CN113772031A - Three-ship-cooperated automatic-driving unmanned water surface floater cleaning ship - Google Patents
Three-ship-cooperated automatic-driving unmanned water surface floater cleaning ship Download PDFInfo
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- CN113772031A CN113772031A CN202111054573.9A CN202111054573A CN113772031A CN 113772031 A CN113772031 A CN 113772031A CN 202111054573 A CN202111054573 A CN 202111054573A CN 113772031 A CN113772031 A CN 113772031A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 38
- 238000004140 cleaning Methods 0.000 title claims abstract description 25
- 238000007667 floating Methods 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims description 14
- 238000009825 accumulation Methods 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 230000007717 exclusion Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 1
- 208000034699 Vitreous floaters Diseases 0.000 abstract description 9
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000011086 high cleaning Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 8
- 238000007789 sealing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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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Abstract
The invention discloses an automatic driving unmanned water surface floater cleaning ship with three ships in cooperation, which comprises a main ship and two auxiliary ships, wherein the two auxiliary ships are connected with the main ship through a floating belt and are expanded into a reversed-triangle formation to advance in cooperation. During the forward movement, floating object garbage in a semi-enclosed area formed by the water adding belts of the three ships is gathered to the collecting port of the main ship, and floating objects are collected into the collecting frame of the main ship by the conveying belt of the main ship. The main boat and the auxiliary boat have an automatic driving function, can accurately keep the inverted triangle formation, not only replaces manpower, but also has high cleaning efficiency; the main ship conveyor belt mechanism separates the floaters from the water, and the collecting capacity is improved.
Description
Technical Field
The invention belongs to the field of water surface cleaning and unmanned ship autonomous driving, and particularly relates to an autonomous driving unmanned water surface floater cleaning ship with three ships in cooperation.
Technical Field
River channels and lakes are important components of urban natural resources, however, the accumulation of garbage in the water area environment causes pollution of urban water environment, and further causes immeasurable harm to human bodies, industrial and agricultural production and ecological environment. Therefore, the method has very important practical significance for protecting urban ecological civilization by strengthening the clean management of the water area environment. The traditional urban water area environment cleaning is mainly realized through a mode of manually collecting garbage, and the mode has great dependence on personnel and low efficiency.
The autopilot-based approach may enable cleaning of the water environment with minimal human demand. Some semi-automatic multihull ships and fully automatic monohull ships have been used, and the methods still have high dependence on personnel and low efficiency of garbage cleaning in the actual cleaning process, and good practical effect is difficult to obtain. In recent years, due to the development of related technologies such as deep learning and multi-body cooperation, three-ship cooperation automatic driving is possible.
Disclosure of Invention
The invention aims to provide an automatic driving unmanned water surface floater cleaning ship with cooperation of three ships, aiming at the defects that in the prior art, a water surface floater cleaning ship is manually participated or the unmanned operation range is small. The invention can meet the requirement of cleaning floaters in the water environment.
The purpose of the invention is realized by the following technical scheme: an automatic driving unmanned water surface floater cleaning ship with three ships in cooperation comprises a main ship and two auxiliary ships, wherein the two auxiliary ships are connected with the main ship through a floating belt. All three ships have the autopilot function, and the mutual cooperation becomes the style of calligraphy of falling article and advances, and the combination floats the area simultaneously and forms half surrounding structure and cleans the surface of water. The main ship realizes automatic driving by combining laser radar, image vision, a positioning system and PID control. The auxiliary ship realizes automatic driving through the laser radar.
Further, the autopilot function of the host vessel:
a driving path is planned through a positioning system and a target position, and the basic advancing speed and the basic steering speed of the host ship are obtained by combining a PID control algorithm. The distance and the direction of the obstacle and the shore relative to the main ship are obtained through the laser radar, and therefore the steering speed and the advancing speed of the obstacle avoidance of the main ship are obtained. The position and the orientation of the secondary ship are obtained through image vision, so that the coordinated compensation speed of the forward movement and the steering required by the main ship for keeping the distance and the orientation of the secondary ship unchanged and the coordinated compensation speed of the secondary ship are obtained. And performing weighted accumulation on the basic speed, the obstacle avoidance speed and the cooperative compensation speed to obtain the execution speed of the main ship and realize the execution speed.
