CN113718732A - Unmanned ship on water with active rubbish recovery function - Google Patents
Unmanned ship on water with active rubbish recovery function Download PDFInfo
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- CN113718732A CN113718732A CN202111186187.5A CN202111186187A CN113718732A CN 113718732 A CN113718732 A CN 113718732A CN 202111186187 A CN202111186187 A CN 202111186187A CN 113718732 A CN113718732 A CN 113718732A
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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
- E02B15/046—Collection of oil using vessels, i.e. boats, barges
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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
Abstract
The invention discloses a water surface unmanned ship with an active garbage recycling function, which comprises: the device comprises a boat body, a recovery arm assembly, a processor, an image acquisition module and an acoustic ultrasonic detection module; the processor is electrically connected with the recovery arm assembly, the image acquisition module and the ultrasonic detection module, and is used for controlling the boat body to move and completing garbage recovery operation. The unmanned ship on water surface can automatically acquire image information of the water surface through the image acquisition module, and then automatically identifies and extracts information of garbage on water surface according to the image information, and the processor can let the unmanned ship move accurately and efficiently according to the distance information that the ultrasonic detection module detects the garbage, so that the garbage can smoothly enter the garbage inlet into the collection bin, and the active recovery operation of the garbage on water surface can be completed accurately and efficiently.
Description
Technical Field
The invention relates to the field of water surface garbage recovery, in particular to a water surface unmanned boat with an active garbage recovery function.
Background
The social development at any time, the improvement of living standard, the water surface rubbish kind and quantity also increase. In recent years, along with the enhancement of environmental protection consciousness of people, more and more attention is paid to pollution control on water resources, and particularly to salvage and recovery of water surface garbage.
Traditional surface of water rubbish is retrieved and is adopted artifical salvage mode, and this mode need consume a large amount of manpower resources, and the danger coefficient is high, is difficult to at the operation of complicated surface of water environment. The existing active garbage recovery device mostly adopts a crawler-type structure, and the structure is large in size and high in energy consumption and can only be carried on a ship with a certain discharge capacity. The garbage salvage ship needs a driver, is difficult to realize unmanned operation, is suitable for large-area aquatic weed salvage scenes on lake surfaces, and has a narrow application range. And the current boats and ships that are used for surface of water rubbish to retrieve adopt passive form rubbish to retrieve the structure more, unable automatic identification and initiatively retrieve rubbish, and recovery efficiency is low, lacks the flexibility during the operation.
Disclosure of Invention
In view of the above defects, the invention aims to provide an unmanned surface vehicle with an active garbage recycling function, which can well solve the problems of low recycling efficiency and lack of flexibility of the existing garbage recycling boat on the water surface.
In order to achieve the purpose, the invention adopts the following technical scheme:
an unmanned surface vehicle with an active waste recovery function, comprising: the device comprises a boat body, a recovery arm assembly, a processor, an image acquisition module and an acoustic ultrasonic detection module; the boat body is provided with a collection bin, and the collection bin is used for storing collected garbage; a garbage inlet of the collection bin is arranged at the head of the boat body; the two recovery arm assemblies are symmetrically arranged at the left side and the right side of the garbage inlet respectively; the recycling arm assembly is used for driving the boat body to move and introducing the garbage into the garbage inlet; the image acquisition module is used for acquiring image information of the periphery of the boat body; the ultrasonic detection module detects the relative position information of the boat body and the water surface garbage by using sound waves; the processor is electrically connected with the recovery arm assembly, the image acquisition module and the ultrasonic detection module, and is used for controlling the boat body to move and completing garbage recovery operation.
Preferably, the recovery arm assembly comprises a V-shaped support frame, a driving motor and a rotary paddle board; the narrow end of the V-shaped support frame is fixedly connected with one side of the garbage inlet, and the opening end of the V-shaped support frame horizontally extends outwards; the rotary paddle board is vertically and rotatably arranged in the hollow area of the opening end of the V-shaped support frame through a rotating shaft; and the rotating shaft of the rotating paddle board is in transmission connection with a driving motor.
Preferably, the rotary paddle board comprises a middle diamond-shaped area and extending strip-shaped parts which are respectively connected with two ends of the diamond-shaped area; the rotary paddle plate is of a plate-shaped structure formed by stacking a plurality of cylindrical rods from top to bottom; and liquid flow gaps are arranged between the cylindrical rods.
Preferably, the side wall of the collecting bin is provided with a filtering hole; the height dimension range of the liquid flow gap is as follows: 1cm-5 cm; the aperture size of the filter holes is smaller than the height size of the liquid flow gaps.
