to being influenceed by swift and violent tourist industry and natural conditions is developed, lake
Normal adrift various rubbish, make the travel value at scenic spot have a greatly reduced quality on face.The contamination phenomenon of landscape lake has at many scenic spots
In the presence of if clearing up not in time, not only resulting in visual pollution, influence natural landscape, also the aquatile in lake can be caused
Life threat.The present invention, to maintaining lake surface cleaning, is built using efficiently, intelligently clearing up landscape lake lake surface floating refuse as target
One good scenic environment is significant.
The external research to water-surface cleaning device is more early, the cleaning device of design also comparative maturity.At present, Japan, America and Europe
Put into Deng country and in succession a huge sum of money to be used to develop automatic device for cleaning water surface rubbish, for example, the enterpriser Li Cha in South Africa
De Hadiman (Richard Hardiman) develops the sea cleaner of a entitled " rubbish shark " (WasteShark)
It device people, can independently be cruised near harbour, clear up ocean rubbish.
By contrast, the domestic research for device for cleaning water surface rubbish is started late, and in the market is utilized and manually driven mostly
The mode of garbage boat salvaging is sailed, compares the rescue vessel for floating articles on water surface that typically Shanghai Waste Treatment Co. develops, adopts
Salvaged with the mode of fuel oil driving and pilot steering.Since two thousand, under the effort of numerous scholars and engineer, I
State also achieves plentiful and substantial achievement in research in terms of cleaning device automation.Such as cloud continent science and technology " water surface robot " product with
Based on world's minimum high-performance unmanned boat platform of independent research, ship, communication, automation, robot control, remote has been merged
Many technologies such as range monitoring, networked system, break Chinese water surface intelligent robot blank, its be mainly used in it is military,
The fields such as security protection, exploration, environmental protection, rescue.At the beginning of 2016, the Chinese Academy of Sciences successfully have developed the cleaning of " wind light mutual complementing " the autonomous type water surface
Robot, similar to household cleaning machine people, it autonomous classification rubbish and can be purged, be mainly used in various oceans, lake
The cleaning such as pool and the lake in scenic spot, the solid refuse in pond, duckweed, and the remote job of danger zone, but lake surface rubbish
The locating accuracy and recognition accuracy of rubbish are not very high.
The content of the invention
In view of this, the present invention provides a kind of water day integrally intelligent floating object collection system and its collection method, and it will be clear
Clean device and unmanned plane combine the full-automation for realizing colleting garbage floated on water and to greatly enhance the water surface clear
The efficiency that science and engineering is made.
The present invention solution be：A kind of integral intelligent floating object collection system in water day, it includes unmanned plane and the water surface
Garbage cleaning device；Unmanned plane is provided with image capture module and image processing module；
Described image acquisition module obtains the image of lake surface for clearance by unmanned plane, and described image is turned by A/D
Change and convert analog signals into data signal and realize the space of described image and the discrete processes of amplitude, then described image gray scale
Change, carry out image preprocessing afterwards；
Lake surface background in described image and foreground object are split and obtain the foreground object by described image processing module；
Identify the target rubbish in the foreground object：Excluded by the object that area in the foreground object is more than to preset value；It is right
The target rubbish identified, using the camera of unmanned plane itself as the origin of coordinates, establishes coordinate, and out position is calculated under this coordinate
Coordinate；
The device for cleaning water surface rubbish clears up target rubbish according to the position coordinates of target rubbish.
As the further improvement of such scheme, the system also includes database, what the database purchase identified
Target rubbish, and sorted generalization, figure of the described image acquisition module to acquisition are carried out the characteristics of according to after target rubbish binaryzation
As calling the target rubbish of the database to be contrasted, the target rubbish in quick obtaining described image.
As the further improvement of such scheme, the system also includes path design module, and module is designed in the path
The path design of the unmanned plane is planned, the path design of the unmanned plane comprises the following steps：
Thiessen polygon figure is drawn according to the condition distribution situation of known lake surface；
Maximum broken line is carried out to loke shore profile on this basis, loke shore profile is turned into one and is bonded the inscribed more of environment
Side shape, each edge of inscribed polygon is a route；
Since the longest edge of inscribed polygon, unmanned plane starts to scan according to Dijkstra's algorithm to lake surface, route
Between spacing be camera scanning range；
A way point is set for unmanned plane at a certain distance on route using differential GPS, way point is corrected, protects
The way point for meeting to sketch the contours of inscribed polygon feature completely is stayed, ensures that unmanned plane will not conform to during navigation because of distance
It is suitable to lose next way point or deviate flight path；
Unmanned plane is just navigated by water and scanned according to revised way point in real navigation.
As the further improvement of such scheme, the system also includes path design module, and module is designed in the path
The path design of the device for cleaning water surface rubbish is planned, the path design of the device for cleaning water surface rubbish divides two parts to advise
Draw：Consider free space should than hull size position beyond how many Rough Plannings and stress space it is narrower when ship positioning thin rule
Draw.