Further, the autopilot function of the secondary vessel:
the distance and the orientation of the shore and the obstacle relative to the secondary ship are obtained by the laser radar, so that the required shore driving speed of the secondary ship for keeping a desired distance from the shore and the shore driving speed for avoiding the obstacle are obtained. And the auxiliary ship performs weighted addition on the main ship basic speed and the auxiliary ship cooperative compensation speed sent by the main ship, the on-shore running speed of the auxiliary ship and the on-shore running speed of the auxiliary ship to serve as the execution speed of the auxiliary ship and realize the operation.
Further, the automatic driving function of the host vessel is specifically:
the host ship plans a driving path based on a line-of-sight method according to the current positioning information, the target point position and the map information given by the positioning system. Taking the planned path point as a target traction point, taking the connection length of the planned path point and a real-time coordinate position acquired by a positioning system as a feedback quantity of forward speed, and giving the basic forward speed of the host ship through a PID control algorithm; meanwhile, the direction of the connecting line is taken as the expected advancing direction of the main ship, the deviation between the connecting line and the current course angle of the main ship acquired by the positioning system is taken as feedback, and the basic steering speed of the main ship is given through a PID control algorithm. The main ship clusters the distance and the direction of the obstacles and the river relative to the main ship according to the scanning information of the laser radar of the main ship, and gives the steering speed and the advancing speed of the obstacle avoidance of the main ship according to a repulsive potential field method. The main ship extracts a boundary frame containing the auxiliary ship by adopting a deep neural network according to the acquired image information; in the frame, extracting the outlines of the subsidiary ship by using the color information, and determining the three-dimensional positions of the outlines through a binocular matching algorithm; after the three-dimensional positions are aggregated, the position and orientation of the secondary ship are obtained. And the main ship gives the cooperative compensation speed of the forward and steering of the main ship and the cooperative compensation speed of the auxiliary ship through proportional feedback according to the deviation of the position orientation of the main ship and the position orientation of the auxiliary ship, so that the distance between the main ship and the auxiliary ship is kept constant and the orientation of the main ship is consistent. And the main ship performs weighted accumulation on the basic speed, the obstacle avoidance speed and the cooperative compensation speed to serve as the execution speed of the main ship.
Further, the automatic driving function of the secondary ship is specifically as follows: and clustering by the auxiliary ship according to the scanning information of the auxiliary ship laser radar to form river bank and obstacle information. And for the auxiliary ship running along the river bank, the running speed of the auxiliary ship along the river bank is given according to the distance between the auxiliary ship and the river bank and the deviation from the expected distance, which are obtained by clustering. And giving the obstacle avoiding speed of the auxiliary ship according to the potential field exclusion method for the clustered obstacle information. And the auxiliary ship simultaneously obtains the basic speed of the main ship and the cooperative compensation speed of the auxiliary ship sent by the main ship. And finally, weighting and adding the four speeds to obtain the execution speed of the secondary ship.
Further, the main ship comprises a laser radar, a camera, a positioning system, a conveying belt, a collecting frame and a propeller. The conveyer belt is arranged at the front part of the ship body and is in a shape of low front part and high back part; the rear of the conveyor belt is provided with a floating object collecting frame.
Further, the collection frame is connected with the ship body in a sliding mode.
Further, the secondary ship includes a laser radar, a propeller, and the like.
Further, the secondary ship further comprises a water guide plate and a guardrail.
Further, the secondary ship further comprises a sealing connector.
The invention has the beneficial effects that: the invention can meet the actual water area cleaning requirement by applying the automatic driving technology to the cooperative control of the trimaran and cooperatively forming the cleaning of a large-scale water area.
Drawings
FIG. 1 is a diagram of a main vessel configuration;
FIG. 2 is a view of the structure of the secondary vessel;
FIG. 3 is a formation diagram of the auxiliary ship and the main ship forming a Chinese character 'pin';
in the figure: the marine floating ship comprises a main ship 1, an auxiliary ship 2, a floating belt 3, a main ship laser radar 4, a binocular camera 5, an auxiliary ship laser radar 6, a GPS/Beidou positioning system 8, a conveying belt 9, a storage basket 11, a sealed cabin 14, an auxiliary ship double-propeller 16, a water guide plate 17, a guardrail 19, a water sealing connector 21 and a main ship double-propeller 23.
