CN113386914A - Unmanned multifunctional water surface garbage cleaning ship based on image recognition - Google Patents
Unmanned multifunctional water surface garbage cleaning ship based on image recognition Download PDFInfo
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- CN113386914A CN113386914A CN202110288370.XA CN202110288370A CN113386914A CN 113386914 A CN113386914 A CN 113386914A CN 202110288370 A CN202110288370 A CN 202110288370A CN 113386914 A CN113386914 A CN 113386914A
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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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
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The invention discloses an image recognition-based unmanned multifunctional water surface garbage cleaning ship.A double-float ship body is provided with a garbage collecting device, which comprises a bucket-shaped fishing net and a garbage collecting cabin, wherein the bucket-shaped fishing net is arranged in front of the ship body through a two-dimensional rotary holder and can movably and telescopically fish in motion, and the garbage collecting cabin is arranged in the center of the ship body and is used for being butted with the fishing net and storing garbage; the energy supply system comprises a lithium battery and a solar panel; the power propulsion device is arranged at the tail part of the ship body; comprises a motor and a propeller driven by the motor; the motor base is fixed on the ship body supporting plate and is connected with the propeller through a transmission shaft; the pattern recognition device is arranged in front of the ship body and comprises a camera device and a two-dimensional cradle head steering engine for driving the camera device to act; and the control system is used for respectively controlling the camera device and the fishing net. The water surface cleaning device has the advantages of stable running, high efficiency of identification and salvage, clean energy, simplicity and convenience in operation and labor saving, and can be widely used for cleaning the water surface of small-sized lakes in cities because the materials are light and convenient to transport.
Description
Technical Field
The invention belongs to the technical field of water surface cleaning devices, and particularly relates to an unmanned multifunctional water surface garbage cleaning ship.
Background
The marine garbage mainly comprises sea surface floating garbage, beach garbage and seabed garbage, wherein more than 80% of the sea surface floating garbage is plastic garbage, mainly comprises waste fishing net floats and domestic garbage, and also comprises wood garbage, and the region with the highest density is offshore regions such as various agricultural and fishery regions, port shipping regions and the like. With the development of the tourism industry, along with the development of entertainment places such as water orchards and the like, fishing, sightseeing and other requirements, the human beings pay more and more attention to the environmental protection. The conflict between the higher and higher water area cleaning requirements and the increasingly worsened water surface environment urgently needs to carry out water surface cleaning activities, but the potential safety hazard exists when the water surface cleaning activities are carried out only manually. The variety of mechanized surface cleaning vessels is increasing. The floating material collecting device can be roughly classified into a bucket type, a gravity flow type and a conveyor belt type 3 according to the difference.
In recent years, a plurality of cleaning ships with higher technical content appear, such as a cleaning and bleaching I, a century light, a Luqinghai cleaning series, a lake surface cleaning robot and the like, wherein the cleaning and bleaching I adopts double hulls and is mainly used for cleaning floaters on the surface of a large lake, such as a large amount of floaters on the water surface of a three gorge reservoir area; the light of the century is jointly developed and built in 2007 by Shanghai Water area environmental development Limited company, Shanghai maritime university and China Ship re-engineering group company, 704 th research institute, and a novel water surface cleaning work ship controlled by an embedded technology with an electric propulsion system as a power device; the Luqinghai clean series ship built by Huahai shipbuilding limited company in Pinghu city is mainly used for floating garbage, and is mainly characterized by that the tipping bucket device in the ship can be used for collecting garbage when the ship is sailing or stationary, and its bow is equipped with side wing for widening clean surface, and its stern is equipped with a deflection rudder, so that the ship can be stopped in time, and in addition, it also has a certain wind-wave resisting capacity. However, the cleaning ships which are put into use can only be suitable for large-scale sea areas, manual operation and control are needed, and suitable equipment for automatic cleaning of small and medium-scale sea areas does not exist at present.