Further, ant group algorithm is applied in Rough Planning, the Rough Planning comprises the following steps：
Environmental modeling is carried out, grid division is carried out to whole lake surface：Barrier is divided into black square, remaining is white square, no
Sufficient half-space is calculated by not calculating, more than half-space by a lattice, and all possible route is drawn in white square between Origin And Destination；
Select optimal path, first expanded scope：The multiple grids being connected in environmental modeling are expanded as into a unit, counted
The probability that barrier occurs in each unit, the average value of these probability is calculated, the scope higher than average value is cast out, less than flat
Continue iteration in aforementioned manners in the range of average, until finding out optimal path；
Optimal path is smoothed.
Further, C space laws are applied in thin planning, it is described to be carefully planned to：First round barrier do one it is polygon
Shape, the distance of polygon to loke shore side is x, makes a<x<B, it is in place to cross the summit of polygon, the starting point P of garbage boat and rubbish institute
Q lines are put, line is not passed through barrier, makes starting point P and position the Q row that is connected respectively with the summit of polygon more into a closure
Side shape, the side of the closed polygon form two paths M, N, compare this two paths length, and short is optimal path.
As the further improvement of such scheme, the gray processing of described image is by luminance quantization：It is divided into 0 to 255 i.e.
256 ranks, 0 sign is most dark or completely black, and 255 signs are most bright or complete white；Described image processing module uses gray level threshold segmentation
Method is split to described image.
As the further improvement of such scheme, described image pretreatment includes step：
(1) noise reduction filtering processing is carried out first, and noise is eliminated by differential；
(2) processing is sharpened to described image again.
As the further improvement of such scheme, the detection lake surface typical case's interference before image is split of described image processing module
Factor is simultaneously dispelled.
The present invention also provides a kind of water day integrally intelligent floating object collection method, and it is applied to any one above-mentioned water day one
Body intelligence floating object collection system；Integrally intelligent floating object collection method comprises the following steps in the water day：
The image in waters for clearance is obtained by unmanned plane shooting, described image is changed by A/D turns analog signal
It is changed to data signal and realizes the space of described image and the discrete processes of amplitude, then described image gray processing, carries out figure afterwards
As pretreatment；
Lake surface background in described image and foreground object are split and obtain the foreground object；Identify the foreground object
In target rubbish：Excluded by the object that area in the foreground object is more than to preset value；To the target rubbish identified,
Using the camera of unmanned plane itself as the origin of coordinates, coordinate is established, position coordinates is calculated under this coordinate；
Target rubbish is cleared up according to the position coordinates of target rubbish.
Beneficial effects of the present invention are as follows：
1. unmanned plane assists cleaning lake surface rubbish：Conventional device for cleaning water surface rubbish has due to the scanning range of itself
Limit, loses time, the energy, and efficiency is very low, and the present invention applies " eyes " of the unmanned plane as garbage boat, and " visual field " scope is wide,
Substantially increase operating efficiency；
2. utilize exclusive method identification rubbish：On lake surface, larger object (such as ship of area is also had in addition to floating refuse
Only, sheet of landscape plant lotus etc.), therefore area on lake surface is more than one square metre of object by the present invention when identifying rubbish
Exclude, remaining foreground object can be determined as floating refuse；The method is succinctly effective, and it is larger to also eliminated area
Object influences caused by being identified on target rubbish；
3. the path design of water-surface cleaning device：The present invention considers island be present in lake, if water-surface cleaning device
With target rubbish respectively in the both sides of island, then cleaning device cannot be simple line navigation；The present invention is known
In the case of island position, path design is carried out to cleaning device, has improved application；
4. the path design of unmanned plane：Unmanned plane can be autonomous complete in the region specified in advance by the planning of way point
Designed into path, to carry out course；
5. earth station：The present invention includes earth station, the earth station can real-time display unmanned plane pat the picture taken the photograph, and can
UAV Attitude control, setting of navigation area etc. are carried out by the earth station.
Brief description of the drawings
Fig. 1 is the histogram for the image gray levels that present system uses.
Fig. 2 is the image gray processing processing and binary conversion treatment flow chart that present system uses.
Fig. 3 is the path design drawing for the unmanned plane that present system uses.
Fig. 4 is the path design drawing for the water-surface cleaning device that present system uses.
Fig. 5 is the protocol procedures figure that present system uses.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Integrally intelligent floating object collection system mainly includes two major parts on hardware in the water day of the present invention：Unmanned plane and
Device for cleaning water surface rubbish.Mainly include image capture module, image processing module, path design module on software.Nobody
Machine is provided with image capture module, image processing module, path design module.Image processing module, path design module also may be used
On device for cleaning water surface rubbish.
Image capture module obtains the image of lake surface for clearance, and described image converts analog signals into by A/D conversions
Data signal realizes the space of described image and the discrete processes of amplitude, then described image gray processing, it is pre- to carry out image afterwards
Processing.