Detailed Description
The following description describes in detail the steps of the present invention with reference to a specific example, but the embodiments of the present invention are not limited thereto, and the scope of the present invention is not limited to the specific example.
As shown in fig. 3, the present invention relates to a three-boat cooperative self-propelled unmanned surface floating object cleaning boat, which comprises a main boat 1, two floating belts 3 and two auxiliary boats 2. The auxiliary ship 2 is located in front of the main ship 1, each auxiliary ship 2 is connected with the main ship 1 through a floating belt 3, the three ships have an automatic driving function, move forward in a reverse-triangular shape based on mutual cooperation of image processing and radar scanning technologies, and form a semi-surrounding structure through the combined floating belts 3 to clean the water surface. Wherein, the main ship 1 and the auxiliary ship 2 are both provided with double propellers, and the steering is realized through the differential speed of the left propeller and the right propeller.
As shown in fig. 1, the main ship 1 is of a catamaran structure and includes a main ship laser radar 4, a binocular camera 5, a GPS/beidou positioning system 8, a conveyor belt 9, a collection frame 11, and a main ship double-propeller 23. The main ship laser radar 4 and the binocular camera 5 are positioned at the bow of the ship, and the GPS/Beidou positioning system 8 is positioned in the middle of the ship; the main boat double propeller 23 is symmetrically installed at the stern. The conveyor belt 9 is arranged at the front part of the ship body and is low in front and high in back, and one end of each of the two floating belts 3 is respectively connected with two sides of the frame of the conveyor belt 9; behind the conveyor belt 9 is a collection frame 11 for the floaters, and the collection frame 11 is located below the rear end of the conveyor belt 9. The collection frame 11 is connected with the ship body in a sliding mode and can be pulled out from the stern.
As shown in fig. 2, the secondary vessel 2 is a monohull structure comprising a sealed cabin 14, a secondary vessel lidar 6, a secondary vessel double thruster 16, a water deflector 17, a guardrail 19. The secondary vessel lidar 6 is mounted on a capsule 14. The secondary marine twin propellers 16 are located below the sealed cabin 14. The water guide plate 17 is positioned below the auxiliary ship double-propeller 16 to protect the propeller. The side of the auxiliary boat double-propeller 16 is provided with a guardrail 19 for preventing water and grass from winding. Preferably, the water guide plate 17 is connected to the bottom of the sealed cabin 14 through two side guardrails 19 and a middle vertical plate 24. The tail part of the auxiliary ship 2 is designed to be a plane, the plane of the tail part of the auxiliary ship 2 above the water surface is provided with a water sealing connector 21, and the water sealing connector 21 is used for preventing water and is convenient for the maintenance and replacement of external devices; the plane at the tail part of the auxiliary ship 2 below the water surface is connected with a floating belt 3.
The automatic driving function of the host vessel 1 is specifically:
the host ship 1 plans a driving path based on a line of sight method (sight) according to current positioning information, a target point position and map information given by the GPS/Beidou positioning system 8. Taking the planned path point as a target traction point, taking the connection length of the planned path point and a real-time coordinate position acquired by a GPS/Beidou positioning system 8 as the feedback quantity of the forward speed, and giving the basic forward speed of the host ship 1 through a PID control algorithm; meanwhile, the direction of the connecting line is taken as the expected advancing direction of the main ship 1, the deviation between the connecting line and the current heading angle of the main ship 1 acquired by the GPS/Beidou positioning system 8 is taken as feedback, and the basic steering speed of the main ship is given through a PID control algorithm.
The main ship 1 clusters the distance and the direction of the obstacles and the river relative to the main ship 1 according to the scanning information of the main ship laser radar 4, and gives the steering speed and the advancing speed of obstacle avoidance of the main ship 1 according to a repulsive potential field method.
The main ship 1 extracts a boundary box containing the auxiliary ship 2 by adopting a deep neural network (such as a Yolo algorithm) according to the image information acquired by the binocular camera 5; in this frame, the contours of the secondary ship 2 are extracted using the color information, and the three-dimensional positions of these contours are determined by a binocular matching algorithm; after the three-dimensional position is aggregated, the position and orientation of the secondary vessel 2 is obtained. The main ship 1 gives the cooperative compensation speed of the forward and steering of the main ship 1 and the cooperative compensation speed of the auxiliary ship 2 through proportional feedback according to the deviation of the position orientation of the main ship 1 and the position orientation of the auxiliary ship 2, so that the distance between the main ship 1 and the auxiliary ship 2 is kept constant and the orientation of the main ship is consistent.
