CN111137411A - Autonomous water surface garbage cleaning system - Google Patents
Autonomous water surface garbage cleaning system Download PDFInfo
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- CN111137411A CN111137411A CN201911425092.7A CN201911425092A CN111137411A CN 111137411 A CN111137411 A CN 111137411A CN 201911425092 A CN201911425092 A CN 201911425092A CN 111137411 A CN111137411 A CN 111137411A
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- water surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an autonomous water surface garbage cleaning system, and relates to the field of water surface garbage cleaning. The autonomous water surface garbage cleaning system comprises a ship body and an unmanned aerial vehicle, wherein a propeller, a garbage collecting mechanism and a controller are arranged on the ship body, and the unmanned aerial vehicle is in communication connection with the controller; the unmanned aerial vehicle is provided with a camera module, and the camera module is used for acquiring water surface image information; the controller comprises an image processing module and a control module, wherein the image processing module is used for processing the water surface image information and converting the water surface image information into path parameters for controlling the ship body to sail, and the control module is used for controlling the propelling device and the garbage collection mechanism to work according to the path parameters. Unmanned aerial vehicle carries out panorama search and image acquisition to the peripheral waters of hull, with the surface of water image information passback of gathering to the hull, unmanned aerial vehicle is in directly over the surface of water when flying to overlook the visual angle and gather surface of water image information, ensure the clarity of the surface of water image who obtains, guarantee to generate the complete image in the waters all around of hull.
Description
Technical Field
The invention relates to the technical field of water surface garbage cleaning, in particular to an autonomous water surface garbage cleaning system.
Background
In natural waters, floating debris on the surface of the water not only affects the quality of the water but also causes much disturbance to the normal navigation of the ship.
For example, the Chinese patent with the publication number of CN106741683B and publication date of 2019.03.22 discloses an automatic cleaning boat for garbage in water area based on machine vision, and specifically discloses a boat body composed of two buoys and a bracket, wherein two sides of the boat body bracket are provided with propelling devices. There are camera and GPS module in hull the place ahead, and the camera is used for gathering the surface of water image. A garbage collecting net and a guide plate are arranged below the ship body, and the garbage collecting net can collect garbage into the net during forward movement of the ship body. The ship body is internally provided with a ship body driving mechanism and a controller, data collected by a camera is transmitted to the controller, the controller carries out the above processing on a water surface image to obtain a water surface garbage coordinate position, a cruising route of the garbage cleaning ship is set according to the water surface garbage coordinate position, the cruising route comprises all coordinate positions, the garbage cleaning ship carries out the operation according to the cruising route, and garbage collection is carried out at the water surface garbage position.
When the automatic cleaning ship in the prior art is used for processing water surface garbage, the camera is arranged on the ship body and the height of the camera from the water surface is limited, so that the camera can only acquire a water surface image close to the ship head; and for a farther water area, the camera almost performs image acquisition in a head-up angle, so that the obtained water surface image has poor definition and cannot generate a complete image of the water area around the ship body.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an autonomous system for cleaning water surface garbage, so as to solve the problems that the definition of the water surface image obtained by the automatic cleaning boat in the prior art is poor and the complete image of the water area around the boat body cannot be generated.
The technical scheme of the autonomous water surface garbage cleaning system is as follows:
the autonomous water surface garbage cleaning system comprises a ship body and an unmanned aerial vehicle arranged on the ship body, wherein a propeller, a garbage collecting mechanism and a controller are arranged on the ship body, and the unmanned aerial vehicle is in communication connection with the controller;
the unmanned aerial vehicle is provided with a camera module, and the camera module is used for acquiring water surface image information; the controller comprises an image processing module and a control module, wherein the image processing module is used for processing the water surface image information and converting the water surface image information into path parameters for controlling the ship body to sail, and the control module is used for controlling the propelling device and the garbage collection mechanism to work according to the path parameters.
