CN112848823A - Amphibious cleaning unmanned ship based on machine vision and cleaning method thereof - Google Patents
Amphibious cleaning unmanned ship based on machine vision and cleaning method thereof Download PDFInfo
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- CN112848823A CN112848823A CN201911181111.6A CN201911181111A CN112848823A CN 112848823 A CN112848823 A CN 112848823A CN 201911181111 A CN201911181111 A CN 201911181111A CN 112848823 A CN112848823 A CN 112848823A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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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
- B63B3/00—Hulls characterised by their structure or component parts
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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
- E02B15/104—Conveyors; Paddle wheels; Endless belts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
Abstract
The invention discloses an amphibious cleaning unmanned ship based on machine vision and a cleaning method thereof, wherein the unmanned ship cruises according to a preset route and a cruising range and autonomously performs water surface and land operation, the unmanned ship monitors garbage pollutants, obstacles and personnel in a designated area by using an infrared thermal imaging camera, a color visible light camera and a black-and-white visible light camera, independently completes image recognition and decision, autonomously travels to a target area, and effectively removes the pollutants by a chain belt type garbage collector, an edge brush and a rolling brush; and after the cruising operation is finished, the vehicle automatically returns to the original position and is automatically charged. The amphibious cleaning device can automatically complete amphibious cleaning operation of places such as cities and scenic spots, can overcome the defects of the existing device, and solves the problems that the traditional garbage cleaning device is single in function, low in efficiency, high in labor intensity and incapable of ensuring safety.
Description
Technical Field
The invention relates to the technical field of lake and pavement cleaning, in particular to an amphibious cleaning unmanned ship based on machine vision and a cleaning method thereof.
Background
With the continuous development of social economy, the living standard of people is continuously improved, but the pollution to the environment is heavier, and a large amount of domestic garbage left by people after consuming and entertainment causes pollution of water surface garbage, deterioration of lake water bodies and dirty and messy pavements. The harmonious development of the ecological environment is seriously influenced. The pollution of land and river in many countries is very serious, and along with the environmental protection concept, the research of garbage cleaning machine is gradually concerned at home and abroad. Traditional rubbish cleaning device function singleness is mainly through artifical salvage and cleaning, and the efficiency of clearance rubbish is very low, and the running cost is high moreover, and intensity of labour is great, and personal safety also does not guarantee, and the clearance work in some regions only relies on the manpower can't be accomplished.
Disclosure of Invention
The invention aims to solve the problems that: the amphibious cleaning unmanned ship based on machine vision and the cleaning method thereof can perform amphibious autonomous cruise operation, detect garbage and pollutants on the water surface and the land through the machine vision technology, and perform recognition and decision; the garbage can be efficiently collected and treated, and the garbage can effectively avoid obstacles and moving personnel and protect the integrity of facilities and the safety of personnel. The automatic cleaning device has high autonomy, can automatically complete amphibious cleaning operation of places such as cities, scenic spots and the like, can overcome the defects of the existing device, solves the problems that the traditional garbage cleaning device is single in function, low in efficiency, high in labor intensity of personnel and incapable of ensuring safety, reduces the investment of manpower and material resources, and solves the problem of maintaining the land environment of the cities, the scenic spots and lakes.
The invention adopts the following technical scheme for solving the technical problems:
an amphibious cleaning unmanned ship based on machine vision is characterized in that: the system comprises a double-paddle-wheel unmanned ship body, an image acquisition device, a garbage collection device, a garbage crushing device, a telescopic crawler chassis, paddle wheels, a retractable side brush, a retractable rolling brush, a data interaction device, an autonomous controller and an electric power storage device, wherein the image acquisition device, the garbage collection device, the garbage crushing device, the telescopic crawler chassis, the paddle wheels, the retractable side brush and the retractable rolling brush are arranged on the unmanned ship body;
a cavity with an opening at the front part of the ship body is clamped between the ship body and the top cover above the ship body;
the image acquisition device comprises an infrared thermal imaging camera, a color visible light camera, a black-white visible light camera and an electric holder, and is arranged on the top cover above the ship body through the holder;
the garbage collecting device consists of a chain belt type electric garbage collector fixed in the front middle part of the ship body in the cavity, a retractable rolling brush positioned at an opening at the front part of the cavity and retractable side brushes at two sides outside the opening;
the garbage crushing device consists of a metal crushing knife and a garbage collecting box which are arranged in the hull cavity, and the metal crushing knife is butted with a chain belt type electric garbage collector of the garbage collecting device;
the retractable crawler chassis and the paddle wheels are arranged at two sides below the bottom plate of the ship body and are arranged at intervals, the retractable crawler chassis consists of a retractable fixing frame extending out of the ship body, a damping spring at the tail end of the fixing frame and split rubber crawler power devices respectively connected to two ends of the fixing frame, the retractable crawler chassis stretches out downwards in a working state to enable the split rubber crawler to be in contact with the ground and to be in a working state with the paddle wheels alternately, and the retractable crawler chassis retracts upwards to be close to the ship body in a working state with the paddle wheels;
the data interaction device consists of a data transceiver arranged in the ship body and a signal antenna arranged at the top end of the ship body and is used for data interaction between the unmanned ship and workers;
the autonomous controller consists of a sensing device inside the ship body and an autonomous control decision microcomputer and is used for receiving instructions of workers through data interaction;
the power storage device is composed of a large-capacity lithium battery inside the ship body.