Lake surface background in described image and foreground object are split and obtain the foreground object by image processing module；Identification
Target rubbish in the foreground object：Excluded by the object that area in the foreground object is more than to preset value；To identification
The target rubbish gone out, using the camera of unmanned plane itself as the origin of coordinates, establishes coordinate, and out position is calculated under this coordinate and is sat
Mark.
Device for cleaning water surface rubbish clears up target rubbish according to the position coordinates of target rubbish.Path design module is not only advised
The path design of the unmanned plane is drawn, also plans the path design of the device for cleaning water surface rubbish.Path design module also may be used
To be divided into two submodules, it is separately mounted on unmanned plane, with device for cleaning water surface rubbish, be respectively completed the path of unmanned plane
The path design planning of design planning and device for cleaning water surface rubbish.
The present invention is by IMAQ, image processing and analysis technological orientation and identifies lake surface rubbish, and position is believed
Breath is sent to device for cleaning water surface rubbish, carries out garbage-cleaning.
In the present embodiment, two parts are related to image processing techniques：
1. identification of the unmanned plane to rubbish；
2. in a small range, water-surface cleaning device is accurately positioned to rubbish.
Wherein, identification and water-surface cleaning device being accurately positioned using identical technology to rubbish of the unmanned plane to rubbish.
Image capture module can be arranged on unmanned plane, and IMAQ first obtains lake surface figure by the camera shooting of unmanned plane
Picture, then carry out pretreatment and change into the image information for being advantageous to subsequent analysis.
Because ccd image sensor is less and insensitive to ultraviolet by the damage of vibrations and impact, so of the invention
CCD camera is carried in design on unmanned plane, and unmanned plane during flying is carried out the shooting of image in lake surface overhead by camera.
Camera needs to convert analog signals into accessible data signal by A/D conversions after obtaining image, i.e., empty
Between and amplitude discrete processes.Then image gray processing, that is, by luminance quantization, 0 to 255 i.e. 256 are commonly divided into
Rank, 0 most dark (completely black), 255 most bright (complete white).Information after treatment is the gray value of image, but is wherein included by each
The limitation and interference of kind of condition and caused noise, must first carry out image preprocessing before subsequent processing, that is, carry out with
Lower two steps：
(1) noise reduction filtering processing is carried out first, and noise, the shadow for preventing noise from analyzing successive image are eliminated by differential
Ring；
(2) because filtering process can cause soft edge, for projecting edge and profile information, it is necessary to again to image
Processing is sharpened, i.e., strengthens useful information by integrating so that edge is prominent, clear.
Image processing module is a key content of the invention.Include two parts due to gathering the image information returned：
Lake surface background and foreground object.Split firstly the need of by image, lake surface background is separated with foreground object and obtains prospect
Object.Due to the foreground object on general landscape lake surface and few, mainly there are two major classes：The larger object of area (including it is in blocks
Aquatic ornamental plant, ship etc.) and floating refuse, because floating refuse is varied, by contrast, the larger object of area
Easily identify, therefore the present invention utilizes exclusive method：The object that area is more than one square metre is excluded, remaining foreground object can be true
It is floating refuse to be set to.
(1) detection of lake surface typical case disturbing factor is with dispelling
In a practical situation, the lake surface image of acquisition is not preferable, under the influence of various environmental conditions, is also existed
Certain situation can interference figure picture processing and analysis, typical disturbing factor have it is following some：
1. because of situations such as by blow or aquatile motion influenceed, easily there is ripple in the water surface；
2. under the influence of natural cause, bank scenery can form inverted image in lake surface；
3. due to camera and light and the arbitrariness of water surface angle, exposure area may be produced in the image of acquisition
Or retroreflective regions.
The presence of these factors can all have an impact to successive image processing, or even can produce the target knowledge of false error
Not.Therefore, these typical disturbing factors should be dispelled before being further processed, in order to avoid rubbish identification is impacted,
Step operation avoids uncertain factor that may be present and analysis result is had an impact, and improves the robustness of target identification.
(2) image is split
The present invention needs to identify in lake surface rubbish, therefore first should split foreground object and lake surface background separation, image
It is to divide the image into some non-overlapping copies and the region with respective feature, can be according to the spy of foreground object and lake surface background
Sign, represents the image as the set of physically significant connected region, i.e., the foreground object in image, lake surface background is carried out
Mark, positioning, then separate foreground object from lake surface background, and image segmentation is the basis of image recognition, and it is split
The quality of quality directly affects the progress of successive image processing.Due to the gray feature and lake surface background of the common foreground object of lake surface
There is significant difference, therefore image is split using gray level threshold segmentation method.
If original image is f (x, y), a suitable gray value is looked in f (x, y) with certain criterion, as threshold value T,
Image g (x, y) after so splitting can be represented with following form：
Or
As can be seen here, if a suitable threshold value can be found, just the accurate Ground Split of image, threshold value can be chosen for image
The key issue of segmentation.Threshold value once it is determined that, by the gray scale of each pixel compared with threshold value, rubbish can be provided after segmentation
Rubbish target area.
