CN111591400A - Water surface garbage autonomous collection method and system - Google Patents
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 140
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 103
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- 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
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- 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
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Abstract
The invention discloses a method and a system for automatically collecting water surface garbage, wherein the method comprises the steps of installing an electronic module on a power boat for collecting water surface garbage, automatically identifying a water surface object through a camera unit, and judging whether to collect the garbage on the water surface object; the camera shooting unit, the visual processing unit, the sensing unit and the central control unit are utilized to automatically avoid obstacles, so that the water surface garbage is cleaned along the bank; establishing a three-dimensional model of a water area shoreline, and storing the water area information of the power ship after working in the storage unit; the garbage collection amount is monitored in real time through the sensing unit, and when the garbage amount reaches a preset threshold value, the power boat automatically returns. By adopting the water surface garbage autonomous collection method provided by the embodiment of the invention, the autonomous identification of the water surface object is realized through the camera unit, and the garbage collection, autonomous obstacle avoidance, real-time monitoring and automatic return navigation of the water surface object are realized by utilizing the central control unit.
Description
Technical Field
The invention relates to the technical field of water surface cleaning, in particular to a water surface garbage autonomous collection method and a water surface garbage autonomous collection system.
Background
With the rapid development of economy and science and technology, the improvement of the quality of life makes people pay more and more attention to the environmental protection problem. At present, the pollution of water floating garbage such as rivers, lakes, water amusement parks and the like has serious influence on the ecological environment. China has numerous water areas, the problem of water pollution is high, and the cleaning of water surface garbage is particularly important for protecting the ecological safety of the national water areas.
In order to clear up the surface of water rubbish, people mostly adopt the mode of artifical salvage at present, and this kind of rubbish clearance mode on water has that intensity of labour is big, operational environment is abominable, inefficiency scheduling shortcoming, consequently, provides a mechanized, intelligent surface of water rubbish clearance scheme and is the important thing in solving the water pollution problem.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Based on the reasons, the applicant provides a water surface garbage autonomous collection method and a system thereof.
Disclosure of Invention
In order to meet the above requirements, a first object of the present invention is to provide an autonomous method for collecting water surface garbage.
The invention also provides a water surface garbage autonomous collecting system.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the invention provides a method for autonomously collecting water surface garbage, which comprises the following steps:
the method comprises the following steps of installing an electronic module on a power ship for collecting water surface garbage, and enabling the power ship to be provided with a camera shooting unit, a sensing unit, a visual processing unit, a positioning unit, a communication unit, a storage unit, an induction unit and a central control unit;
the camera shooting unit is used for automatically identifying the water surface object, the data acquired by the camera shooting unit is transmitted to the vision processing unit, the vision processing unit processes the data and transmits the processed data to the central control unit, and the central control unit judges whether to perform garbage collection operation on the water surface object according to the acquired data;
the camera unit, the vision processing unit, the sensing unit and the central control unit are utilized to autonomously avoid obstacles in the driving process of the power ship, so that the water surface garbage is cleaned along the shore;
the central control unit establishes a three-dimensional model of the water area shoreline by using the environmental parameter information and stores the water area information of the power ship after working in the storage unit;
the garbage collection amount is monitored in real time through the sensing unit, and when the garbage amount reaches a preset threshold value, the power boat automatically returns.
In one possible embodiment, the step of mounting the electronic module to a powered boat for collecting water surface garbage further comprises mounting an extension assembly for actively collecting garbage for the powered boat, and mounting a functional assembly to the extension assembly such that a driving force of the functional assembly is applied to a garbage inlet of the powered boat in the form of a water flow.
In one possible embodiment, the step of mounting the electronic module to the powered boat for collecting surface waste further comprises, before the step of:
installing a hoisting device and a vertical plate for charging, lighting and safety monitoring on a water area shoreline;
transporting the power ship to the shore, and putting the power ship into water by adopting the hoisting device;
and collecting garbage by using the power boat and the electronic module.
In one possible embodiment, the step of collecting the garbage by using the power boat and the electronic module comprises:
the central control unit controls the power boat to collect garbage according to the information acquired by the camera shooting unit, the visual processing unit, the sensing unit, the positioning unit, the communication unit, the storage unit and the induction unit;
and the communication unit is used for receiving an instruction of manual remote control, and the central control unit controls the power boat to collect garbage according to the instruction.