Particularly, for small lakes in cities, particularly discontinuous small lakes, large machines have the defects of difficult transportation and transfer, high cost, difficult operation and the like. At present, some domestic research institutions and scholars research small-sized lake water surface intelligent cleaning devices, and the Cai Mengkai et al designs a remote control type water surface intelligent cleaning device which can convey garbage to a collection cabin by using a conveyor belt; the van Rujia and the like design a remote control cleaning boat design and control system based on a 51 single chip microcomputer, and a wireless control system is added for the remote control cleaning boat, so that the remote control of the cleaning boat is realized, the cleaning work of floaters on the water surface is simplified, the advancing direction of the cleaning boat is set through the wireless control system, the extension range of a collection range extension arm is expanded, and a working switch of a roller is opened, so that the water surface cleaning task can be completed; the small multifunctional cleaning boat for the river course is designed by Tang Guiliang and the like, is suitable for aspects of seabed sonar detection, floating garbage cleaning, water surface information acquisition and the like, and has the advantages of economy, practicability, simplicity in operation and the like; the water surface cleaning ship which is designed by Wupesong and the like, is suitable for small-sized river channels, is light in weight, is disassembled and combined, greatly reduces the volume and the self-weight average of the ship, and is suitable for water surface cleaning of the small-sized river channels.
However, the above-mentioned cleaning device for water surface garbage applied to small-sized lakes in cities is still deficient, and has not been designed perfectly in continuity, economy and convenience.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a multi-functional surface of water rubbish clearance ship of unmanned based on image recognition, it is clean to be applicable to middle-size and small-size surface of water body rubbish, conveniently transports, and long-range controllable, safe high-efficient, convenient operation, green energy-conservation.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a multi-functional surface of water rubbish clearance ship of unmanned based on image recognition which characterized in that includes:
a double-pontoon hull;
the garbage collection device comprises a bucket-shaped fishing net which is arranged in front of the ship body through a two-dimensional rotary holder and can movably and telescopically fish, and a garbage collection cabin which is arranged in the center of the ship body and is used for being in butt joint with the fishing net and storing garbage;
the energy supply system comprises a lithium battery and a solar panel which are arranged on the ship body, the solar panel is arranged on the ship body above the two buoys, and the solar panel is connected with the photovoltaic controller and the storage battery; the lithium battery and the solar panel are both connected with the power propulsion device;
the power propulsion device is arranged at the tail part of the ship body; comprises a motor and a propeller driven by the motor; the motor base is fixed on the ship body supporting plate and is connected with the propeller through a transmission shaft;
the pattern recognition device is arranged in front of the ship body and comprises a camera device and a two-dimensional cradle head steering engine for driving the camera device to act;
and the control system is mainly composed of a microcomputer mainboard, is connected with the two-dimensional cradle head steering engine and the two-dimensional rotating cradle head, and respectively controls the camera device and the fishing net.
In the above technical solution, the microcomputer motherboard is a Raspberry Pi B, the camera is connected to a CSI interface of the Raspberry Pi, the camera is called by using a Python language input code, and the IP address of the motherboard is connected to the computer side software VNC.
In the technical scheme, two buoys are symmetrically arranged on two sides below the ship body.
In the technical scheme, the garbage collection cabin is arranged on the ship body between the two buoys.
Among the above-mentioned technical scheme, on the hull of dragnet establishment between two flotation pontoons, rotatably supported the connection through a biax steering wheel form two dimension gyration cloud platform, another biax steering wheel is connected through a U type support, and a mechanical bucket type leaks the net again to another biax steering wheel.
In the technical scheme, the ship body is made of organic glass.
In the technical scheme, the buoy is made of polyvinyl chloride materials.
Among the above-mentioned technical scheme, among the energy supply system, set up polylith solar cell panel, the solar cell panel that is located hull one side connects the photovoltaic controller after establishing ties.
In the technical scheme, 2-4 solar panels are respectively arranged on the left side and the right side of the ship body, and every three solar panels are connected in series.
In the technical scheme, the single crystal silicon solar panel with the open-circuit voltage of 6V is arranged.