If the gray level histogram of image then may be used in the gray level histogram of obvious bimodal, as shown in Figure 1 image
The gray value of the lowest point between two peaks is chosen as threshold value T.If Fig. 2 is original image, gray processing processing, after binary conversion treatment
The comparison of image three.
(3) target rubbish identifies
Because the foreground object extracted does not only have target rubbish, there is the excessive object of some volumes (such as：Ship), institute
It is remaining to can be identified as target rubbish so that object of the area more than certain value b can be excluded.
The actual size of one pictures is together decided on by the pixel and resolution ratio of electronic pictures.It is assumed that electronic pictures
Pixel is p, resolution ratio q, then obtains the size of electronic pictures(note：Obtained dimensional units are inch, need conversion unit
For rice).If the field range after the fixed height of unmanned plane is y, then ratioThe size of foreground object is l in picture, therefore prospect
The real area of object
To determine whether that, for target rubbish, the real area S and setting value b that need to only compare foreground object (are set herein
For 1 square metre) magnitude relationship, i.e.,：
After rubbish is identified, unmanned plane establishes coordinate using the camera of itself as the origin of coordinates.The rubbish that will identify that
Position calculated, obtain the correspondence position coordinate of rubbish, then send corresponding coordinate by wireless transport module to
Device for cleaning water surface rubbish.The program library of a garbage warehouse can be added in image processing algorithm, most of rubbish is scanned
Into storehouse, the characteristics of finding out after every class rubbish binaryzation, carries out sorted generalization, most relief unmanned plane rubbish is scanned after directly with
Contrasted in storehouse, identification rubbish more rapidly and efficiently.
The path design of the present invention seeks to find the optimization road of the various situations of reply in certain spatial dimension
Footpath.In the present invention, because unmanned plane and water-surface cleaning device are directed to navigation, therefore path design is accordingly divided into two
Point：The path design of unmanned plane and the path of device for cleaning water surface rubbish are designed.
First, the path design of unmanned plane
Unmanned plane of the present invention is navigated by water, it is necessary to be designed in advance to navigation route in lake surface overhead.It is mission planning and
A part for trajectory planning by environmental information and mission bit stream, it is necessary to be constrained.Its main contents is first known to
Lake surface condition distribution situation draws Voronoi diagram；Maximum broken line is carried out to loke shore profile on this basis, becomes one
The inscribed polygon of environment is bonded, then since the longest edge of inscribed polygon, according to Dijkstra (nothings as shown in Figure 3
Man-machine path design drawing) environment is started to scan, the spacing between route is camera scanning range；Using differential GPS on road
A way point is set for unmanned plane at a certain distance above line, way point will meet the feature for sketching the contours of polygon completely,
And ensure that unmanned plane will not lose next way point or deviation flight path during navigation because of apart from improper；Last nothing
It is man-machine just to be navigated by water and scanned according to revised way point in real navigation, further route is entered according to actual conditions
Row depth Conformity planning.
Dijkstra (Di Jiesitela) algorithm is typical signal source shortest path algorithm, and it is arrived for calculating a node
The shortest path of his all nodes.It is mainly characterized by centered on starting point outwards extending layer by layer, untill expanding to terminal.
Dijkstra's algorithm is very representational shortest path first, is all had in many specialized courses as substance detailed
Introduce, such as data knot, graph theory, operational research etc..Pay attention to negative power side is not present in the algorithm requirement figure.
Problem describes：In non-directed graph G=(V, E), it is assumed that each edge E [i] length is w [i], find by summit V0 to
The shortest path of remaining each point.(signal source shortest path)
(2) arthmetic statement
1. algorithm idea：
If G=(V, E) is a Weighted Directed Graph, vertex set V in figure is divided into two groups, it is first group most short to have obtained
The vertex set in path (represents there was only a source point when initial in S, often try to achieve a shortest path later with S, will just added
Into set S, until whole summits are all added in S, algorithm just finishes), second group does not determine shortest path for remaining
Vertex set (is represented) with U, and second group of summit is added in S successively by the increasing order of shortest path length.In addition
During, any summit is most short during the shortest path length on each summit is not more than from source point v to U in always keeping from source point v to S
Path length.In addition, each one distance of vertex correspondence, the distance on the summit in S is exactly the shortest path path length from v to this summit
Spend, the distance on the summit in U, be the current shortest path length that the summit only included from v to this summit in S is intermediate vertex.
2. algorithm steps：
A. when initial, S only includes source point, i.e. S={ v }, v distance are 0.U includes other summits in addition to v, i.e.,:U=
{ remaining summit }, if summit u has side in v and U,<u,v>Normally there are weights, if u, which is not v, goes out side abutment points,<u,v>Power
It is worth for ∞.
B. the minimum summit k of distance v is chosen from U, k, in addition S (the selected distance be exactly v to k most
Short path length).
