CN113655792A - Working condition self-adaptive system and control method for water area garbage cleaning robot - Google Patents
Working condition self-adaptive system and control method for water area garbage cleaning robot Download PDFInfo
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- CN113655792A CN113655792A CN202110908158.9A CN202110908158A CN113655792A CN 113655792 A CN113655792 A CN 113655792A CN 202110908158 A CN202110908158 A CN 202110908158A CN 113655792 A CN113655792 A CN 113655792A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 126
- 238000004140 cleaning Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000003044 adaptive effect Effects 0.000 claims abstract 8
- 238000010586 diagram Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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Abstract
本发明公开了一种水域垃圾清理机器人工况自适应系统及控制方法，包括摄像头、探测器、微电脑、单片机及清理机器人，摄像头和探测器均与微电脑连接，微电脑依次与单片机及清理机器人连接，微电脑包括接收模块、处理模块、存储模块、第一确定模块、第二确定模块、匹配模块与输出模块，接收模块、处理模块、存储模块、第一确定模块和第二确定模块相互配合，实时分析确定水域内工作环境；第一确定模块、第二确定模块、匹配模块相互配合，以确定工作模式；匹配模块与输出模块相互配合，将确定的工作模式传输给清理机器人。本发明能应对水域复杂环境，实现了根据不同环境自主选择合适的工作模式，保证了水域垃圾清理机器人适应性和高效性。
The invention discloses a working condition adaptive system and a control method of a water area garbage cleaning robot, comprising a camera, a detector, a microcomputer, a single-chip microcomputer and a cleaning robot. The microcomputer includes a receiving module, a processing module, a storage module, a first determining module, a second determining module, a matching module and an output module. The receiving module, the processing module, the storage module, the first determining module and the second determining module cooperate with each other to analyze in real time. The working environment in the water area is determined; the first determination module, the second determination module and the matching module cooperate with each other to determine the working mode; the matching module cooperates with the output module to transmit the determined working mode to the cleaning robot. The invention can cope with the complex water environment, realizes the independent selection of suitable working modes according to different environments, and ensures the adaptability and high efficiency of the water area garbage cleaning robot.
Description
Technical Field
The invention relates to a water area garbage cleaning system and a control method, in particular to a water area garbage cleaning robot working condition self-adaptive system and a control method.
Background
With the development of society, people are gradually recognizing the importance of environmental protection. In recent years, the pollution problem of floating garbage on water is endless, and the existence of a large amount of floating garbage can not only destroy ecology, influence water quality, aggravate navigation channel regulation tasks, be harmful to urban development and tourist attraction construction, but also cause great harm to aquatic organisms. In the face of severe challenges, some floating garbage recovery equipment or recovery methods on the market at present are very time-consuming and labor-consuming, and the efficiency is not high, so that the research on the floating garbage recovery method which is more environment-friendly and efficient is urgent, and the method has important environmental protection, economic and social meanings.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a working condition self-adaptive system and a control method of a water area garbage cleaning robot, and aims to solve the problems of complex water area working conditions, high automation working difficulty and low efficiency of the water area garbage cleaning robot.
The technical scheme is as follows: the device comprises a camera, a detector, a microcomputer, a singlechip and a cleaning robot, wherein the camera and the detector are connected with the microcomputer, the microcomputer is sequentially connected with the singlechip and the cleaning robot, the microcomputer comprises a receiving module, a processing module, a storage module, a first determining module, a second determining module, a matching module and an output module, and the receiving module, the processing module, the storage module, the first determining module and the second determining module are matched with each other to analyze and determine the working environment condition in a water area in real time; the first determining module, the second determining module and the matching module are matched with each other to determine a working mode suitable for the current working environment; the matching module is matched with the output module, and the determined working mode is transmitted to the cleaning robot.
The detector is a water flow velocity and flow direction detector and is used for detecting water area working condition data.
The camera acquires images of floating garbage in a working area of a water area to form images of the floating garbage in the working water area.
The microcomputer judges the type of the collection working condition according to the floating garbage image and judges the type of the water area working condition according to the water area working condition data.