Has the advantages that: in a shipborne mode, the unmanned aerial vehicle stops landing on the ship body, when the unmanned aerial vehicle flies to collect images, the unmanned aerial vehicle flies outwards to perform panoramic search and image collection on a water area around the ship body and transmit collected water surface image information back to the ship body, the image processing module is used for changing the acquired water surface image information into a path parameter for controlling the ship body to sail according to the water surface image information, and the control module is used for controlling the ship body to sail along the path parameter and performing garbage collection operation; compare in setting up the camera on the hull, unmanned aerial vehicle is in the surface of water directly over when flying to the visual angle of overlooking gathers surface of water image information, can ensure the definition degree of the surface of water image that obtains, can guarantee again to generate the complete image that is located hull waters all around.
Further, unmanned aerial vehicle is equipped with at least two, two unmanned aerial vehicles use the hull to fly towards the direction of keeping away from each other as the center.
Further, unmanned aerial vehicle is equipped with four, four unmanned aerial vehicle use the hull as central circumference equipartition, and towards the direction diffusion flight of keeping away from the hull.
Further, the hull is put on the shelf and is equipped with the platform of shutting down, it has the shutdown plane that supplies unmanned aerial vehicle to take off and land to shut down the platform.
Further, be equipped with the contact that charges on stopping the platform, be equipped with conductive contact on the unmanned aerial vehicle, unmanned aerial vehicle stops when stopping on the plane the contact that charges with conductive contact electrically conducts the intercommunication.
Further, an airborne communication module is arranged on the unmanned aerial vehicle and used for converting the water surface image information into a wireless signal and sending the wireless signal; the ship body is further provided with a storage module and a ship-borne communication module, and the ship-borne communication module is used for receiving the wireless signals sent by the airborne communication module.
Further, the image processing module comprises a feature extraction module and a template matching module, the feature extraction module is used for obtaining a feature region in the water surface image information, and the template matching module is used for matching the feature region with a feature template to determine whether rubbish exists.
Further, the feature extraction module comprises a gray processing unit, a noise reduction unit and an extraction unit, wherein the gray processing unit is used for performing gray conversion on the water surface image information to generate a binary image; the denoising unit is used for denoising and impurity removing processing on the binary image to generate a boundary characteristic image; the extraction unit is used for extracting a characteristic region in the boundary characteristic image.
Furthermore, a positioning module is arranged on the ship body and used for measuring the real-time position of the ship body in a water area.
Furthermore, an inertial sensor is further arranged on the ship body and used for detecting the navigation attitude, the navigation speed and the acceleration of the ship body.
Drawings
Fig. 1 is a schematic perspective view of a ship body equipped with an unmanned aerial vehicle in an embodiment 1 of the autonomous water surface garbage disposal system of the present invention;
fig. 2 is a partial perspective view of the unmanned aerial vehicle of fig. 1 parked on a parking platform;
fig. 3 is a schematic view of the cooperation of the ship and the autonomous water surface garbage disposal system according to embodiment 1 of the present invention.
In the figure: 1-ship body, 10-shutdown platform, 100-shutdown plane, 101-charging seat, 102-charging contact, 11-propeller, 12-garbage collection mechanism, 2-unmanned aerial vehicle, 20-fuselage, 21-paddle, 22-camera module and 23-bracket.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In a specific embodiment 1 of the autonomous water surface garbage disposal system of the present invention, as shown in fig. 1 to 3, the autonomous water surface garbage disposal system includes a hull 1 and an unmanned aerial vehicle 2 disposed on the hull 1, in this embodiment, the hull 1 is an unmanned autonomous ship, and the hull 1 is provided with a propeller 11, a garbage collection mechanism 12, and a controller (not shown in the figure). Specifically, the propeller 11 is a propeller, the propeller 11 is arranged at the lower part of the stern of the ship body 1, and the garbage collection mechanism 12 is of a vortex type collection structure; the ship is characterized in that a garbage feeding hole is formed in the bow of the ship, telescopic support frames are arranged on the left side and the right side of the garbage feeding hole respectively, and the two garbage collecting mechanisms 12 are rotatably installed on the corresponding telescopic support frames respectively.