Further, the middle rear part below the bottom plate of the ship body is provided with the bogie wheels, and the bogie wheels are respectively arranged on two sides of the ship body symmetrically and are parallel and level to the bottom of the telescopic crawler chassis in the extending working state.
Furthermore, two high-power brushless direct current motors are hermetically fixed on two sides of the ship body and connected with a transmission system of the microcomputer, and respectively provide power for the paddle wheel and the telescopic crawler chassis on the water surface or on the land.
Further, the garbage crushing device consists of a crushing cutter roller system, a bearing case, a hopper and a power system and is connected with an autonomous controller of the ship body; when the garbage is collected into the ship, the garbage crushing device is started to crush the garbage.
Further, power storage device cooperation sets up charging device, and charging device and unmanned ship deposit the fill electric pile cooperation of platform and insert and fill.
A self-recognition pollutant cleaning method is characterized in that any one of the amphibious cleaning unmanned ships based on machine vision is adopted, the unmanned ship cruises according to a preset route and a cruising range and autonomously performs water surface and land operation, the unmanned ship monitors garbage pollutants, obstacles and personnel in a designated area by using an infrared thermal imaging camera, a color visible light camera and a black and white visible light camera, independently completes image recognition and decision making, autonomously travels to a target area, and effectively removes the pollutants through a chain belt type garbage collector, an edge brush and a rolling brush; and after the cruising operation is finished, the vehicle automatically returns to the original position.
Further, the above method comprises the steps of:
the unmanned ship receives an instruction of an operation starting signal, the unmanned ship storage platform starts automatically to cruise according to a preset route and a cruise range, meanwhile, the GPS and the image acquisition device start to act to acquire surrounding environment information of the unmanned ship, detect pollutants, obstacles and personnel in the surrounding environment, and the autonomous controller regulates and controls the motion state;
the autonomous controller judges the surrounding environment according to the acquired image information, and when the surrounding environment is detected to have pollutants, the unmanned ship can decide the cruising route to be close to the pollutants through a microcomputer and perform garbage cleaning; when the unmanned ship detects a land environment, an instruction signal is given to control the split type crawler chassis to descend to be in contact with the ground, and the crawler and the bogie wheels keep the ship body to move forwards; when the unmanned ship detects the water surface environment, an instruction signal is given to control the split type crawler chassis to ascend and be folded to the bottom of the ship body, and the ship body is advanced through the paddle wheel; and after the operation is finished, the cruising is continuously finished according to a preset route. Further, in the method, when the unmanned ship detects that obstacles exist around, an avoidance route is determined through a microcomputer; when the unmanned ship detects that personnel move, the unmanned ship can give priority to avoidance and carry out voice prompt so as to prevent the personnel from being injured or influencing cruising operation; and when the electric quantity of the battery is detected to be insufficient, the battery automatically returns and is automatically charged.
Further, in the method, if the water surface is in the water surface, the chain belt type garbage collection system is started, and meanwhile the split type crawler chassis is controlled to ascend, pack up the side brushes and the rolling brushes, so that the water surface cleaning operation is carried out; if the garbage collecting chain belt and the crushing device are started on the land, the lower brushes, the rolling brushes and the split type crawler chassis are lowered, and pollutants on the land are cleaned.