Preferably, the boat is hexahedral, and the collecting bin is a rectangular groove structure which is downwards sunken in the middle of the boat body; the vertical side surface and the bottom surface of the rectangular groove structure are provided with filter holes; the front side face of the rectangular groove structure is provided with the garbage inlet which is a rectangular hollow window.
Preferably, the two recovery arm assemblies extend obliquely outwards and are spaced from each other by an included angle in the range of: 30-90 degrees.
Preferably, the bottom of ship body is equipped with two bar bosss, two bar bosss follow the front end of ship body extends to the rear end, two bar bosss about ship body bilateral symmetry sets up, is equipped with the bar drainage groove between two bar bosss.
Preferably, the driving motor is a brushless motor, which adopts closed-loop control; the controller is a PID controller improved based on a particle swarm algorithm, and the transfer function of the PID controller is as follows:
wherein KPIs a proportionality coefficient, TITo integrate the time constant, TDA differential time constant;
wherein, the particle swarm algorithm is as follows:
example position vectors in space are: x is the number ofi＝(vi1,vi2,…,viD)；
The current optimal positions for individual particles are: p ═ p (p)i1,pi2,…,piD)；
The particle swarm algorithm speed-position updating formula is as follows:
where D is 1,2, … … D, learning factor c1＝c2＝2,r1、r2Are random numbers between intervals (0, 1).
Preferably, the image acquisition module and the processor in combination perform an image recognition operation, the image recognition operation comprising:
applying a Yolov4 recognition model and a depth migration learning algorithm;
before training data, clustering the marked target frame by using a K-means algorithm, and then initializing the size of a candidate frame.
The adopted feature fusion network combines the deep features extracted by the deep network and the image edge information of the shallow network, and the deep features and the image edge information are used for multiple times and then fused; and (4) constraining the updating trend of the weight and the bias by using a loss function weighting mode, namely multiplying the category loss item corresponding to the easily detected target by a smaller weight.
And retraining the model based on the new sample by using the transfer learning.
Preferably, the processor, together with the recovery arm, the image acquisition module and the ultrasonic detection module, completes the recovery operation of the water surface garbage, and includes the following contents:
the image acquisition module acquires water surface image information, the processor identifies the identification result of the water surface floater according to the water surface image information, judges whether the water surface floater belongs to a recoverable object or not, and generates a signal T1 to identify the floater and belong to the recoverable object, wherein T1 is TURE, and otherwise, FALSE.
The ultrasonic detection module measures and calculates the distance between the floater on the water surface and the collection bin and generates a T2 signal, when the distance is larger than a set threshold value, the T2 signal is a FALSE signal, and when the distance is smaller than the set threshold value, the T2 signal is TRUE.
The priority processor logic is as follows: observing a T1 value at any time, generating a driving trigger signal when T1 is TURE, driving the driving motor to drive the rotary paddle to work, and observing a T2 value at the same time; when T2 is TRUE, a driving stop signal is generated to stop the driving motor and stop the rotation of the rotary paddle.
The embodiment of the invention has the following beneficial effects:
the unmanned surface of water ship adopts the nested structure that adopts solid support frame and rotatory thick liquid board to combine together, compares in crawler-type recovery ship more light nimble, and the energy consumption is lower, can make unmanned surface of water weight is lighter, removes more nimble, unmanned surface of water ship has improved the recovery work efficiency of surface of water floater, more is favorable to realizing the large tracts of land and retrieves.
When the unmanned surface vehicle actively recovers the water surface floating objects, the identification method is based on a deep migration learning algorithm, more expressive characteristics are automatically extracted, the identification is more accurate, and the generalization is better.
The identification result of the unmanned surface vehicle is used for generating a driving trigger signal, and the distance from the floater to the collecting bin is used for generating a driving or stopping signal by utilizing ultrasonic measurement, so that the automatic control power of the unmanned surface vehicle is realized, the loss of the device is reduced, and the energy consumption is saved.
Drawings
FIG. 1 is a schematic structural view of the surface unmanned vehicle in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of another structure of the embodiment shown in FIG. 1;
FIG. 3 is a schematic structural view of the recovery arm assembly in one embodiment of the present invention;
FIG. 4 is a logic block diagram of a control system for the surface drones in one embodiment of the present invention;
FIG. 5 is a flow chart of the particle group algorithm in the PID controller according to an embodiment of the invention
Fig. 6 is a block diagram of the control system according to an embodiment of the present invention.