Therefore, the invention designs and manufactures the remote controllable multifunctional water surface cleaning device aiming at the small-sized lake in the city, the front end of the ship body is a bucket type collecting device, the rear part of the ship body is provided with a propeller as a driving device of the ship body, and the upper part of the ship body is provided with a solar cell panel; the invention is mainly characterized in that a 2-degree-of-freedom camera pan-tilt is connected with a mechanical bucket, two single-shaft steering engines are arranged on the pan-tilt, the up-down and left-right rotation can be realized, and when a cleaning boat works, water surface garbage can be scanned in all directions for identification. Meanwhile, the fishing net can rotate 360 degrees and perform telescopic fishing action, and the fishing net cooperates with pattern recognition to perform efficient unmanned operation. Finally, the product adopts green energy, and is safe and environment-friendly. The device has the characteristic of remote control due to the adoption of writable human programming control. In conclusion, the intelligent cleaning device has the advantages of stable running, high efficiency of identification and salvage, clean energy, simplicity and convenience in operation and labor saving, can be widely used for cleaning the water surface of small lakes in cities due to light and convenient material transportation, and has certain value in the research of the intelligent cleaning device for the water surface of the small lakes in cities.
Drawings
Fig. 1 is a schematic view of the overall structure of an unmanned multifunctional water surface garbage cleaning ship based on image recognition, which is implemented according to the invention.
Fig. 2 is a schematic view of the hull design of the present invention.
Fig. 3 is a schematic structural diagram of a camera module according to the present invention.
Fig. 4 is a schematic view of the propulsion structure of the present invention.
Fig. 5 is a schematic structural diagram of the two-dimensional steering engine pan-tilt head of the present invention.
Fig. 6 is a schematic structural view of the garbage collection assembly of the present invention.
The reference numbers in the figures correspond to the following: 1. the multifunctional ship comprises a ship body, 2 parts of a camera device, 3 parts of a solar panel, 4 parts of a propelling device, 5 parts of a two-dimensional steering engine holder, 6 parts of a garbage collection device, 101 parts of a buoy, 102 parts of a ship body supporting plate, 103 parts of a garbage collection cabin, 104 parts of a bolt, 105 parts of an inserting plate, 106 parts of a collection device fixing table, 107 parts of a fixing device, 108 parts of a camera fixing table, 201 parts of a holder steering engine, 202 parts of a camera, 203 parts of a first long U-shaped support, 204 parts of a multifunctional support, 401 parts of a motor, 402 parts of a transmission shaft, 403 parts of a propeller, 404 parts of a motor base, 501 parts of a second long U-shaped support, 502 parts of a double-shaft steering engine, 503 parts of an auxiliary support, 504 parts of a U-shaped support base, 601 parts of a fishing net, 602 parts of a fishing steering engine net, 603 parts of a double-shaft wide U-shaped support, 604 parts of a double-shaft narrow U-shaped support, 605 parts of a third long U-shaped support.
Detailed Description
The unmanned multifunctional water surface garbage cleaning ship based on image recognition, which is implemented according to the invention, comprises a ship body 1, a propelling device 4, a garbage collecting device 6, an energy supply system and an image recognition device, wherein the ship body is provided with a water surface garbage cleaning ship body; the garbage collection device is characterized in that the ship body 1 is a double-buoy ship body and consists of an organic glass ship body supporting plate 102 and two buoys 101 which are symmetrically arranged on two sides of the organic glass ship body supporting plate and made of polyvinyl chloride materials, as shown in figure 2, the garbage collection device 6 mainly comprises a fishing net 601 and a garbage collection cabin 103 which is used for butt joint and storing garbage, the fishing net 601 is movably arranged in front of the ship body 1, and the garbage collection cabin 103 is arranged on the ship body supporting plate 102; the solar panels 3 are respectively arranged on the corresponding hull support plates 102 of the buoys 101. The solar panel 3 is connected with the photovoltaic controller, the storage battery and the load to form an energy supply system of the ship body. The power propulsion device 4 is arranged on the hull support plate 102 and is arranged at the tail part of the hull; comprising a motor 401 and a propeller 403 driven by the motor 401. The motor base 404 is fixed on the hull support plate 102 and is connected with the propeller 403 through the transmission shaft 402. The pattern recognition device comprises a camera device 2 and a two-dimensional cradle head steering engine 201 for driving the camera device 2 to move. The imaging device 2 is mounted on the front right of the hull 1.