In one possible embodiment, the step of collecting the garbage by using the power boat and the electronic module comprises:
and receiving an area setting request of a user side by using the communication unit, and setting area information needing to be cleaned in the three-dimensional model and the water area information.
In one possible embodiment, the step of collecting the garbage by using the power boat and the electronic module comprises:
when the quantity of garbage on the shoreline side of the water area reaches a threshold value, the extension assembly and the functional assembly are utilized to collect the garbage.
In one possible embodiment, the step of collecting the garbage by using the power boat and the electronic module comprises:
and when the quantity and the distribution density of the garbage are smaller than preset threshold values, the central control unit is utilized to control the power boat to automatically collect the information of the area needing to be cleaned.
In one possible embodiment, the step of collecting the garbage by using the power boat and the electronic module comprises the following steps:
and taking out the garbage basket positioned on the power ship by using the lifting device, and moving the garbage basket to a fixed garbage collection point for garbage dumping.
In one possible embodiment, the step of collecting the garbage by using the power boat and the electronic module comprises the following steps:
when the power boat navigates back, the vertical plate is used for charging the power boat, and the electronic module detects whether charging is completed in real time and automatically cuts off power according to the completion condition.
In another aspect, the present invention further provides an autonomous collecting system for surface garbage, which is based on a power boat, a standing plate for charging disposed at the shoreline of a water area, and a lifting device located near the standing plate, wherein when the power boat is started, the autonomous collecting method for surface garbage as described in any one of the above is performed.
Compared with the prior art, the invention has the beneficial effects that: by adopting the autonomous water surface garbage collection method provided by the embodiment of the invention, the autonomous recognition of the water surface object is carried out through the camera unit, the garbage collection operation of the water surface object by using the central control unit is realized, and the camera unit, the sensing unit and the central control unit are used for autonomously avoiding obstacles in the driving process of the power ship, realizing the cleaning of water surface garbage along the bank and realizing the real-time monitoring; the environmental parameter information of the water area shoreline is acquired by the camera shooting unit, the sensing unit and the positioning unit, the central control unit establishes a three-dimensional model of the water area shoreline by utilizing the environmental parameter information, and the water area information of the power ship after working is stored in the storage unit, so that the autonomous learning function is realized, and when the power ship works again in the same water area next time, the working precision and efficiency can be greatly improved; through induction element real time monitoring rubbish collection volume, when the rubbish volume reaches and predetermines the threshold value, the power ship is automatic to be rewound, can avoid rubbish to bear too much and lead to the power ship navigation to go wrong.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic flow chart of an autonomous water surface garbage collection method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an autonomous collecting method for water surface garbage according to another embodiment of the present invention;
fig. 3 is a schematic view of an application scenario of the autonomous water surface garbage collection method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
On the one hand, the flow diagram shown in fig. 1 is a schematic view of a specific embodiment of the autonomous water surface garbage collecting method according to the embodiment of the present invention.
As shown in fig. 1, the method for autonomously collecting water surface garbage according to the embodiment of the present invention specifically includes the following steps:
step S110, installing an electronic module on a power ship for collecting water surface garbage, and enabling the power ship to be provided with a camera shooting unit, a visual processing unit, a sensing unit, a positioning unit, a communication unit, a storage unit, a sensing unit and a central control unit;
in order to enable the power boat to realize the function of autonomously collecting the water surface garbage, the following steps are required to be implemented before the step S1:
installing an extension assembly for actively collecting the garbage for the power boat, and installing a functional assembly to the extension assembly such that a driving force of the functional assembly is applied to a garbage inlet of the power boat in the form of a water current.
Specifically, the extension component can adopt an extension arm, and the functional component adopts a spiral fan blade form; the extension arm is configured to define a channel for the transport of refuse and the auger blades push the refuse in the direction of the channel toward the refuse inlet of the power boat.
In a possible embodiment, for the garbage collection function of the power boat, reference may be made to the device for garbage disposal collection in the invention patent document "a scraper type water surface garbage pushing device, application No. 2020201406329" filed by the present applicant, and the device may be optionally implemented to realize the garbage collection function.
In other embodiments, other garbage disposal and collection devices or unmanned ships of other types can be adopted, and the autonomous water surface garbage collection method is realized.