The microcomputer determines the working mode according to the collection working condition type and the water area working condition type, and transmits the corresponding working mode to the singlechip, and the singlechip controls the cleaning robot to perform cleaning work according to the working mode.
A control method of a working condition self-adaptive system of a water area garbage cleaning robot comprises the following steps:
s110, acquiring images of floating garbage in a working area of a water area by a camera, and detecting working condition data of the water area by a water flow velocity and flow direction detector;
s121, judging the type of a collection working condition by a microcomputer according to the floating garbage image;
s122, judging the water area working condition type by the microcomputer according to the water area working condition data;
s130, determining a working mode by a microcomputer according to the collection working condition type and the water area working condition type;
s140, the microcomputer transmits the corresponding working mode to the singlechip;
and S150, controlling the cleaning robot by the single chip microcomputer to perform cleaning work according to the working mode.
The determination method in S121 includes:
(1) the microcomputer matches the images of the floating garbage according to a preset floating garbage model so as to judge the type of the floating garbage;
(2) the microcomputer analyzes the type of the floating garbage to obtain floating garbage information;
(3) the microcomputer matches preset collection working conditions through the floating garbage information to judge the type of the collection working conditions.
The determination method in S122 is: the microcomputer takes the water flow direction and the water flow size in the water area working condition data as key information matched with the water area working condition model, and the water flow direction and the water flow size in the water area working condition data belong to the same water area working condition model within the same range gradient.
The determination method of the working mode in S130 is as follows: the microcomputer matches a preset cleaning mode according to the collection working condition type, matches a preset moving mode according to the water area working condition type, and combines the matched cleaning mode and moving mode to determine the working mode.
The single chip microcomputer sends cleaning mode signals and moving mode signals corresponding to the working modes to the cleaning robot collecting module and the pushing module respectively, so that the robot can efficiently complete garbage cleaning work in a water area.
Has the advantages that: the invention can detect the working environment of the water area in real time, adopts different working mode combinations of collection modes and moving modes according to the environment, and has stronger adaptability and higher working efficiency; the quantity and the size of the floating garbage in the water area environment and the water flow direction and the size of the water area working condition are taken as key information, and the classification is carried out in a gradient manner, so that the continuous mutation of the working mode is avoided, and the stability of the system is improved; the intelligent control mode is applied to the field of cleaning of the floating garbage in the water area, so that the speed of collecting the floating garbage in the water area is increased, manpower is liberated, and the intelligent control mode has good environmental protection and economic significance.
Drawings
FIG. 1 is a flow chart of a control method of the present invention;
FIG. 2 is a method for determining the type of collection condition and the type of water area condition by a microcomputer according to the present invention;
FIG. 3 is a schematic diagram of a cleaning mode determination method according to the present invention;
FIG. 4 is a diagram illustrating a method for determining a moving mode according to the present invention;
FIG. 5 is a system composition diagram of the present invention;
FIG. 6 is a schematic diagram of a microcomputer according to the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 5, the present invention includes a 360 ° wide-angle camera 211, a water flow velocity and flow direction detector 212, a microcomputer 300, a single chip microcomputer 400 and a cleaning robot 500, wherein the 360 ° wide-angle camera 211 and the water flow velocity and flow direction detector 212 are connected to the microcomputer 300, the 360 ° wide-angle camera 211 shoots the floating garbage image of the surrounding water area to form the floating garbage image in the working water area, and the water flow velocity and flow direction information detected by the water flow velocity and flow direction detector 212 form the water area working condition data and transmit the water area working condition data to the microcomputer 300. The microcomputer 300 is connected with the single chip microcomputer 400 and the cleaning robot 500 in sequence. The microcomputer 300 determines a working mode according to the collection working condition type and the water area working condition type, and transmits the corresponding working mode to the single chip microcomputer 400, and the single chip microcomputer 400 controls the cleaning robot 500 to perform cleaning work according to the working mode.