C. using k as the intermediate point newly considered, the distance on each summit in U is changed；If the distance from source point v to summit u (is passed through
Summit k) than original distance (it is short without summit k), then change summit u distance value, the summit k of amended distance value away from
From plus the power on side.
D. repeat step b and c is until all summits are included in S.
2nd, the path design of water-surface cleaning device
Path planning is divided to two kinds, Rough Planning and thin planning.Rough Planning considers that free space should surpass than hull size position
Go out how many, and carefully plan stress space it is narrower when ship positionning it is accurate.It will be apparent that cruise ship should be more focused on Rough Planning.
2.2.1. ant group algorithm
First, carry out environmental modeling, to whole lake surface carry out grid division, that is, environment be placed on a world as
In the chessboard of chess, unlike, barrier is divided into black square (for 0), remaining is white square (for 1), insufficient half-space by not calculating,
Calculated more than half-space by a lattice, thus lattice point it is thinner, to expand barrier as far as possible be that the scope of black square, border suitably reduce, handle
All possible route is just drawn in white square between more accurate Origin And Destinations.Secondly, optimal path is selected, but distance is most
It is short and cruising range is optimal to meet simultaneously.First expanded scope, if 25 small lattice in first step environmental modeling are one new
Unit, count the probability that barrier in each unit occurs, calculate the average value of these probability, the scope higher than average value is given up
Go, continue iteration in aforementioned manners in the range of subaverage, until finding out optimal route.Finally, to optimal route
It is smoothed.This algorithm foundation is ant group algorithm.
(1) scope
The scope that ant observes is a grid world, and ant has a parameter for speed radius (being usually 3), then
It it is observed that scope be exactly the 3*3 grid world, and mobile distance is also within the scope of this.
(2) environment
Environment where ant is a virtual world, wherein there is barrier, there is other ant, also pheromones, letter
Breath is known as two kinds, and a kind of is that the ant for finding food spills that lower food information is plain, it is a kind of be find nest ant spill under nest
Pheromones.Each ant is only capable of perceiving the environmental information in the range of it.Environment allows pheromones to disappear with certain speed.
(3) look for food rule
Food is looked for whether in the range of every ant can perceive, if just directly passing by.Otherwise see if there is
Pheromones, and compare which point the pheromones in the range of it can perceive are most, it is just walked towards the place more than pheromones, and
Every ant can all be made mistakes with small probability, rather than be moved toward the most point of pheromones.Ant looks for the rule and above one of nest
Sample, only its pheromones to nest is made a response, and food information element is not reacted.
(4) movement rule
Every ant moves both facing to the most direction of pheromones, also, when surrounding does not have pheromones guide, ant
The motion for the direction inertia that can be moved originally according to oneself is gone down, also, has a random small disturbance in the direction of motion.
In order to prevent ant original place from turn-taking, it can remember which point of having passed by just now, if it find that the subsequent point to be walked is before
Pass by, it will be avoided as far as possible.
(5) avoidance rule
If the direction to be moved of ant has barrier to block, another direction of selection that it can be random, and have information
If element guides, it can be according to the regular behavior looked for food.
(6) pheromones rule
The pheromones that every ant spreads hair when food or nest is just found are most, and as it walks remote distance,
The pheromones sowed are fewer and fewer.According to this several rule, not direct relation between ant, but every ant all and
Environment interacts, and by this tie of pheromones, actually being associated between each ant.Such as when one
Ant have found food, and it does not tell directly other ants to have food here, but sows pheromones to environment, when other
Ant by near it when, just may feel that the presence of pheromones, and then food have found according to the guide of pheromones.
Negative-feedback can be suitably introduced into and carry out alignment path.
2.2.2.C space law
When water-surface cleaning device receives positional information, it is necessary to according to certain route navigation to target location.It is if clear
Clear between the position and target location of clean device, then can line navigation to target location；If there is barrier (such as island),
Then need to design an optimal navigation path for water-surface cleaning device, target location is reached with bee line.
In lake barrier we using C space laws (also known as Visual Graph space law) carry out path design：
Do a polygon (by taking ait as an example) round barrier first, the distance of polygon to bank is x, makes a<
x<B (wherein a, b selection make x be unlikely to too big or too small), x herein is to prevent garbage boat from bumping against simultaneously with island
Be advantageous to determine route.Cross the summit of polygon, the starting point P of garbage boat and rubbish position Q lines and (be not passed through barrier
Line), P and the Q row that is connected respectively with the summit of polygon is formd two into a closed polygon, the side of the polygon
Path M, N, compare this two paths length, short is optimal path (water-surface cleaning device path design as shown in Figure 4
Figure).Water-surface cleaning device just reaches target location by the path.
In the selection of hardware system, by the comparison to commonly using device, on-site programmable gate array FPGA is more suitable for this
Invention information treating capacity is big, and processing speed requires the characteristics of high.Can be in existing unmanned plane model and water surface cleaning device
On the basis of be designed, build based on core of the hardware system of programmable gate array FPGA as information processing.