In a possible embodiment, referring to the schematic flow chart shown in fig. 2 and the schematic scenario shown in fig. 3, the step of installing the electronic module in the power boat for collecting the garbage on the water surface in step S110 includes the following processes:
step S111, installing a hoisting device 30 and a standing plate 20 for charging, lighting and safety monitoring on a water area shoreline;
in this regard, the contents of "charging device capable of recovering cable", application No. 2020205418630 ", described in the patent application of the invention proposed by the present applicant can be referred to for the purpose of realizing the charging function and charging a plurality of power boats 10.
Step S112, transporting the power ship to the shore, and putting the power ship 10 into water by adopting the hoisting device 30;
and S113, collecting garbage by using the power ship 10 and the electronic module.
In one possible embodiment, the step S113 includes:
the central control unit controls the power boat to collect garbage according to the information acquired by the camera shooting unit, the visual processing unit, the sensing unit, the positioning unit, the communication unit, the storage unit and the induction unit;
the sensing unit aims to acquire water area environment information data, and can adopt but not limited to a temperature sensor, a photoelectric sensor, a humidity sensor, a radar, a binocular camera, a depth camera and the like.
And the communication unit is used for receiving an instruction of manual remote control, and the central control unit controls the power boat to collect garbage according to the instruction.
The communication unit comprises data processing chips such as Bluetooth, 4G and 5G, and the central control unit controls the power boat to perform corresponding actions according to instructions of the remote control end.
In particular, the power drive unit (e.g. motor or propeller) of the powerboat needs to be connected to a central control unit to enable power control.
In one possible embodiment, the step S113 includes:
the communication unit is used for receiving the area setting request of the user end, so that the central controller only controls the power boat 10 to collect garbage in the area needing cleaning.
The user side can comprise electronic equipment such as a mobile phone, a tablet computer, a desktop computer and a cloud server which can realize wireless communication.
In one possible embodiment, the step S113 includes:
when the quantity of garbage on the shoreline side of the water area reaches a threshold value, the extension assembly and the functional assembly are utilized to collect the garbage.
Wherein, the user can decide whether to use the extension component and the functional component according to the actual situation.
Specifically, in this embodiment, the threshold is aimed at marking that the garbage in the working water area is more and mainly concentrated on the shore, therefore, the cooperation of the extension component and the functional component needs to be used, and the area to be cleaned is set at the user end, the edgewise cleaning function is adopted, the power boat can automatically start to work, the central control unit always keeps the power boat cleaning the garbage along the shore (the distance between the power boat and the shore can be set) by arranging the distance sensor (such as a photoelectric sensor and a millimeter wave radar) at the head of the power boat, and after the area collection is completed, the boat can automatically return to the starting point.
In one possible embodiment, the step S113 includes:
when the quantity of the garbage is smaller than a preset threshold value, judging whether the distribution density of the garbage in a water area is larger than the preset threshold value or not;
if the current position is smaller than the preset position, controlling the power boat to automatically collect garbage of the area information needing to be cleaned by using the central control unit according to the acquired manual remote control instruction;
particularly, the garbage in the working water area is very little, and when the garbage is distributed in a few positions, the ship can be manually controlled to collect the garbage in a remote control mode.
And if the area information is larger than the preset area information, controlling the power boat to automatically collect the garbage of the area information needing to be cleaned by using the central control unit according to the area setting request of the user side.
Specifically, in this embodiment, when the central control unit determines that the garbage in the working water area is less but the distribution range is wide, the user can set an area to be cleaned in the user side, the autonomous recognition cleaning function of the electronic module is started, the garbage is automatically searched and collected, and when the ship detects that no garbage exists in the water, the ship can automatically return to the starting point, so that the garbage collection efficiency is accelerated, and unnecessary work is avoided.
When the power ship 10 returns to the beginning of the shore, the lifting device 30 is needed to take out the garbage basket 11 located on the power ship 10, and the garbage basket 11 is moved to a fixed garbage collection point for garbage dumping, so that a garbage collection process is completed.
In one embodiment, when the power boat 10 is returning, the stand plate 20 is used to charge the power boat 10, and the electronic module detects whether the charging is completed in real time and automatically cuts off the power according to the completion condition, so as to collect garbage of the power boat 10 next time.