Further, the power propulsion device 4 is composed of two propellers.
Furthermore, the ship body 1 is made of polyvinyl chloride materials, is in a streamline design, is light in weight, small in fluid resistance, good in water tightness, and resistant to biting and corrosion. The hull support plate 102 of the hull 1 is provided with a collection device mount 106 and a camera mount 108. The collecting device fixing table 106 is used for fixedly connecting the two-dimensional rotary cloud deck 5 of the fishing net 601. The fixing device 107 fixes the hull support plate 102 and the pontoon 101. A further bolt 104 is provided to secure the hull support plate 102 to the pontoon 101. Further, insertion plates 105 are provided on both sides of the collecting device fixing table 106 for chucking arrangement.
Further, the energy supply system of the ship body 1 supplies energy for two aspects of solar energy and batteries, and totally 6 single crystal silicon solar panels with the open-circuit voltage of 6V are connected in series, and the voltage can reach 18V after the ship body is connected to the controller, and the connection mode is as follows: the solar battery-photovoltaic controller-storage battery-direct current load, wherein the photovoltaic controller can control the output voltage of the solar panel and can protect the storage battery from being overcharged.
Furthermore, a symmetrical number of solar cell panels are placed above each buoy 101, connected in series, and connected with the photovoltaic control panel to convert solar energy into electric energy to be stored in the storage battery; preferably, the single crystal silicon solar panels are arranged on the ship body symmetrically, and 4-10 single crystal silicon solar panels are preferably arranged on the ship body symmetrically.
Further, a motor 401 of the propulsion device 4 is placed at the rear of the hull 1, connected with a propeller 403 through a transmission shaft 402, and supplies power to the power system of the ship through a lithium battery.
Further, as shown in fig. 1 and 5-6, the cleaning boat adopts two sides of telescopic supports to control the fishing nets, so that garbage in front of the boat body at different distances can be fished, and the steering engine for controlling the fishing nets can rotate 360 degrees, so that efficient cantilever fishing can be realized. The garbage collection device 6 is arranged between the two floating drums 101, a fishing net 601 is connected to a ship body supporting plate 102 in front of the garbage collection cabin 103 through a two-dimensional rotary holder 5, specifically, a double-shaft steering engine 502 is connected to a U-shaped supporting base 504, auxiliary supports 503 are arranged on two sides of the double-shaft steering engine 502, the auxiliary supports 503 are rotatably connected with a second long U-shaped support 501, the second long U-shaped support 501 is fixedly connected with a double-shaft wide U-shaped support 603, the fishing net steering engine 602 is fixed in the double-shaft wide U-shaped support 603, the double-shaft wide U-shaped support 603 is rotatably connected with a double-shaft narrow U-shaped support 604, the front of the double-shaft narrow U-shaped support 604 is connected with the fishing net 601 through a third long U-shaped support 605, a mechanical bucket type leaking net is formed, and garbage fishing operation is completed.
Correspondingly, a garbage collection cabin 103 is arranged in the center of the ship body, a U-shaped support base 504 is arranged in front of the collection cabin 103, a steering engine is arranged on the U-shaped support base and connected with a mechanical bucket to collect garbage into the garbage collection cabin 203, a camera 202 is fixedly arranged on the right side, two fixing devices 107 with holes are respectively arranged on a left buoy 101 and a right buoy 101, a cross rod is connected between the two holes and used for placing 6 monocrystalline silicon solar panels 3, two propellers are arranged on the rear portion of the ship body and connected with an electric motor through the two holes and the two fixing devices 107 to serve as a power device of the cleaning ship.
Further, the camera device is installed in the right front of the hull 1 as shown in fig. 3, and is composed of a two-dimensional pan-tilt steering engine 201 capable of rotating horizontally and doing vertical pitching motion, a camera 202, and a first U-shaped bracket 203 for fixing the camera 202 on the two-dimensional pan-tilt steering engine 201. A multifunctional bracket 204 capable of horizontally adjusting the position of the U-shaped bracket 203 is arranged on a pitching mechanism of the two-dimensional holder steering engine 201. Camera 202 is the adjustable focus cloud platform of making a video recording of two degrees of freedom high definition, can rotate 180 about from top to bottom, when clean ship operation, can scan surface of water rubbish general profile comprehensively to discernment all kinds of rubbish, so that carry out accurate salvage and cabin body classification.