Because the function that FPGA stones are realized and equivalent soft nuclear phase are than with higher performance and lower power consumption, still
The use of soft core is more flexible, and when running into bottleneck in the specific function run on hard nucleus management device, we can use soft core
Realized by programmable construction, so soft cores of FPGA are used in combination with stone can be while high-performance and low-power consumption be provided
Realize specific function.
In the present invention, cores of the FPGA as information processing, I is not only simulated2C bus protocols, complete to regard
Frequency decoding, coding, also IMAQ control, image procossing rudimentary algorithm are realized to video stream synchronization signal extraction, and will figure
As signal storage in sram.Meanwhile the route planning algorithm of water-surface cleaning device is also to be realized in FPGA.As shown in Figure 5
Protocol procedures figure, the present invention mainly image procossing and path are designed this two large divisions deploy research.
The present invention lake surface rubbish and is positioned using the unmanned plane identification in lake surface flying overhead to rubbish, being detected
To positional information send water-surface cleaning device on lake surface to, then by cleaning device come clearing and retrieving rubbish, to maintain lake
Clean in face.The present invention is for realizing the automating of lake surface garbage-cleaning, intelligent having following significance.
1. unmanned plane assists cleaning lake surface rubbish.Conventional device for cleaning water surface rubbish has due to the scanning range of itself
Limit, loses time, the energy, and efficiency is very low, and the present invention applies " eyes " of the unmanned plane as garbage boat, and " visual field " scope is wide,
Substantially increase operating efficiency.
2. utilize exclusive method identification rubbish.On lake surface, larger object (such as ship of area is also had in addition to floating refuse
Only, sheet of landscape plant lotus etc.), therefore area on lake surface is more than one square metre of object by the present invention when identifying rubbish
Exclude, remaining foreground object can be determined as floating refuse.The method is succinctly effective, and it is larger to also eliminated area
Object influences caused by being identified on target rubbish.
3. the path design of water-surface cleaning device.The present invention considers island be present in lake, if water-surface cleaning device
With target rubbish respectively in the both sides of island, then cleaning device cannot be simple line navigation.The present invention is known
In the case of island position, path design is carried out to cleaning device, has improved application.
4. the path design of unmanned plane.Unmanned plane can be autonomous complete in the region specified in advance by the planning of way point
Designed into path, to carry out course.
5. earth station.The present invention includes earth station, the earth station can real-time display unmanned plane pat the picture taken the photograph, and can
UAV Attitude control, setting of navigation area etc. are carried out by the earth station.
In summary, the present invention can extend and be summarized as follows.
1st, in prototype system master-plan, structure can be set：Unmanned plane+water-surface cleaning device+earth station.
Unmanned plane is whole system " eyes ", the collection and processing of main responsible Surface Picture.Camera obtains image
After need to convert analog signals into the discrete processes of accessible data signal, i.e. space and amplitude by A/D conversions.Then
Image gray processing, that is, by luminance quantization, 0 to 255 i.e. 256 rank is divided into, 0 most dark (completely black), 255 is most bright (complete
In vain).Information after treatment is the gray value of image, but wherein include by various conditions limited and interference and caused make an uproar
Sound, image preprocessing must be first carried out before subsequent processing, that is, carry out following three steps：
1. carrying out noise reduction filtering processing first, noise, the influence for preventing noise from analyzing successive image are eliminated by differential；
2. because filtering process can cause soft edge, for projecting edge and profile information, it is necessary to again to image
Processing is sharpened, i.e., strengthens useful information by integrating so that edge is prominent, clear；
3. detect and dispel water surface typical case's disturbing factor.
Because Image Information Processing amount is big, in general processor can not meet the requirement of real-time.The system is in unmanned plane
It is upper to carry airborne computer, image can be quickly handled, and identify after rubbish that to send the positional information of rubbish to the water surface clear
Clean device.
The most important effect of water-surface cleaning device is to collect the lake surface floating refuse that unmanned plane is found.Cleaning device receives
After the rubbish positional information sent to unmanned plane, optimal path will be voluntarily planned, to go to destination to clear up rubbish.Secondly the water surface
Cleaning device also has some additional functions：The region that can not reached to danger zone or staff carries out lake water and adopted
Sample, for water quality monitoring；Feeding can be carried out to the biology in lake, reduce the workload of administrative staff；Last water surface cleaning
" gas station " of device or unmanned plane, when unmanned plane is completed once to cruise or when not enough power supply is to work on, nobody
Machine will return to water-surface cleaning device and be charged.And all processes are all automatic, without manual operation.
Earth station is the ground surface platform that user is used for understanding system health and control system.Earth station can be with complete
Into unmanned plane navigation area setting, unmanned plane during flying gesture stability, while can also check in real time water-surface cleaning device and
The working condition of unmanned plane.