Wherein: the device comprises a boat body 110, a collection bin 111, a garbage inlet 112, a filter hole 113, a strip-shaped boss 114, a recovery arm assembly 120, a V-shaped support frame 121, a rotary paddle plate 122, a cylindrical rod 1221, a driving motor 123, an image acquisition module 130 and an ultrasonic detection module 140.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In one embodiment of the present application, as shown in fig. 1 to 6, an unmanned surface vehicle with an active garbage recycling function includes: the device comprises a boat body 110, a recovery arm assembly 120, a processor, an image acquisition module 130 and an acoustic-ultrasonic detection module; the boat body 110 is provided with a collection bin 111, and the collection bin 111 is used for storing collected garbage; the garbage inlet 112 of the collection bin 111 is opened at the head of the boat body 110; two recovery arm assemblies 120 are symmetrically arranged at the left side and the right side of the garbage inlet 112 respectively; the recovery arm assembly 120 is used for driving the boat body 110 to move and introducing the garbage into the garbage inlet 112; the image acquisition module 130 is configured to acquire image information of the periphery of the boat body 110; the ultrasonic detection module 140 detects the relative position information of the boat body 110 and the water surface garbage by using sound waves; the processor is electrically connected with the recovery arm assembly 120, the image acquisition module 130 and the ultrasonic detection module 140, and is used for controlling the boat body 110 to move and completing garbage recovery operation.
The unmanned surface vehicle can automatically acquire image information of the water surface through the image acquisition module 130, automatically identify and extract information of water surface garbage according to the image information, and judge whether the detected garbage needs to be recycled or not according to the garbage information; then, the processor controls the rotation of the rotating paddle 122 in the recovery arm assembly 120 according to the distance information of the garbage detected by the ultrasonic detection module 140, the rotation of the rotating paddle 122 can drive the nearby water flow to flow, so that the unmanned boat can move accurately and efficiently, when the unmanned boat moves to the position near the garbage to be recovered, under the accurate control of the ultrasonic detector and the image acquisition module 130, the rotating paddle 122 rotates accurately according to the setting, so that the garbage can smoothly enter the collection bin 111 from the garbage inlet 112, and the active recovery operation of the garbage on the water surface can be completed accurately and efficiently.
Preferably, the recovery arm assembly 120 includes a V-shaped support frame 121, a drive motor 123, and a rotating paddle 122; the narrow end of the V-shaped support frame 121 is fixedly connected with one side of the garbage inlet 112, and the open end of the V-shaped support frame 121 horizontally extends outwards; the rotary paddle 122 is vertically and rotatably arranged in the hollow area of the opening end of the V-shaped support frame 121 through a rotating shaft; the rotating shaft of the rotating paddle 122 is in transmission connection with a driving motor 123. The recovery arm assembly 120 adopts the special structure, so that the rotating paddle 122 can be ensured to have good driving effect on water flow, and the movement control of the unmanned boat is more accurate; in addition, the V-shaped support frame 121 makes the size of the rotating paddle 122 large enough, and the slurry selecting and loading plate can provide enough driving force for the unmanned surface vehicle and can actively drive the slurry garbage to the garbage inlet 112.
Preferably, the rotating paddle 122 includes a middle diamond-shaped region and extending strip-shaped portions respectively connected to two ends of the diamond-shaped region; the rotary paddle 122 is a plate-shaped structure formed by stacking a plurality of cylindrical rods 1221 from top to bottom; liquid flow gaps are arranged between the cylindrical rods 1221. By adopting the structure, the rotary paddle 122 has enough driving force in the high-speed rotation process, and liquid can flow through the liquid flow gap when the rotary paddle 122 pushes garbage at low speed, so that the resistance on the rotary paddle 122 is reduced, and the garbage can be pushed to the inlet more smoothly.
Preferably, the side wall of the collecting bin 111 is provided with a filtering hole 113; the height dimension range of the liquid flow gap is as follows: 1cm-5 cm; the filter holes 113 have a smaller pore size than the height dimension of the flow gap.
Preferably, the boat is hexahedral, and the collection bin 111 is a rectangular groove structure recessed downwards in the middle of the boat body 110; the vertical side surface and the bottom surface of the rectangular groove structure are provided with filter holes 113; the front side face of the rectangular groove structure is provided with the garbage inlet 112, and the garbage inlet 112 is a rectangular hollow window. In the moving process of the unmanned surface vehicle, the liquid in the collection bin 111 can smoothly flow out, so that the moving resistance is reduced, and the garbage can be stably stored in the collection bin 111.