Preferably, 6 single crystal silicon solar panels with the open-circuit voltage of 6V are arranged, every three single crystal silicon solar panels are connected in series, the voltage can reach 18V after the single crystal silicon solar panels are connected to a controller, and the connection mode is as follows: the solar battery-photovoltaic controller-storage battery-direct current load, wherein the photovoltaic controller can control the output voltage of the solar panel and can protect the storage battery from being overcharged. A
The raspberry group mainboard takes an SD/MicroSD card as a memory hard disk, 1/2/4 USB interfaces and a 10/100 Ethernet interface are arranged around the card mainboard and can be connected with a keyboard, a mouse and a network cable, and meanwhile, the raspberry group mainboard has a television output interface and an HDMI high-definition video output interface of video analog signals, has the basic functions of all PCs, can be connected with a television and the keyboard, can establish the connection between the mainboard and a cleaning boat by inputting the IP address of the miniature mainboard into a software terminal VNC, can control the movement of the boat by compiling program codes as required, and can realize unmanned automatic operation.
The fishing operation of clean ship is accomplished by camera device and the cooperation of garbage collection device 6, and wherein camera 202 can link to each other with the interface of raspberry group mainboard, and the raspberry group mainboard has special IP address, can carry out the network at computer software end and set up the connection wireless network, and the raspberry group mainboard has the video transmission interface simultaneously, can pass the video that camera 202 caught back PC end, can observe the clean ship condition of salvaging and adjust in real time when remote control.
The cleaning ship is also deeply researched in the aspect of image processing, an identification algorithm in the image preprocessing step, namely a waterproof surface ripple strong light scattering algorithm, is improved, and a density-based clustering algorithm, namely a mean shift algorithm (MeanShift) algorithm and a maximum inter-class difference method (OTSU algorithm), can overcome the influence of water surface ripples, can eliminate the influence of illumination and solves the problem of water surface garbage salvage when strong light and water surface fluctuation are large. The cleaning ship can be controlled through a remote interface, one of the advantages of the raspberry group is that software can be connected, a raspberry group main board can be connected with a software end VNC through an IP address of the raspberry group main board, the VNC is a virtual network console, after the IP address is input, remote desktop control of the cleaning ship can be achieved, relevant programs of cleaning ship motion tracks and fishing can be written in advance on the remote interface, the cleaning ship motion tracks and the fishing relevant programs can be burnt into the raspberry group main board, at the moment, the cleaning ship motion and fishing can be controlled only by inputting codes, and real-time monitoring can be conducted on operation of the cleaning ship on the remote interface.
Because the energy supply system of clean ship is supplied energy by lithium cell and monocrystalline silicon solar cell panel jointly, when sunshine is sufficient, solar cell panel utilizes photoelectric effect can be with the direct electric energy storage of turning into of solar radiation energy to the battery, this conversion electric energy can provide the energy for the motor operation, during rainy day, can't absorb solar energy, available lithium cell directly supplies energy for the motor, this kind of solar energy can practice thrift the resource to a certain extent with the mode that the battery combines the power supply, and reduce environmental pollution, be a functional mode that must put into use.
The technical means disclosed in the invention are not limited to the technical means disclosed in the above embodiments, but also include technical means formed by any combination of the above technical features.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (10)
1. The utility model provides a multi-functional surface of water rubbish clearance ship of unmanned based on image recognition which characterized in that includes:
a double-pontoon hull;
the garbage collection device comprises a bucket-shaped fishing net which is arranged in front of the ship body through a two-dimensional rotary holder and can movably and telescopically fish, and a garbage collection cabin which is arranged in the center of the ship body and is used for being in butt joint with the fishing net and storing garbage;
the energy supply system comprises a lithium battery and a solar panel which are arranged on the ship body, the solar panel is arranged on the ship body above the two buoys, and the solar panel is connected with the photovoltaic controller and the storage battery; the lithium battery and the solar panel are both connected with the power propulsion device;
the power propulsion device is arranged at the tail part of the ship body; comprises a motor and a propeller driven by the motor; the motor base is fixed on the ship body supporting plate and is connected with the propeller through a transmission shaft;
the pattern recognition device is arranged in front of the ship body and comprises a camera device and a two-dimensional cradle head steering engine for driving the camera device to act;
and the control system is mainly composed of a microcomputer mainboard, is connected with the two-dimensional cradle head steering engine and the two-dimensional rotating cradle head, and respectively controls the camera device and the fishing net.