2nd, in a practical situation, the lake surface image of acquisition is not preferable, under the influence of various environmental conditions, is also deposited
In the processing and analysis of certain situation meeting interference figure picture, therefore the present invention can detect typical disturbing factor simultaneously in image preprocessing
Dispel, water surface typical case disturbing factor mainly have it is following some：
1. lake surface may exist some non-junk floating object, as some supply visitor entertain canoe, aquatile etc.,
The rubbish identification of system can be impacted；
2. because of situations such as being influenceed by natural environment or aquatile motion, there is ripple in the water surface；
3. if there are scenery or other objects in bank, inverted image can be formed in lake surface；
4. exposure area or retroreflective regions in the image obtained be present.
3rd, the aquatile identified for influenceing rubbish, the present invention are dispelled using the method for infrared detecting set detection.Due to
The maximum difference of aquatile and floating refuse is exactly that biology has a vital signs, and the thermoelectric element in infrared detecting set can detect
To the presence of vital signs, profit effectively can dispel the bioturbation in water in this way.
4th, image procossing target identification uses exclusive method
Because the foreground object gone out from image zooming-out does not only have target rubbish, there is the excessive object of some volumes (such as：Ship
Only), therefore the present invention carries out rubbish identification using exclusive method.Exclusive method is to set a suitable threshold value, and foreground object is entered
Row processing finds out its mean radius compared with threshold value, if being more than threshold value, then it is assumed that the foreground object is not target rubbish, and will
The object excludes, and remaining foreground object can then be determined as rubbish target.In environment used in the system, row is used
Division identifies that rubbish is succinctly effective.
5th, the main information processing of the system is completed on the airborne computer of UAV flight.Because image procossing is believed
Breath amount is bigger, and typically conventional processor can not quickly complete image procossing, rubbish identification in real time.The present invention is in unmanned plane
It is upper to carry airborne computer, it is possible to achieve requirement of the system to real-time, while without ground computer is depended on, information processing can
Directly to be completed on unmanned plane.
6th, earth station is the ground surface platform that user is used for understanding system health and control system.
1. earth station can complete the setting of unmanned plane navigation area：User can delimit lake surface region in earth station,
Unmanned plane can be with contexture by self cruise path after receiving corresponding positional information, and then completes region cruise；
2. earth station can realize unmanned plane during flying gesture stability, the unmanned plane during flying set is set with earth station
Posture, user can select different flight attitudes according to demand.Meanwhile on the premise of unmanned plane normal flight is ensured,
User can be with the flight attitude of self-defined unmanned plane；
3. the lake surface picture of unmanned plane shooting can be seen in real time in earth station, and it can also look at water surface cleaning
The working condition of device and unmanned plane；
7th, the system may also include path design module, and the path of unmanned plane is set described in the path design module planning
Meter, the path design of the unmanned plane comprise the following steps：
Thiessen polygon figure is drawn according to the condition distribution situation of known lake surface；
Maximum broken line is carried out to loke shore profile on this basis, loke shore profile is turned into one and is bonded the inscribed more of environment
Side shape, each edge of inscribed polygon is a route；
Since the longest edge of inscribed polygon, unmanned plane starts to scan according to Dijkstra's algorithm to lake surface, route
Between spacing be camera scanning range；
A way point is set for unmanned plane at a certain distance on route using differential GPS, way point is corrected, protects
The way point for meeting to sketch the contours of inscribed polygon feature completely is stayed, ensures that unmanned plane will not conform to during navigation because of distance
It is suitable to lose next way point or deviate flight path；
Unmanned plane is just navigated by water and scanned according to revised way point in real navigation.
8th, the path planning of water-surface cleaning device uses C space laws
When water-surface cleaning device receives positional information, it is necessary to according to certain route navigation to target location.It is if clear
Clear between the position and target location of clean device, then can line navigation to target location；If there is barrier (such as island),
Then need to design an optimal navigation path for water-surface cleaning device, target location is reached with bee line.
In lake barrier we using C space laws (also known as Visual Graph space law) carry out path design：
Do a polygon (by taking ait as an example) round barrier first, the distance of polygon to bank is x, makes a<
x<B (wherein a, b selection make x be unlikely to too big or too small), x herein is to prevent garbage boat from bumping against simultaneously with island
Be advantageous to determine route.Cross the summit of polygon, the starting point P of garbage boat and rubbish position Q lines and (be not passed through barrier
Line), P and the Q row that is connected respectively with the summit of polygon is formd two into a closed polygon, the side of the polygon
Path M, N, compare this two paths length, short is optimal path (water-surface cleaning device path design as shown in Figure 4
Figure).Water-surface cleaning device just reaches target location by the path.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. integral intelligent floating object collection system in water day, it is characterised in that：It includes image capture module, image procossing mould Block, device for cleaning water surface rubbish；Described image acquisition module obtains the image of lake surface for clearance by unmanned plane, and will by A/D conversions by described image Analog signal is converted to data signal and realizes the space of described image and the discrete processes of amplitude, then described image gray processing, Image preprocessing is carried out afterwards；Lake surface background in described image and foreground object are split and obtain the foreground object by described image processing module；Identification Target rubbish in the foreground object：Excluded by the object that area in the foreground object is more than to preset value；To identification The target rubbish gone out, using the camera of unmanned plane itself as the origin of coordinates, establishes coordinate, and out position is calculated under this coordinate and is sat Mark；The device for cleaning water surface rubbish clears up target rubbish according to the position coordinates of target rubbish.