The host vessel 1 performs weighted accumulation of the basic speed, the obstacle avoidance speed, and the cooperative compensation speed, and controls the operation of the host vessel twin propellers 23 as the execution speed of the host vessel 1, thereby realizing the execution speed. Wherein the base speed includes a base forward speed and a base steering speed.
The automatic driving function of the secondary ship 2 is specifically as follows:
and the auxiliary ship 2 clusters the scanning information of the auxiliary ship laser radar 6 to form the distance and the direction of the river bank and the barrier relative to the auxiliary ship 2.
And for the auxiliary ship 2 running along the river bank, giving the running speed of the auxiliary ship 2 along the river bank according to the distance between the auxiliary ship 2 and the river bank obtained by clustering and the deviation from the expected distance.
And giving the obstacle avoiding speed of the auxiliary ship 2 according to the potential field exclusion method for the clustered obstacle information.
The auxiliary ship 2 obtains the basic speed of the main ship 1 and the cooperative compensation speed of the auxiliary ship 2 sent by the main ship through a wireless or floating belt 3 built-in cable.
Finally, the above four speeds are weighted and added to be used as the execution speed of the secondary ship 2, and the operation of the secondary ship double propellers 16 is controlled to realize the execution speed.
Three boats cooperate to become the style of calligraphy of falling article and advance to collect floating rubbish, and the concrete process is:
the main ship 1 and the 2 auxiliary ships 2 are initialized firstly, the three ships are parallel to the river channel and have the same orientation with the target direction, and are opened to form an inverted triangle, the auxiliary ships 2 are in front, and the main ship 1 is behind.
And then starting an automatic driving mode, and enabling the three ships to cooperatively advance to a specified target in the river channel according to the automatic driving process.
The water in the semi-enclosure formed by the three ships can rapidly flow to the main ship 1 under the pumping action of the main ship double-propeller 23; meanwhile, under the intercepting and guiding effects of the floating belt 3, the water surface floating objects in the semi-enclosure ring are driven to be gathered towards the bow of the main ship 1, the floating objects are transported backwards by a conveyor belt 9 configured on the main ship 1 and poured into a collecting frame 11 below the highest point.
Claims (10)
1. An automatic-driving unmanned water surface floater cleaning ship with three ships in cooperation is characterized by comprising a main ship and two auxiliary ships, wherein the two auxiliary ships are connected with the main ship through a floating belt. All three ships have the autopilot function, and the mutual cooperation becomes the style of calligraphy of falling article and advances, and the combination floats the area simultaneously and forms half surrounding structure and cleans the surface of water. The main ship realizes automatic driving by combining laser radar, image vision, a positioning system and PID control. The auxiliary ship realizes automatic driving through the laser radar.
2. The autonomous driving unmanned surface floating object cleaning vessel in cooperation with the three vessels as claimed in claim 1, wherein the autonomous driving function of the host vessel:
a driving path is planned through a positioning system and a target position, and the basic advancing speed and the basic steering speed of the host ship are obtained by combining a PID control algorithm. The distance and the direction of the obstacle and the shore relative to the main ship are obtained through the laser radar, and therefore the steering speed and the advancing speed of the obstacle avoidance of the main ship are obtained. The position and the orientation of the secondary ship are obtained through image vision, so that the coordinated compensation speed of the forward movement and the steering required by the main ship for keeping the distance and the orientation of the secondary ship unchanged and the coordinated compensation speed of the secondary ship are obtained. And performing weighted accumulation on the basic speed, the obstacle avoidance speed and the cooperative compensation speed to obtain the execution speed of the main ship and realize the execution speed.
3. The autonomous driving unmanned surface floating object cleaning vessel in cooperation with the three vessels as claimed in claim 1, wherein the autonomous driving function of the secondary vessel:
the distance and the orientation of the shore and the obstacle relative to the secondary ship are obtained by the laser radar, so that the required shore driving speed of the secondary ship for keeping a desired distance from the shore and the shore driving speed for avoiding the obstacle are obtained. And the auxiliary ship performs weighted addition on the main ship basic speed and the auxiliary ship cooperative compensation speed sent by the main ship, the on-shore running speed of the auxiliary ship and the on-shore running speed of the auxiliary ship to serve as the execution speed of the auxiliary ship and realize the operation.