Furthermore, in the cruising process of the method, the electric holder is matched with the infrared thermal imaging camera and the visible light camera to act together, the three cameras simultaneously record images, the two visible light cameras are simultaneously used for detecting pollutants on the lake surface and the land surface and the environment where the ship body is located, the image information collected by the infrared thermal imaging camera is combined with the image information collected by the visible light cameras to accurately identify personnel, obstacles and potential risks, and the obtained information is used for the autonomous operation decision of the autonomous controller; the color visible light camera and the black-and-white visible light camera work together, the color visible light camera plays a main role in collecting image information, the black-and-white visible light camera serves as auxiliary collecting equipment, and image information collected by the color visible light camera and the black-and-white visible light camera is fused to obtain an original image with higher quality for later image recognition and utilization; the images are transmitted to an onboard microcomputer and an autonomous controller through a data line to perform real-time image processing and identification analysis so as to make a decision to send a motion and or garbage cleaning command.
Therefore, the amphibious unmanned ship equipment for automatically judging and cleaning lake pollutants and land pollutants based on the machine vision technology is invented. Comprises an unmanned ship body, a microcomputer for controlling the whole set of equipment, a control system and a storage battery for providing electric energy. The front middle part of the unmanned ship body is provided with a garbage collecting chain belt, the two sides of the middle part are provided with a left-right split type telescopic crawler chassis, the rear middle part is provided with two water propulsion wheels, and the rear part is provided with a pair of rubber bearing wheels. An infrared thermal imaging camera, a color visible light camera and a black-and-white visible light camera are hung on the upper part of the unmanned ship, and retractable side brushes and rolling brushes are arranged at two ends and in the middle of the front part of the unmanned ship to enhance the road surface cleaning capability. The inside of the ship body is provided with a garbage crushing device to enhance the garbage storage amount and the garbage disposal efficiency in the ship.
Compared with the prior art, the invention has the beneficial effects that:
the amphibious unmanned ship is amphibious, adopts a composite structure of the unmanned ship and the crawler chassis, widens the available places of the unmanned ship, adapts to various environments, has good maneuverability, and ensures higher cruising and cleaning efficiency.
Mechanical vision adopts the form that infrared thermal imaging camera, colored visible light camera and black and white visible light camera combine, carries out synchronous accurate detection to the pollutant, barrier and the activity personnel etc. of surface of water and land, greatly promotes operating efficiency and security.
The unmanned ship adopts an onboard microcomputer to analyze images in real time, so that signal transmission delay is avoided, and compared with the traditional manual operation or remote control operation, the operation efficiency is greatly improved.
The system is unmanned, autonomous decision control is realized, and control and monitoring are not needed by operators in the operation processes of cruising and cleaning, so that the workload of manpower is reduced.
Description of the drawings:
fig. 1 is a perspective view of an amphibious cleaning unmanned ship based on machine vision according to the present invention.
Fig. 2 is a partial structural view of fig. 1 with the top removed.
FIG. 3 is a flow chart of the cruise cleaning operation of the cleaning method of the present invention.
In the figure: 1. the system comprises an image acquisition device, s1, an infrared thermal imaging camera, s2, a color visible light camera, s3, a black-and-white visible light camera, 2, a GPS antenna, 3, a hull, 4, a garbage collection chain belt, 5, a mechanical arm connected with an edge brush, 6, a rear bearing wheel, 7, a foldable rolling brush, 8, a foldable edge brush, 9, a foldable split type crawler chassis, 10, a paddle wheel, 11, a brushless motor, 12, a garbage crusher, 13, an autonomous controller, 14, a microcomputer, 15, a mechanical arm connected with a crawler, 16 and a mechanical arm connected with the rolling brush.
The specific implementation mode is as follows:
the invention further discloses an amphibious cleaning unmanned ship based on machine vision and a method thereof by combining specific examples and drawings.
One embodiment of the amphibious cleaning unmanned ship based on machine vision is shown in figure 1 and comprises a double-paddle wheel unmanned ship and a ship body 3-1 which is arranged below a ship shell 3 of the unmanned ship and buckled with the ship shell 3, wherein a cavity is arranged between the ship shell 3 and the ship body 3-1.
The top of the hull 3 is provided with an image acquisition device 1 and a GPS positioning device 2, the image acquisition device 1 includes an infrared thermal imaging camera s1, a color visible light camera s2 and a black-and-white visible light camera s3 which are integrally arranged on a free tripod head, and the free tripod head is used for adjusting the shooting angles of the infrared thermal imaging camera s1, the color visible light camera s2 and the black-and-white visible light camera s3, and can generally rotate in the circumferential direction and perform pitching motion. The free holder is arranged on the top of the GPS positioning device 2, or integrated with the GPS positioning device 2, as long as the GPS positioning can be carried out. The GPS positioning device 2, a signal antenna (not shown) arranged at the top end of the ship body and a data transceiver inside the ship body form a data interaction device together, and the data interaction device is used for data interaction between the unmanned ship and workers.