Preferably, the two recovery arm assemblies 120 extend obliquely outward and are spaced from each other by an angle ranging from: 30-90 degrees. Make two retrieve arm subassembly 120 can provide more accurate drive power for the unmanned ship of surface of water, the liquid can let surface of water rubbish can accurate quick be pushed to simultaneously rubbish entry 112 department, finally the efficient gets into in the collection storehouse 111.
Preferably, the bottom of the boat body 110 is provided with two strip-shaped bosses 114, the two strip-shaped bosses 114 extend from the front end to the rear end of the boat body 110, the two strip-shaped bosses 114 are symmetrically arranged on the left and right of the boat body 110, and strip-shaped drainage grooves are formed between the two strip-shaped bosses 114. The strip-shaped bosses 114 and the drainage grooves can enable the unmanned surface vehicle to actively restore to linear movement when the recovery arm assembly 120 pushes garbage at a low speed, so that the movement controllability of the unmanned surface vehicle is higher.
Preferably, the driving motor 123 is a brushless motor, which adopts closed-loop control; the controller is a brushless driver, in particular to a PID controller improved based on a particle swarm algorithm, and the transfer function of the PID controller is as follows:
wherein KPIs a proportionality coefficient, TITo integrate the time constant, TDA differential time constant;
wherein, the particle swarm algorithm is as follows:
example position vectors in space are: x is the number ofi＝(vi1,vi2,…,viD)；
The current optimal positions for individual particles are: p ═ p (p)i1,pi2,…,piD)；
The particle swarm algorithm speed-position updating formula is as follows:
where D is 1,2, … … D, learning factor c1＝c2＝2,r1、r2Are random numbers between intervals (0, 1).
Specifically, the image acquisition module 130 and the processor are combined to complete an image recognition operation, where the image recognition operation includes the following steps:
applying a Yolov4 recognition model and a depth migration learning algorithm;
before training data, clustering the marked target frame by using a K-means algorithm, and then initializing the size of a candidate frame.
The adopted feature fusion network combines the deep features extracted by the deep network and the image edge information of the shallow network, and the deep features and the image edge information are used for multiple times and then fused; and (4) constraining the updating trend of the weight and the bias by using a loss function weighting mode, namely multiplying the category loss item corresponding to the easily detected target by a smaller weight.
And retraining the model based on the new sample by using the transfer learning.
Specifically, the processor, the recovery arm, the image acquisition module 130 and the ultrasonic detection module 140 complete the recovery operation of the water surface garbage a, and the recovery operation includes the following steps:
the image collecting module 130 collects the water surface image information, the processor identifies the identification result of the water surface floater according to the water surface image information, judges whether the water surface floater belongs to a recoverable object, and generates a signal T1 to identify the floater and belong to the recoverable object, T1 is TURE, otherwise, FALSE.
The ultrasonic detection module 140 measures the distance between the floating objects on the water surface and the collection bin 111, generates a T2 signal, generates a T2 signal as FALSE signal when the distance is greater than a set threshold, and generates a T2 signal as TRUE when the distance is less than the set threshold.
The priority processor logic is as follows: observing a T1 value at any time, generating a driving trigger signal when T1 is TURE, driving the driving motor 123 to drive the rotary paddle 122 to work, and observing a T2 value at the same time; when T2 is TRUE, a drive stop signal is generated to stop the operation of the drive motor 123 and stop the rotation of the rotary paddle 122.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. An unmanned surface vehicle with an active garbage recycling function, comprising: the device comprises a boat body, a recovery arm assembly, a processor, an image acquisition module and an acoustic ultrasonic detection module;
the boat body is provided with a collection bin, and the collection bin is used for storing collected garbage; a garbage inlet of the collection bin is arranged at the head of the boat body;
the two recovery arm assemblies are symmetrically arranged at the left side and the right side of the garbage inlet respectively; the recycling arm assembly is used for driving the boat body to move and introducing the garbage into the garbage inlet;
the image acquisition module is used for acquiring image information of the periphery of the boat body;
the ultrasonic detection module detects the relative position information of the boat body and the water surface garbage by using sound waves;
the processor is electrically connected with the recovery arm assembly, the image acquisition module and the ultrasonic detection module, and is used for controlling the boat body to move and completing garbage recovery operation.
2. The surface unmanned boat of claim 1, wherein the recovery arm assembly comprises a V-shaped support frame, a drive motor, and a rotating paddle;
the narrow end of the V-shaped support frame is fixedly connected with one side of the garbage inlet, and the opening end of the V-shaped support frame horizontally extends outwards; the rotary paddle board is vertically and rotatably arranged in the hollow area of the opening end of the V-shaped support frame through a rotating shaft; and the rotating shaft of the rotating paddle board is in transmission connection with a driving motor.