4. The autonomous driving unmanned surface floating object cleaning vessel in cooperation with the three vessels as claimed in claim 1, wherein the autonomous driving function of the main vessel is specifically:
the host ship plans a driving path based on a line-of-sight method according to the current positioning information, the target point position and the map information given by the positioning system. Taking the planned path point as a target traction point, taking the connection length of the planned path point and a real-time coordinate position acquired by a positioning system as a feedback quantity of forward speed, and giving the basic forward speed of the host ship through a PID control algorithm; meanwhile, the direction of the connecting line is taken as the expected advancing direction of the main ship, the deviation between the connecting line and the current course angle of the main ship acquired by the positioning system is taken as feedback, and the basic steering speed of the main ship is given through a PID control algorithm. The main ship clusters the distance and the direction of the obstacles and the river relative to the main ship according to the scanning information of the laser radar of the main ship, and gives the steering speed and the advancing speed of the obstacle avoidance of the main ship according to a repulsive potential field method. The main ship extracts a boundary frame containing the auxiliary ship by adopting a deep neural network according to the acquired image information; in the frame, extracting the outlines of the subsidiary ship by using the color information, and determining the three-dimensional positions of the outlines through a binocular matching algorithm; after the three-dimensional positions are aggregated, the position and orientation of the secondary ship are obtained. And the main ship gives the cooperative compensation speed of the forward and steering of the main ship and the cooperative compensation speed of the auxiliary ship through proportional feedback according to the deviation of the position orientation of the main ship and the position orientation of the auxiliary ship, so that the distance between the main ship and the auxiliary ship is kept constant and the orientation of the main ship is consistent. And the main ship performs weighted accumulation on the basic speed, the obstacle avoidance speed and the cooperative compensation speed to serve as the execution speed of the main ship.
5. The autonomous driving unmanned surface floating object cleaning ship based on cooperation of three ships as claimed in claim 1, wherein the autonomous driving function of the secondary ship is specifically: and clustering by the auxiliary ship according to the scanning information of the auxiliary ship laser radar to form river bank and obstacle information. And for the auxiliary ship running along the river bank, the running speed of the auxiliary ship along the river bank is given according to the distance between the auxiliary ship and the river bank and the deviation from the expected distance, which are obtained by clustering. And giving the obstacle avoiding speed of the auxiliary ship according to the potential field exclusion method for the clustered obstacle information. And the auxiliary ship simultaneously obtains the basic speed of the main ship and the cooperative compensation speed of the auxiliary ship sent by the main ship. And finally, weighting and adding the four speeds to obtain the execution speed of the secondary ship.
6. The autonomous driving unmanned surface float cleaning vessel in combination with three vessels as claimed in claim 1, wherein the main vessel comprises a lidar, a camera, a positioning system, a conveyor belt, a collection frame, a propeller. The conveyer belt is arranged at the front part of the ship body and is in a shape of low front part and high back part; the rear of the conveyor belt is provided with a floating object collecting frame.
7. The autonomous water surface floating object unmanned cleaning vessel in combination with three vessels as claimed in claim 6, wherein the collection frame is slidably connected to the hull.
8. An autonomous unmanned surface-floating cleaning vessel in combination with three vessels, as claimed in claim 1, wherein the secondary vessel comprises lidar, propellers or the like.
9. An autonomous unmanned surface floating material cleaning vessel in combination with a triple-hulled vessel as claimed in claim 8 wherein the secondary vessel further comprises water guide panels and guardrails.
10. An autonomous unmanned surface floating vessel, in combination with a triple-hulled vessel as claimed in claim 8, wherein the secondary vessel further comprises a sealed connector.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111054573.9A CN113772031A (en) | 2021-09-09 | 2021-09-09 | Three-ship-cooperated automatic-driving unmanned water surface floater cleaning ship |
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| CN202111054573.9A CN113772031A (en) | 2021-09-09 | 2021-09-09 | Three-ship-cooperated automatic-driving unmanned water surface floater cleaning ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2025144130A1 (en) * | 2023-12-27 | 2025-07-03 | Iwrobotx Yazilim Anonim Sirketi | Autonomous sea surface cleaning system |
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Application publication date: 20211210 |