The two visible light cameras are simultaneously used for detecting pollutants on the lake surface and the land surface and the environment where the ship body is located, image information collected by the infrared thermal imaging camera is combined with image information collected by the visible light cameras and used for accurately identifying personnel, obstacles and potential risks, and the obtained information is used for autonomous operation decision of the autonomous controller; the color visible light camera and the black-and-white visible light camera work together, the color visible light camera plays a main role in collecting image information, the black-and-white visible light camera serves as auxiliary collecting equipment and can play a role in enhancing image details and improving definition under dark light, the image information collected by the color visible light camera and the black-and-white visible light camera is fused, and an original image with higher quality can be obtained for later image recognition and utilization.
The two sides of the middle part of the bottom of the hull 3-1 are provided with a left-right telescopic split type crawler chassis 9, the middle part of the back is provided with two water propulsion paddle wheels 10, and the back part is provided with a pair of rubber bearing wheels 6. Specifically, as shown in fig. 2, according to the arrangement of the center of gravity of the ship body, the paddle wheel 10 is longitudinally arranged between the split-type crawler chassis 9 and the rear load bearing wheel 6 along the ship body, the split-type crawler chassis 9 is used for walking on land, the paddle wheel 10 is used for rotating and paddling on the water surface, and blades arranged at intervals in the circumferential direction form an impeller shape. The split type crawler chassis 9 is telescopically fixed in the space at the bottom of the ship body 3-1 through the lifting support arm 15, when the ship is used on land, the lifting support arm 15 extends downwards to enable the split type crawler chassis 9 to protrude out of the bottommost surface of the ship body 3-1 so as to be contacted with the ground in a land working state, and when the ship is in the land working state, the split type crawler chassis 9 and the rear bearing wheels 6 keep the ship body 3-1 to move forwards. The telescopic split-type crawler chassis 9 consists of a telescopic fixing frame extending out of the ship body 3-1, a damping spring at the tail end of the fixing frame and split-type rubber crawler power devices respectively connected to two ends of the fixing frame. The lifting support arms 15 of the telescopic split type crawler chassis 9 or the telescopic fixing frames are positioned at the connecting part of the ship body 3-1 and the crawler chassis, and the telescopic action is realized by using a small motor; the crawler power device consists of a rubber crawler coated driving wheel, a loading wheel and a guide wheel, wherein the driving wheel is used for being connected with a transmission system.
The middle of the front opening of the ship body 3-1 is of a hollow structure, a cavity is arranged between the ship shell 3 and the ship body 3-1 to form a front opening, a filter screen or a chain belt type electric garbage collector 4 is arranged at the bottom of the front middle part of the ship body of the front opening cavity, a garbage collecting device is formed by the aid of a retractable edge brush and a rolling brush, a garbage crushing device 12 is formed by a metal crushing knife and a garbage collecting box which are arranged inside the ship body at the rear part of the filter screen or the garbage collecting chain belt 4, garbage stacked from the filter screen or the garbage collecting chain belt 4 is crushed, and preferably the garbage crushing device 12 is a rotary crushing roller type metal crushing knife. The garbage crushing device 12 is beneficial to improving the garbage treatment efficiency while increasing the garbage storage capacity in the ship.
The front part of the filter screen or the garbage collection chain belt 4 passes through a lifting rolling brush 7, and the rolling brush 7 is transversely arranged at the front opening of the cavity; two sides of the rolling brush 7 are also provided with edge brushes 8 which can extend forwards and can be folded towards the ship body 3-1; the side brushes 8 on the two sides are symmetrically arranged relative to the longitudinal center of the ship body 3-1, and garbage is accommodated into the front opening of the cavity from the two sides; the rolling brush 7 is movably fixed on the hull 3-1 through a lifting mechanical arm 16.
The inside of the top of the tail part of the ship body 3-1 is hermetically provided with a brushless motor 11, an autonomous controller 13, a microcomputer 14 and a data transceiver. The hull 3 closes the hull 3-1 from above and protects the above components. The autonomous controller 13 and the microcomputer 14 are at least integrated with a remote communication module, a motion control module and an image processing module, can detect garbage and working environment outside the unmanned ship body, and can enable the unmanned ship to cruise towards a garbage area to clean the garbage under remote control.