The hull 1 is provided with a stop platform 10 on the upper frame, the stop platform 10 is provided with a stop plane 100 for the unmanned aerial vehicle 2 to take off and land, and the stop plane 100 is rectangular. In this embodiment, unmanned aerial vehicle 2 is equipped with four altogether, and four unmanned aerial vehicle 2 use hull 1 to spread the flight towards the direction of keeping away from hull 1 as center circumference equipartition, during operation. During the on-board mode, four unmanned aerial vehicle 2 stop to land respectively and are close to four summit positions at plane 100 that stops, and when the image was gathered in the flight, four unmanned aerial vehicle 2 outwards spread the flight along the diagonal of plane 100 that stops respectively to the realization is to the panorama search and the image acquisition in 1 peripheral waters of hull. Compare in setting up the camera on the hull, unmanned aerial vehicle 2 is in the surface of water directly over when flying to the visual angle of overlooking gathers surface of water image information, can ensure the clarity of the surface of water image who obtains, can guarantee again to generate and is located the complete image in hull 1 waters all around.
Wherein, four unmanned aerial vehicle 2's the same structure to one of them unmanned aerial vehicle 2 is the example detailed description, and unmanned aerial vehicle 2 includes fuselage 20, locates four paddles 21 and camera module 22 on the fuselage 20 to and locate the support 23 of fuselage 20 downside, four paddles 21 circumference evenly are arranged on four cantilevers of fuselage 20, and camera module 22 is used for gathering surface of water image information, and camera module 22 has the function of automatic focusing, picture shooting and video recording. The bottom of the bracket 23 is provided with a conductive contact which is in contact with a charging contact 102 on the shutdown platform 100, so that the power supply of the ship body 1 is electrically connected with the unmanned aerial vehicle 2. Be equipped with four charging seats 101 on the platform of shutting down 10, the upside of charging seat 101 is equipped with charging contact 102 respectively, when unmanned aerial vehicle 2 parked on the charging seat 101 of the plane of shutting down 10, the charging contact of support 23 electrically conducts the intercommunication with charging seat 101's conductive contact 102 to the hull power has been realized to unmanned aerial vehicle 2's automation.
The unmanned aerial vehicle 2 is provided with an airborne communication module which is used for converting water surface image information into wireless signals and sending out the wireless signals; in this embodiment, airborne communication module adopts Wi-Fi signal to realize image real-time transmission, it is corresponding, still be equipped with storage module and shipborne communication module on the hull 1, airborne communication module is used for receiving the radio signal that airborne communication module sent, Wi-Fi signal through accepting that airborne communication module sent, airborne communication module and shipborne communication module wireless communication connection have been realized, the surface of water image information that has guaranteed that unmanned aerial vehicle 2 pitches down and shoots can real-time pass back to hull 1 on, so that guide subsequent navigation and clearance work.
The controller of the hull 1 comprises an image processing module for processing the water surface image information and converting the water surface image information into path parameters for controlling the hull to sail, and a control module for controlling the operation of the propulsion unit 11 and the garbage collection mechanism 12 according to the path parameters. The image processing module is used for recording a characteristic module of water surface garbage, and specifically, the characteristic module comprises a beverage bottle garbage characteristic module, a branch and leaf garbage characteristic module, a plastic packaging garbage characteristic module and a fruit waste characteristic module. The control module comprises a path planning unit, the path planning unit obtains an optimized path in a water area through a particle swarm algorithm, the control module controls the steering angle and the propelling power of the propelling device 11 according to the optimized path, the sailing path of the ship body 1 is reduced, the garbage cleaning efficiency is improved, the whole ship body 1 sails to the position of the water surface garbage according to the optimized path, and the garbage collecting mechanism 12 is started to form a pump water flow and a vortex to collect the water surface garbage onto the ship body.
The image processing module comprises a feature extraction module and a template matching module, the feature extraction module is used for acquiring a feature region in the water surface image information, the feature extraction module comprises a gray level processing unit, a noise reduction unit and an extraction unit, the gray level processing unit is used for carrying out gray level conversion on the water surface image information to generate a binary image, and the purposes of removing filling colors and highlighting boundary contours are achieved; the noise reduction unit is used for carrying out noise reduction and impurity removal processing on the binary image to generate a boundary characteristic image, wherein the boundary characteristic image is a black-and-white image, and the boundary outline of the binary image is more prominent and clear through the noise reduction and impurity removal processing; the extraction unit is used for extracting a characteristic region in the boundary characteristic image, and specifically, the extraction unit extracts the characteristic region by using threshold calculation. The template matching module is used for matching the characteristic region with the characteristic template to determine whether the garbage exists or not, and determining the actual position of the water surface garbage in the real water region according to the distribution position of the characteristic region in the water surface image information.