As shown in fig. 6, the microcomputer 300 includes a receiving module 310, a processing module 320, a storage module 330, a first determining module 340, a second determining module 350, a matching module 360 and an output module 370, wherein the receiving module 310, the processing module 320 and the storage module 330 are connected in sequence, and the matching module 360 is connected with the output module 370. The receiving module 310 is configured to receive the floating garbage image and the water area condition data; the processing module 320 is used for preprocessing the received floating garbage image and the water area working condition data before matching; the storage module 330 is configured to store a preset floating garbage model, a collection condition model, a water area condition model, a cleaning mode and a moving mode; the first determining module 340 determines the type of the collection condition according to the floating garbage image; the second determination module 350 determines the water area working condition type according to the water area working condition data; the matching module 360 matches and combines a preset cleaning mode and a preset moving mode according to the collection working condition type and the water area working condition type to determine a working mode; the output module 370 transmits the corresponding operation mode to the one-chip microcomputer 400.
The receiving module 310, the processing module 320, the storage module 330, the first determining module 340 and the second determining module 350 are mutually matched for analyzing and determining the working environment condition in the water area in real time; the first determining module 340, the second determining module 350 and the matching module 360 cooperate with each other to determine a working mode adapted to the current working environment; the matching module 360 and the output module 370 are matched with each other, and the determined working mode is transmitted to the cleaning robot, so that the cleaning robot can perform efficient water area cleaning work.
As shown in fig. 1, the control method of the present invention includes the steps of:
s110, a camera acquires images of floating garbage in a water area working area, and a water flow direction and flow velocity detector detects water area working condition data, specifically: shooting a picture of floating garbage in a surrounding water area by adopting a 360-degree wide-angle camera 211 to form a floating garbage image in a working water area; the water flow speed and direction detector 212 detects the flow speed and direction information of the water flow to form water area working condition data.
S121, the microcomputer 300 determines the collection type according to the floating garbage image, the specific determination method uses the amount and size of garbage in the floating garbage image as the key information matched with the floating garbage model, and the amount and size of garbage in the floating garbage image belong to the same floating garbage model in the same range gradient, so as to avoid continuous mutation of the matching model, and increase the stability of the system, as shown in fig. 2, the method specifically includes:
(1) the microcomputer 300 matches the floating garbage images according to a preset floating garbage model to determine the type of the floating garbage;
(2) the microcomputer 300 analyzes the type of the floating garbage to obtain information of the floating garbage;
(3) the microcomputer 300 determines the type of the collection condition by matching the floating garbage information with a preset collection condition.
As shown in fig. 3, the floating garbage model is divided into three types, namely a small-density model, a general-density model and a large-density model, and corresponds to three gradient situations, namely that the garbage area proportion in a unit area of 1 square meter in the floating garbage image is less than 5%, the garbage area proportion in the unit area of 1 square meter is between 5% and 10%, and the garbage area proportion in the unit area of 1 square meter is more than 10%; correspondingly matching a low-power collection working condition, a normal collection working condition and a high-power collection working condition, and determining a corresponding cleaning mode after the working conditions are determined.
S122, the microcomputer 300 judges the water area working condition type according to the water area working condition data, and the specific judgment mode is as follows: the microcomputer 300 matches the water area working condition data according to the preset water area working condition model to judge the water area working condition type, the water flow direction and the water flow size in the water area working condition data are key information matched with the water area working condition model, and the water flow direction and the water flow size in the water area working condition data belong to the same water area working condition model in the same range gradient, so that continuous mutation of the matched model is avoided, and the stability of the system is improved.
As shown in FIG. 4, the water area working condition models are divided into a slow flow rate model, a general flow rate model and a fast flow rate model, and correspond to three gradients, namely, the water flow rate in the flow rate data is less than 1m/s, the water flow rate in the flow rate data is between 1m/s and 2m/s, and the water flow rate in the flow rate data is greater than 2 m/s; correspondingly matching the working condition of a low-power propulsion water area, the working condition of a normal propulsion water area and the working condition of a quick propulsion water area, and determining a corresponding moving mode after the working conditions are determined.
S130, the microcomputer 300 determines a working mode according to the collection working condition type and the water area working condition type, specifically, the microcomputer matches a preset cleaning mode according to the collection working condition type, matches a preset moving mode according to the water area working condition type, and combines the matched cleaning mode and moving mode to determine the working mode.