As shown in fig. 3, the specific workflow of the self-recognition pollutant cleaning method for the amphibious cleaning unmanned ship based on machine vision of the invention includes the following steps: the unmanned ship stops in advance at the platform of depositing, after receiving the start operation signal that operating personnel assigned, sets out from the platform and cruises according to predetermineeing the route, and GPS positioner 2 acquires unmanned ship positional information simultaneously, and electronic cloud platform cooperation camera 1 collects environmental information, hands over by autonomic controller 13 and carries out the motion state regulation and control.
In the cruising process, the electric pan-tilt is matched with the camera 1 to obtain images, and the images are sent to the autonomous controller 13 to be processed, identified and analyzed in real time, so that pollutants around the unmanned ship are detected; when the autonomous controller 13 judges that pollutants exist around the ship body through image recognition, if the ship body is on the water surface, the edge brush 8, the rolling brush 7 and the split type crawler chassis 9 are retracted, and the ship body rotates through the paddle wheel 10 to move to the area where the pollutants on the water surface are located and operates through the garbage collection chain belt 4; if the side brush 8, the rolling brush 7 and the split type crawler chassis 9 are lowered on the land, and the side brush, the rolling brush and the split type crawler chassis are matched with the garbage collecting chain belt 4 to clean pollutants on the land. And after the operation is finished, the cruising is continuously finished according to a preset route. The cleaning unmanned ship cruising route is preset by workers before use, full autonomous control is realized in the cruising process, and an autonomous controller carried on the unmanned ship independently completes work such as image recognition, unmanned ship state control, cleaning decision and the like without manual operation and monitoring. And after the cruising operation is finished, the vehicle automatically returns to the initial platform.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An amphibious cleaning unmanned ship based on machine vision is characterized in that: the system comprises a double-paddle-wheel unmanned ship body, an image acquisition device, a garbage collection device, a garbage crushing device, a telescopic crawler chassis, paddle wheels, a retractable side brush, a retractable rolling brush, a data interaction device, an autonomous controller and an electric power storage device, wherein the image acquisition device, the garbage collection device, the garbage crushing device, the telescopic crawler chassis, the paddle wheels, the retractable side brush and the retractable rolling brush are arranged on the unmanned ship body;
a cavity with an opening at the front part of the ship body is clamped between the ship body and the top cover above the ship body;
the image acquisition device comprises an infrared thermal imaging camera, a color visible light camera, a black-white visible light camera and an electric holder, and is arranged on the top cover above the ship body through the holder;
the garbage collecting device consists of a chain belt type electric garbage collector fixed in the front middle part of the ship body in the cavity, a retractable rolling brush positioned at an opening at the front part of the cavity and retractable side brushes at two sides outside the opening;
the garbage crushing device consists of a metal crushing knife and a garbage collecting box which are arranged in the hull cavity, and the metal crushing knife is butted with a chain belt type electric garbage collector of the garbage collecting device;
the retractable crawler chassis and the paddle wheels are arranged at two sides below the bottom plate of the ship body and are arranged at intervals, the retractable crawler chassis consists of a retractable fixing frame extending out of the ship body, a damping spring at the tail end of the fixing frame and split rubber crawler power devices respectively connected to two ends of the fixing frame, the retractable crawler chassis stretches out downwards in a working state to enable the split rubber crawler to be in contact with the ground and to be in a working state with the paddle wheels alternately, and the retractable crawler chassis retracts upwards to be close to the ship body in a working state with the paddle wheels;
the data interaction device consists of a data transceiver arranged in the ship body and a signal antenna arranged at the top end of the ship body and is used for data interaction between the unmanned ship and workers;
the autonomous controller consists of a sensing device inside the ship body and an autonomous control decision microcomputer and is used for receiving instructions of workers through data interaction;
the power storage device is composed of a large-capacity lithium battery inside the ship body.
2. The machine-vision based amphibious cleaning unmanned vessel of claim 1, wherein: the middle rear part below the bottom plate of the ship body is provided with loading wheels which are respectively arranged on two sides of the ship body symmetrically and are parallel and level with the bottom of the telescopic crawler chassis in the extending working state.
3. The machine-vision based amphibious cleaning unmanned vessel of claim 1, wherein: two high-power brushless direct current motors are hermetically fixed on two sides of the ship body and connected with a transmission system of the microcomputer, and respectively provide power for the paddle wheel and the telescopic crawler chassis on the water surface or on the land.