3. The surface unmanned surface vehicle of claim 2, wherein the rotating paddle board comprises a middle diamond-shaped area and extending strip-shaped portions respectively connected with two ends of the diamond-shaped area;
the rotary paddle plate is of a plate-shaped structure formed by stacking a plurality of cylindrical rods from top to bottom;
and liquid flow gaps are arranged between the cylindrical rods.
4. The unmanned above water surface craft of claim 3, wherein the side wall of said collection bin is provided with filtering holes;
the height dimension range of the liquid flow gap is as follows: 1cm-5 cm; the aperture size of the filter holes is smaller than the height size of the liquid flow gaps.
5. The unmanned surface vehicle of claim 1, wherein the vehicle is hexahedral, and the collection chamber is a rectangular groove structure recessed downward in the middle of the vehicle body; the vertical side surface and the bottom surface of the rectangular groove structure are provided with filter holes; the front side face of the rectangular groove structure is provided with the garbage inlet which is a rectangular hollow window.
6. The surface drone of claim 5, wherein the two recovery arm assemblies extend obliquely outward and are angled from one another in the range of: 30-90 degrees.
7. The unmanned surface vehicle of claim 5, wherein the bottom of the vehicle body is provided with two strip-shaped bosses extending from the front end to the rear end of the vehicle body, the two strip-shaped bosses are symmetrically arranged on the left and right sides of the vehicle body, and a strip-shaped drainage groove is formed between the two strip-shaped bosses.
8. The surface unmanned boat of claim 2,
the driving motor is a brushless motor and adopts closed-loop control; the controller is a PID controller improved based on a particle swarm algorithm, and the transfer function of the PID controller is as follows:
wherein KPIs a proportionality coefficient, TITo integrate the time constant, TDA differential time constant;
wherein, the particle swarm algorithm is as follows:
example position vectors in space are: x is the number ofi＝(vi1,vi2,…,viD)；
The current optimal positions for individual particles are: p ═ p (p)i1,pi2,…,piD)；
The particle swarm algorithm speed-position updating formula is as follows:
where D is 1,2, … … D, learning factor c1＝c2＝2,r1、r2Are random numbers between intervals (0, 1).
9. The surface unmanned boat of claim 1, wherein the image acquisition module and the processor in combination perform an image recognition operation comprising:
applying a Yolov4 recognition model and a depth migration learning algorithm;
before training data, clustering the marked target frame by using a K-means algorithm, and initializing the size of a candidate frame by using the target frame;
the adopted feature fusion network combines the deep features extracted by the deep network and the image edge information of the shallow network, and the deep features and the image edge information are used for multiple times and then fused; using a loss function weighting mode to constrain the updating trend of the weight and the bias, namely multiplying a category loss item corresponding to the easy-to-detect target by a smaller weight;
and retraining the model based on the new sample by using the transfer learning.
10. The surface unmanned boat of claim 1,
the processor, the recovery arm, the image acquisition module and the ultrasonic detection module complete the recovery operation of the water surface garbage together, and the recovery operation comprises the following contents:
the image acquisition module acquires water surface image information, the processor identifies the identification result of the water surface floater according to the water surface image information, judges whether the water surface floater belongs to a recoverable object or not, and generates a signal T1 to identify the floater which belongs to the recoverable object, wherein T1 is TURE, otherwise, FALSE;
the ultrasonic detection module measures and calculates the distance between the water surface floater and the collection bin, generates a T2 signal, generates a T2 FALSE signal when the distance is larger than a set threshold value, and generates a T2 TRUE signal when the distance is smaller than the set threshold value;
the priority processor logic is as follows: observing a T1 value at any time, generating a driving trigger signal when T1 is TURE, driving the driving motor to drive the rotary paddle to work, and observing a T2 value at the same time; when T2 is TRUE, a driving stop signal is generated to stop the driving motor and stop the rotation of the rotary paddle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023137601A1 (en) * | 2022-01-18 | 2023-07-27 | 广州工商学院 | Ai-based water surface garbage sorting and recycling platform system |
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| CN213625519U (en) * | 2020-10-20 | 2021-07-06 | 东北林业大学 | Unmanned ship for cleaning garbage on water surface of urban inland river |
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| CN108646728A (en) * | 2018-04-09 | 2018-10-12 | 山东大学 | Garbage on water automatic cleaning method based on cloud server and system |
| CN211893590U (en) * | 2020-04-08 | 2020-11-10 | 河北工业大学 | Small-size surface of water rubbish clearance robot |
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