2. The unmanned multifunctional water surface garbage cleaning ship based on image recognition is characterized in that the microcomputer main board is a Raspberry Pi B, the camera is connected to a CSI interface of the Raspberry, a Python language input code is used for calling the camera, and an IP address of the main board is connected with computer software VNC.
3. The unmanned multifunctional water surface garbage cleaning ship based on image recognition is characterized in that two buoys are symmetrically arranged on two sides below a ship body.
4. The unmanned, multifunctional water-surface garbage collection ship based on image recognition of claim 1, wherein the garbage collection chamber is arranged on the hull between the two buoys.
5. The image recognition-based unmanned multifunctional water surface garbage cleaning ship is characterized in that the fishing net is arranged on a ship body between two floating drums and is rotatably supported and connected through a double-shaft steering engine-shaped two-dimensional rotary pan head, the double-shaft steering engine is connected with another double-shaft steering engine through a U-shaped support, and the other double-shaft steering engine is connected with a mechanical bucket-shaped leaking net.
6. The unmanned multifunctional water surface garbage cleaning ship based on image recognition is characterized in that the ship body is made of organic glass.
7. The unmanned, multi-functional water surface garbage collection vessel based on image recognition of claim 1, wherein the buoys are made of polyvinyl chloride material.
8. The unmanned multifunctional water surface garbage cleaning ship based on image recognition is characterized in that a plurality of solar panels are arranged in an energy supply system, and the solar panels on one side of a ship body are connected in series and then connected with a photovoltaic controller.
9. The unmanned multifunctional water surface garbage cleaning ship based on image recognition according to claim 1, characterized in that 2-4 solar panels are respectively arranged on the left side and the right side of the ship body, and every three solar panels are connected in series.
10. The unmanned multifunctional water surface garbage cleaning ship based on image recognition is characterized in that a single crystal silicon solar panel with the open-circuit voltage of 6V is arranged.
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| CN113957871A (en) * | 2021-11-19 | 2022-01-21 | 常州工学院 | Novel aquatic garbage collector |
| CN114030573A (en) * | 2021-11-26 | 2022-02-11 | 江苏科技大学 | Intelligent control system of water surface sundry salvage ship based on raspberry group |
| CN114182706A (en) * | 2021-12-13 | 2022-03-15 | 重庆三峡学院 | Floating duckweed measurement and control processing device |
| CN114368457A (en) * | 2022-02-25 | 2022-04-19 | 陕西科技大学 | High-efficient rubbish clearance ship |
| CN114408107A (en) * | 2022-02-25 | 2022-04-29 | 金陵科技学院 | Multifunctional integrated intelligent lake surface cleaning robot and use method thereof |
| CN114855734A (en) * | 2022-05-30 | 2022-08-05 | 湖北省航道工程有限公司 | Unmanned ship for river channel cleaning |
| CN115305891A (en) * | 2022-10-09 | 2022-11-08 | 徐州兴梁农业发展有限公司 | River course surface of water cleaning device |
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| CN114182706A (en) * | 2021-12-13 | 2022-03-15 | 重庆三峡学院 | Floating duckweed measurement and control processing device |
| CN114368457A (en) * | 2022-02-25 | 2022-04-19 | 陕西科技大学 | High-efficient rubbish clearance ship |
| CN114408107A (en) * | 2022-02-25 | 2022-04-29 | 金陵科技学院 | Multifunctional integrated intelligent lake surface cleaning robot and use method thereof |
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| CN114855734B (en) * | 2022-05-30 | 2024-04-09 | 湖北省航道工程有限公司 | Unmanned ship for river channel cleaning |
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