The ship body 1 is also provided with a positioning module and an inertial sensor, wherein in the embodiment, the positioning module is a Beidou satellite positioning module and is used for measuring the real-time position of the ship body 1 in a water area; in order to meet the actual requirements of the user, the positioning module may be a GPS positioning module, and the real-time position of the ship body 1 can be determined. Inertial sensor has combined angular rate top and linear accelerometer for detect the navigation gesture, the navigation speed and the acceleration of hull, and play navigation, orientation and the navigation control effect of hull 1 jointly with the orientation module cooperation, search through unmanned aerial vehicle 2 and hull 1 self-navigation clearance rubbish cooperate, realized high-efficient, accurate completion surface of water rubbish clearance operation.
In other specific embodiments of the autonomous water surface garbage disposal system of the present invention, in order to meet different use requirements, the number of the unmanned aerial vehicles is not limited to four in specific embodiment 1, and two unmanned aerial vehicles may be provided on the parking platform, and the two unmanned aerial vehicles fly in directions away from each other with the hull as the center to collect water surface image information, and can also obtain a water surface image with higher definition, and generate a complete image of the water area around the hull. Or, unmanned aerial vehicle is equipped with threely, and three unmanned aerial vehicle uses the hull to gather surface of water image information as central circumference equipartition, and towards the direction diffusion flight of keeping away from the hull. Or, unmanned aerial vehicle is equipped with more than four, and unmanned aerial vehicle more than four uses the hull to gather the surface of water image as central circumference equipartition, and towards the direction diffusion flight of keeping away from the hull.
In other specific embodiments of the autonomous water surface garbage cleaning system, in order to meet different use requirements, the wireless communication mode of the onboard communication module and the shipborne communication module is not limited to Wi-Fi signal transmission in the specific embodiment 1, and a bluetooth communication mode can be adopted, so that the real-time return of the water surface image information acquired by the unmanned aerial vehicle to the ship body can be realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. An autonomous water surface garbage cleaning system is characterized by comprising a ship body and an unmanned aerial vehicle arranged on the ship body, wherein a propeller, a garbage collecting mechanism and a controller are arranged on the ship body, and the unmanned aerial vehicle is in communication connection with the controller;
the unmanned aerial vehicle is provided with a camera module, and the camera module is used for acquiring water surface image information; the controller comprises an image processing module and a control module, wherein the image processing module is used for processing the water surface image information and converting the water surface image information into path parameters for controlling the ship body to sail, and the control module is used for controlling the propelling device and the garbage collection mechanism to work according to the path parameters.
2. The autonomous surface garbage disposal system of claim 1 wherein there are at least two drones, said two drones flying away from each other centered on the hull.
3. The autonomous surface garbage disposal system of claim 1 wherein there are four unmanned aerial vehicles, said four unmanned aerial vehicles being circumferentially spaced around the hull and flying in a diverging direction away from the hull.
4. An autonomous surface refuse disposal system according to claim 1, 2 or 3, characterized in that a parking platform is erected on said hull, said parking platform having a parking plane for the unmanned aerial vehicle to take off and land.
5. The autonomous water surface garbage disposal system of claim 4, wherein said parking platform is provided with a charging contact, said unmanned aerial vehicle is provided with a conductive contact, and said charging contact is in conductive communication with said conductive contact when said unmanned aerial vehicle is parked on said parking plane.
6. The autonomous water surface garbage cleaning system according to claim 1, wherein an airborne communication module is arranged on the unmanned aerial vehicle, and the airborne communication module is used for converting the water surface image information into a wireless signal and sending out the wireless signal; the ship body is further provided with a storage module and a ship-borne communication module, and the ship-borne communication module is used for receiving the wireless signals sent by the airborne communication module.