- 2. the integral intelligent floating object collection system in water day as claimed in claim 1, it is characterised in that：The system also includes number According to storehouse, target rubbish that the database purchase identifies, and sorted generalization is carried out the characteristics of according to after target rubbish binaryzation, Described image acquisition module contrasts to the target rubbish of database described in the image call of acquisition, quick obtaining described image In target rubbish.
- 3. the integral intelligent floating object collection system in water day as claimed in claim 1, it is characterised in that：The system also includes road Module is designed in footpath, and the path design of unmanned plane described in the path design module planning, the path design of the unmanned plane includes Following steps：Thiessen polygon figure is drawn according to the condition distribution situation of known lake surface；Maximum broken line is carried out to loke shore profile on this basis, loke shore profile is turned into one and is bonded the inscribed polygon of environment Shape, each edge of inscribed polygon is a route；Since the longest edge of inscribed polygon, unmanned plane starts to scan according to Dijkstra's algorithm to lake surface, between route Spacing be camera scanning range；A way point is set for unmanned plane at a certain distance on route using differential GPS, way point is corrected, retains full Foot sketches the contours of the way point of inscribed polygon feature completely, ensures that unmanned plane will not be lost during navigation because of apart from improper Fall next way point or deviate flight path；Unmanned plane is just navigated by water and scanned according to revised way point in real navigation.
- 4. the integral intelligent floating object collection system in water day as claimed in claim 1, it is characterised in that：The system also includes road Module is designed in footpath, and the path design of device for cleaning water surface rubbish, the garbage on water are clear described in the path design module planning The path design of reason device divides two parts to plan：Consider free space should than hull size position beyond how many Rough Planning and Stress space it is narrower when ship positioning thin planning.
- 5. the integral intelligent floating object collection system in water day as claimed in claim 4, it is characterised in that：Ant is applied in Rough Planning Group's algorithm, the Rough Planning comprise the following steps：Environmental modeling is carried out, grid division is carried out to whole lake surface：Barrier is divided into black square, remaining is white square, less than half Lattice are calculated by not calculating, more than half-space by a lattice, and all possible route is drawn in white square between Origin And Destination；Select optimal path, first expanded scope：The multiple grids being connected in environmental modeling are expanded as into a unit, statistics is each The probability that barrier occurs in unit, calculates the average value of these probability, the scope higher than average value is cast out, in subaverage In the range of continue iteration in aforementioned manners, until finding out optimal path；Optimal path is smoothed.
- 6. the integral intelligent floating object collection system in water day as claimed in claim 4, it is characterised in that：C is applied in thin planning Space law, it is described to be carefully planned to：A polygon is done round barrier first, the distance of polygon to loke shore side is x, makes a<x< B, cross the summit of polygon, the starting point P of garbage boat and rubbish position Q lines, line and be not passed through barrier, make starting point The P and position Q rows that are connected respectively with the summit of polygon form two into a closed polygon, the side of the closed polygon Path M, N, compare this two paths length, and short is optimal path.
- 7. the integral intelligent floating object collection system in water day as claimed in claim 1, it is characterised in that：The gray processing of described image It is by luminance quantization：0 to 255 i.e. 256 rank is divided into, 0 sign is most dark or completely black, and 255 signs are most bright or complete white；The figure As processing module is split using gray level threshold segmentation method to described image.
- 8. the integral intelligent floating object collection system in water day as claimed in claim 1, it is characterised in that：Described image pretreatment bag Include step：(1) noise reduction filtering processing is carried out first, and noise is eliminated by differential；(2) processing is sharpened to described image again.
- 9. the integral intelligent floating object collection system in water day as claimed in claim 1, it is characterised in that：Described image processing module Lake surface typical case disturbing factor is detected before image is split and is dispelled.
- A kind of 10. integral intelligent floating object collection method in water day, it is characterised in that：It is applied to as any in claim 1 to 9 The integral intelligent floating object collection system in water day described in one；Integrally intelligent floating object collection method includes following step in the water day Suddenly：The image in waters for clearance is obtained by unmanned plane shooting, described image converts analog signals into by A/D conversions Data signal realizes the space of described image and the discrete processes of amplitude, then described image gray processing, it is pre- to carry out image afterwards Processing；Lake surface background in described image and foreground object are split and obtain the foreground object；Identify in the foreground object Target rubbish：Excluded by the object that area in the foreground object is more than to preset value；To the target rubbish identified, with nothing The man-machine camera of itself is the origin of coordinates, establishes coordinate, and position coordinates is calculated under this coordinate；Target rubbish is cleared up according to the position coordinates of target rubbish.
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