4. The machine-vision based amphibious cleaning unmanned vessel of claim 1, wherein: the garbage crushing device consists of a crushing cutter roller system, a bearing case, a hopper and a power system and is connected with an autonomous controller of the ship body; when the garbage is collected into the ship, the garbage crushing device is started to crush the garbage.
5. The machine-vision based amphibious cleaning unmanned vessel of claim 1, wherein: the power storage device is matched with a charging device, and the charging device is matched with a charging pile of the unmanned ship storage platform to be inserted and charged.
6. A self-recognition pollutant cleaning method, which is characterized in that the amphibious cleaning unmanned ship based on machine vision according to any one of the claims 1-5 is adopted, the unmanned ship cruises according to a preset route and a cruising range and autonomously performs water surface and land operation, the unmanned ship monitors garbage pollutants, obstacles and personnel in a designated area by using an infrared thermal imaging camera, a color visible light camera and a black and white visible light camera, independently completes image recognition and decision, autonomously travels to a target area, and effectively cleans the pollutants by a chain belt type garbage collector, an edge brush and a rolling brush; and after the cruising operation is finished, the vehicle automatically returns to the original position.
7. A self-identifying contaminant removal method according to claim 6, comprising the steps of:
the unmanned ship receives an instruction of an operation starting signal, the unmanned ship storage platform starts automatically to cruise according to a preset route and a cruise range, meanwhile, the GPS and the image acquisition device start to act to acquire surrounding environment information of the unmanned ship, detect pollutants, obstacles and personnel in the surrounding environment, and the autonomous controller regulates and controls the motion state;
the autonomous controller judges the surrounding environment according to the acquired image information, and when the surrounding environment is detected to have pollutants, the unmanned ship can decide the cruising route to be close to the pollutants through a microcomputer and perform garbage cleaning; when the unmanned ship detects a land environment, an instruction signal is given to control the split type crawler chassis to descend to be in contact with the ground, and the crawler and the bogie wheels keep the ship body to move forwards; when the unmanned ship detects the water surface environment, an instruction signal is given to control the split type crawler chassis to ascend and be folded to the bottom of the ship body, and the ship body is advanced through the paddle wheel; and after the operation is finished, the cruising is continuously finished according to a preset route.
8. The self-recognition pollutant cleaning method according to claim 6, wherein when the unmanned ship detects that obstacles exist around, an avoidance route is determined through a microcomputer; when the unmanned ship detects that personnel move, the unmanned ship can give priority to avoidance and carry out voice prompt so as to prevent the personnel from being injured or influencing cruising operation; and when the electric quantity of the battery is detected to be insufficient, the battery automatically returns and is automatically charged.
9. The self-recognition pollutant cleaning method according to claim 6, wherein if the water surface is in a water surface, the chain belt type garbage collection system is started, and the split type crawler chassis is controlled to ascend, retract the side brushes and the rolling brushes to perform water surface cleaning operation; if the garbage collecting chain belt and the crushing device are started on the land, the lower brushes, the rolling brushes and the split type crawler chassis are lowered, and pollutants on the land are cleaned.
10. The self-recognition pollutant cleaning method according to claim 6, characterized in that in the cruising process, the electric cradle head cooperates with the infrared thermal imaging camera and the visible light camera to take pictures simultaneously, the three cameras are used for detecting pollutants on the lake surface and the land surface and the environment where the ship body is located simultaneously, the image information collected by the infrared thermal imaging camera is combined with the image information collected by the visible light camera to accurately recognize personnel, obstacles and potential risks, and the obtained information is used for the autonomous operation decision of the autonomous controller; the color visible light camera and the black-and-white visible light camera work together, the color visible light camera plays a main role in collecting image information, the black-and-white visible light camera serves as auxiliary collecting equipment, and image information collected by the color visible light camera and the black-and-white visible light camera is fused to obtain an original image with higher quality for later image recognition and utilization; the images are transmitted to an onboard microcomputer and an autonomous controller through a data line to perform real-time image processing and identification analysis so as to make a decision to send a motion and or garbage cleaning command.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113723371A (en) * | 2021-11-01 | 2021-11-30 | 陕西欧卡电子智能科技有限公司 | Unmanned ship cleaning route planning method and device, computer equipment and storage medium |
| CN113786134A (en) * | 2021-09-27 | 2021-12-14 | 汤恩智能科技(上海)有限公司 | Cleaning method, program product, readable medium and electronic device |
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