S140, the microcomputer 300 transmits the corresponding working mode to the single chip microcomputer 400.
S150, the single chip microcomputer 400 controls the cleaning robot 500 to perform cleaning work according to the working mode, and specifically, the single chip microcomputer 400 sends cleaning mode signals and moving mode signals corresponding to the working mode to the collection module and the pushing module of the cleaning robot 500 respectively so that the robot can efficiently complete garbage cleaning work in a water area.
The invention can face the complex environment of the water area, realize the automatic selection of a proper working mode according to different environments and ensure the adaptability and the high efficiency of the garbage cleaning robot in the water area.
Claims (10)
1. A working condition self-adaptive system of a water area garbage cleaning robot is characterized by comprising a camera, a detector, a microcomputer, a single chip microcomputer and a cleaning robot, wherein the camera and the detector are connected with the microcomputer, the microcomputer is sequentially connected with the single chip microcomputer and the cleaning robot, the microcomputer comprises a receiving module, a processing module, a storage module, a first determining module, a second determining module, a matching module and an output module, and the receiving module, the processing module, the storage module, the first determining module and the second determining module are matched with each other to analyze and determine the working environment condition in a water area in real time; the first determining module, the second determining module and the matching module are matched with each other to determine a working mode suitable for the current working environment; the matching module is matched with the output module, and the determined working mode is transmitted to the cleaning robot.
2. The water area garbage cleaning robot working condition adaptive system according to claim 1, wherein the detector is a water flow velocity and flow direction detector for detecting water area working condition data.
3. The system of claim 1, wherein the camera captures images of floating debris in the working area of the body of water.
4. The working condition adaptive system of the water area garbage cleaning robot as claimed in claim 1, wherein the microcomputer determines the type of the collection working condition according to the floating garbage image and determines the type of the water area working condition according to the water area working condition data.
5. The working condition adaptive system of the water area garbage cleaning robot as claimed in claim 1, wherein the microcomputer determines the working mode according to the type of the collection working condition and the type of the working condition of the water area, and transmits the corresponding working mode to the single chip microcomputer.
6. A control method of a working condition self-adaptive system of a water area garbage cleaning robot is characterized by comprising the following steps:
s110, acquiring images of floating garbage in a working area of a water area by a camera, and detecting working condition data of the water area by a water flow velocity and flow direction detector;
s121, judging the type of a collection working condition by a microcomputer according to the floating garbage image;
s122, judging the water area working condition type by the microcomputer according to the water area working condition data;
s130, determining a working mode by a microcomputer according to the collection working condition type and the water area working condition type;
s140, the microcomputer transmits the corresponding working mode to the singlechip;
and S150, controlling the cleaning robot by the single chip microcomputer to perform cleaning work according to the working mode.
7. The method for controlling the working condition adaptive system for the water area garbage cleaning robot according to claim 6, wherein the determination method in S121 comprises:
(1) the microcomputer matches the images of the floating garbage according to a preset floating garbage model so as to judge the type of the floating garbage;
(2) the microcomputer analyzes the type of the floating garbage to obtain floating garbage information;
(3) the microcomputer matches preset collection working conditions through the floating garbage information to judge the type of the collection working conditions.
8. The method for controlling the working condition adaptive system of the water area garbage cleaning robot according to claim 6, wherein the determination method in S122 is: the microcomputer takes the water flow direction and the water flow size in the water area working condition data as key information matched with the water area working condition model, and the water flow direction and the water flow size in the water area working condition data belong to the same water area working condition model within the same range gradient.
9. The method for controlling the working condition adaptive system of the water area garbage cleaning robot as claimed in claim 6, wherein the determination method of the working mode in S130 is: the microcomputer matches a preset cleaning mode according to the collection working condition type, matches a preset moving mode according to the water area working condition type, and combines the matched cleaning mode and moving mode to determine the working mode.
10. The control method of the water area garbage cleaning robot working condition adaptive system according to claim 6, wherein the single chip microcomputer sends cleaning mode signals and moving mode signals corresponding to working modes to the cleaning robot collection module and the propulsion module respectively.
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Cited By (1)
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Application publication date: 20211116 |