7. The autonomous water surface garbage disposal system of claim 1, wherein said image processing module comprises a feature extraction module for obtaining a feature region in said water surface image information and a template matching module for matching said feature region with a feature template to determine whether garbage is present.
8. The autonomous water surface garbage cleaning system according to claim 7, wherein the feature extraction module comprises a gray scale processing unit, a noise reduction unit and an extraction unit, the gray scale processing unit is used for performing gray scale conversion on the water surface image information to generate a binary image; the denoising unit is used for denoising and impurity removing processing on the binary image to generate a boundary characteristic image; the extraction unit is used for extracting a characteristic region in the boundary characteristic image.
9. The autonomous surface garbage removal system of claim 1 wherein said hull is provided with a positioning module for determining the real-time position of the hull in the body of water.
10. The autonomous surface garbage disposal system of claim 1 wherein said hull further comprises inertial sensors for detecting attitude, speed and acceleration of the hull.
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| CN201911425092.7A CN111137411A (en) | 2019-12-30 | 2019-12-30 | Autonomous water surface garbage cleaning system |
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| CN201911425092.7A CN111137411A (en) | 2019-12-30 | 2019-12-30 | Autonomous water surface garbage cleaning system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046220A (en) * | 2020-08-24 | 2020-12-08 | 西北工业大学 | Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area |
| CN113002714A (en) * | 2021-04-27 | 2021-06-22 | 广船国际有限公司 | Water surface garbage cleaning ship and garbage cleaning method |
| CN113443087A (en) * | 2021-07-23 | 2021-09-28 | 广州小鲇智能科技有限公司 | Unmanned aerial vehicle and unmanned ship lake surface rubbish cleaning device in coordination |
| CN113655792A (en) * | 2021-08-09 | 2021-11-16 | 江苏科技大学 | Working condition self-adaptive system and control method for water area garbage cleaning robot |
| CN113665753A (en) * | 2021-07-26 | 2021-11-19 | 珠海城市职业技术学院 | Garbage recycling method, system and storage medium |
| CN114109095A (en) * | 2020-09-01 | 2022-03-01 | 苏州宝时得电动工具有限公司 | Swimming pool cleaning robot and swimming pool cleaning method |
| CN114715338A (en) * | 2022-03-08 | 2022-07-08 | 浙江大学 | Unmanned aerial vehicle cooperative monitoring and solar and wind energy auxiliary driving water area clean-keeping unmanned ship |
| TWI799183B (en) * | 2022-03-11 | 2023-04-11 | 國立臺北科技大學 | Water garbage recycling system |
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2019
- 2019-12-30 CN CN201911425092.7A patent/CN111137411A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046220A (en) * | 2020-08-24 | 2020-12-08 | 西北工业大学 | Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area |
| CN114109095A (en) * | 2020-09-01 | 2022-03-01 | 苏州宝时得电动工具有限公司 | Swimming pool cleaning robot and swimming pool cleaning method |
| CN114109095B (en) * | 2020-09-01 | 2023-09-12 | 苏州宝时得电动工具有限公司 | Swimming pool cleaning robot and swimming pool cleaning method |
| CN113002714A (en) * | 2021-04-27 | 2021-06-22 | 广船国际有限公司 | Water surface garbage cleaning ship and garbage cleaning method |
| CN113443087A (en) * | 2021-07-23 | 2021-09-28 | 广州小鲇智能科技有限公司 | Unmanned aerial vehicle and unmanned ship lake surface rubbish cleaning device in coordination |
| CN113665753A (en) * | 2021-07-26 | 2021-11-19 | 珠海城市职业技术学院 | Garbage recycling method, system and storage medium |
| CN113655792A (en) * | 2021-08-09 | 2021-11-16 | 江苏科技大学 | Working condition self-adaptive system and control method for water area garbage cleaning robot |
| CN114715338A (en) * | 2022-03-08 | 2022-07-08 | 浙江大学 | Unmanned aerial vehicle cooperative monitoring and solar and wind energy auxiliary driving water area clean-keeping unmanned ship |
| TWI799183B (en) * | 2022-03-11 | 2023-04-11 | 國立臺北科技大學 | Water garbage recycling system |
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