Step S120, the camera unit is used for automatically identifying the water surface object, the data acquired by the camera unit is transmitted to the vision processing unit, the vision processing unit processes the data and transmits the processed data to the central control unit, and the central control unit judges whether to perform garbage collection operation on the water surface object according to the acquired data;
specifically, the Automatic Identification and Data Capture technology is a technology that applies an Identification device such as a camera, automatically acquires relevant information of an identified article through the approach between the identified article and the Identification device, and provides the information to a computer processing system in the background to complete relevant subsequent processing. The automatic identification technology integrates computer, optical, electric, communication and network technologies, and is combined with technologies such as internet, mobile communication and the like, so that tracking of articles and sharing of information in the global range are realized, intelligence is given to objects, and communication and conversation between people and the objects and between the objects are realized.
In this embodiment, the vision processing unit is intended to process the image information acquired by the camera, and then process the information using a pattern recognition technique or image recognition to acquire the feature value.
In the field of informatization, image recognition is a technology for processing, analyzing and understanding images by using a computer to recognize various different patterns of targets and objects. For example: geography refers to a technology for classifying remote sensing images. The key information of the image recognition technology is the information which enters the sense organ (i.e. input into the computer system) at the moment, and the information stored in the system. Only through the stored information and the current information comparison process, can the realization of the image recognition. In this embodiment, a plurality of pieces of characteristic information of the garbage can be preset and stored in the storage unit, so as to facilitate subsequent automatic identification.
S130, automatically avoiding obstacles in the driving process of the power ship by using the camera unit, the vision processing unit, the sensing unit and the central control unit, and cleaning water surface garbage along the shore;
in the flow of the embodiment, the feature information of the object also needs to be extracted by using the visual processing unit, so that the central control unit can judge whether the direction of the power boat needs to be changed to avoid the obstacle.
Particularly, the power ship can be provided with the propellers, the advancing speed of the ship is guaranteed, and the ship body is controlled to turn through positive and negative control of the rotating speeds of the two propellers.
Step S140, acquiring environmental parameter information of a water area shoreline by using the camera unit, the induction unit and the positioning unit, establishing a three-dimensional model of the water area shoreline by using the environmental parameter information by using the central control unit, and storing the water area information of the power ship after working in the storage unit;
specifically, after the three-dimensional model of the water area shoreline is obtained, the electronic map construction of the power ship can be effectively realized, so that the regional cleaning and the automatic return voyage can be conveniently realized.
The water area information comprises parameter information such as a three-dimensional model of a water area shoreline, the distribution condition of obstacles, water quality and the like, and the central control unit can be helped to mark the area as a garbage severe area, so that a user can conveniently obtain more reliable area setting reference conditions when subsequently using the power boat to collect water surface garbage.
In some embodiments, the working water area information can be recorded by forming autonomous learning, and the working precision and efficiency can be greatly improved when the same water area needs to be processed next time.
And S150, monitoring the garbage collection amount in real time through the sensing unit, and when the garbage amount reaches a preset threshold value, automatically returning the power ship.
Specifically, the sensing unit may adopt, but is not limited to, a plurality of photoelectric sensors, laser sensors, and the like, and after the sensing unit obtains sensing data of garbage distribution in the garbage basket, the sensing data is transmitted to the central controller, and the central controller processes the received data to obtain the current garbage carrying capacity of the power boat. Since the garbage carrying capacity affects the energy consumption of the power boat and the volume of the carried garbage is too large, the sailing of the power boat is also affected, so that a user needs to preset a plurality of threshold values, for example, when the garbage is distributed in the garbage basket, the distance from the top of the garbage basket is close to or reaches a negative value, that is, the garbage is full, and in general, the threshold value needs to be set to be greater than 0 in order to prevent the garbage from overflowing in consideration of the water surface sailing condition of the power boat.
Referring to the scene diagram shown in fig. 3, the embodiment of the present invention provides an autonomous collection system for surface garbage, which is based on a power ship 10, a standing plate 20 for charging disposed at the shoreline of a water area, and a hoisting device 30 located near the standing plate 20, and when the power ship 10 is started, performs the autonomous collection method for surface garbage as described in any one of the above embodiments.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation process of the electronic module may refer to the corresponding description in the foregoing method embodiment, and for convenience and brevity of description, no further description is provided herein.
Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed modules may be implemented in other manners. For example, the above-described module embodiments are merely illustrative. For example, the division of each module is only one logic function division, and there may be another division manner in actual implementation. For example, more than one module or component may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (10)
1. An autonomous water surface garbage collection method is characterized by comprising the following steps:
the method comprises the following steps of installing an electronic module on a power ship for collecting water surface garbage, and enabling the power ship to be provided with a camera shooting unit, a visual processing unit, a sensing unit, a positioning unit, a communication unit, a storage unit, an induction unit and a central control unit;
the camera shooting unit is used for automatically identifying the water surface object, the data acquired by the camera shooting unit is transmitted to the vision processing unit, the vision processing unit processes the data and transmits the processed data to the central control unit, and the central control unit judges whether to perform garbage collection operation on the water surface object according to the acquired data;
the camera unit, the vision processing unit, the sensing unit and the central control unit are utilized to autonomously avoid obstacles in the driving process of the power ship, so that the water surface garbage is cleaned along the shore;
the central control unit establishes a three-dimensional model of the water area shoreline by using the environmental parameter information and stores the water area information of the power ship after working in the storage unit;
the garbage collection amount is monitored in real time through the sensing unit, and when the garbage amount reaches a preset threshold value, the power boat automatically returns.
2. The method of claim 1, wherein the step of mounting the electronic module on a powered boat for collecting surface waste further comprises mounting an extension assembly for actively collecting waste on the powered boat, and mounting a functional assembly on the extension assembly such that the driving force of the functional assembly is applied to the waste inlet of the powered boat in the form of a water stream.
3. The method of claim 2, wherein the step of mounting the electronic module to a powered boat for collecting surface waste further comprises:
installing a hoisting device and a vertical plate for charging, lighting and safety monitoring on a water area shoreline;
transporting the power ship to the shore, and putting the power ship into water by adopting the hoisting device;
and collecting garbage by using the power boat and the electronic module.
4. The autonomous water surface garbage collection method according to claim 3, wherein the step of collecting garbage by using the power boat and the electronic module comprises:
the central control unit controls the power boat to collect garbage according to the information acquired by the camera shooting unit, the visual processing unit, the sensing unit, the positioning unit, the communication unit, the storage unit and the induction unit;
and the communication unit is used for receiving an instruction of manual remote control, and the central control unit controls the power boat to collect garbage according to the instruction.
5. The autonomous water surface garbage collection method according to claim 3, wherein the step of collecting garbage by using the power boat and the electronic module comprises:
and receiving an area setting request of a user side by using the communication unit, and setting area information needing to be cleaned in the three-dimensional model and the water area information.
6. The autonomous water surface garbage collection method according to claim 3, wherein the step of collecting garbage by using the power boat and the electronic module comprises:
when the quantity of garbage on the shoreline side of the water area reaches a threshold value, the extension assembly and the functional assembly are utilized to collect the garbage.
7. The autonomous water surface garbage collection method according to claim 3, wherein the step of collecting garbage by using the power boat and the electronic module comprises:
when the quantity of the garbage is smaller than a preset threshold value, judging whether the distribution density of the garbage in a water area is larger than the preset threshold value or not;
if the current position is smaller than the preset position, controlling the power boat to automatically collect garbage of the area information needing to be cleaned by using the central control unit according to the acquired manual remote control instruction;
and if the area information is larger than the preset area information, controlling the power boat to automatically collect the garbage of the area information needing to be cleaned by using the central control unit according to the area setting request of the user side.
8. The autonomous water surface refuse collection method according to claim 3, characterized in that said step of collecting refuse by means of said powered boat and electronic module is followed by the steps of:
and taking out the garbage basket positioned on the power ship by using the lifting device, and moving the garbage basket to a fixed garbage collection point for garbage dumping.
9. The autonomous water surface refuse collection method according to claim 3, characterized in that said step of collecting refuse by means of said powered boat and electronic module is followed by the steps of:
when the power boat navigates back, the vertical plate is used for charging the power boat, and the electronic module detects whether charging is completed in real time and automatically cuts off power according to the completion condition.
10. An autonomous collection system for surface waste based on a powered boat, a standing plate for charging arranged at the shoreline side of the water area, and a lifting device located near the standing plate, characterized in that when the powered boat is started, the autonomous collection method for surface waste as claimed in any one of claims 1 to 9 is carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481811.3A CN111591400A (en) | 2020-05-27 | 2020-05-27 | Water surface garbage autonomous collection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010481811.3A CN111591400A (en) | 2020-05-27 | 2020-05-27 | Water surface garbage autonomous collection method and system |
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| 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 |
| CN114291217A (en) * | 2021-12-30 | 2022-04-08 | 合肥工业大学 | Garbage cleaning ship based on visual identification technology and control system thereof |
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