CN113895575B - Water surface cleaning robot salvaging system based on Arian cloud and convolutional neural network algorithm - Google Patents
Water surface cleaning robot salvaging system based on Arian cloud and convolutional neural network algorithm Download PDFInfo
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- CN113895575B CN113895575B CN202111347219.5A CN202111347219A CN113895575B CN 113895575 B CN113895575 B CN 113895575B CN 202111347219 A CN202111347219 A CN 202111347219A CN 113895575 B CN113895575 B CN 113895575B
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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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/104—Conveyors; Paddle wheels; Endless belts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
The invention discloses a water surface cleaning robot salvaging system based on an Arian cloud and convolutional neural network algorithm, which comprises a ship body, wherein a propeller is arranged at the rear side of the ship body, the propeller is driven to rotate by a propeller motor arranged at the bottom of the ship body, a garbage transfer belt driven by a power system arranged at the ship body is arranged at the front side of the ship body, a garbage collection box is arranged in the middle of the ship body, the garbage transfer belt is obliquely arranged, the lower end of the garbage transfer belt is positioned below the water surface, and the upper end of the garbage transfer belt is arranged in the garbage collection box. According to the invention, by arranging the blocking device and the air pumps arranged on the two sides of the ship body, the garbage can be efficiently salvaged in severe water areas with more water and grass, and the garbage collection amount per time can be improved by matching with the left and right collection expansion nets, so that the garbage can not be smoothly salvaged due to outward water flow generated during travelling is prevented. Secondly, the robot system is arranged on the ship body, so that sundries such as garbage, water grass and the like on the water surface can be rapidly identified and rapidly approaching to the ship body to realize salvaging.
Description
Technical Field
The invention relates to the technical field of water surface garbage cleaning, in particular to a water surface cleaning robot salvage system based on an Arian cloud and convolutional neural network algorithm.
Background
With the increasing level of living of people, environmental problems are also becoming serious, especially water pollution, and the water pollution is already carried out in each field, so that the protection and cleaning of water areas are more important, and a device is needed to help people to protect water resources. At present, manual salvage is mainly carried out in the market, and the traditional salvage mode has high risk, low efficiency and poor working environment; and secondly, salvaging by a salvaging ship, and the working efficiency of dealing with severe water area environments is low, for example, when the ship body moves close to garbage, outward water flow is generated, so that the garbage is far away from the ship body and floats and is not easy to salvage. Secondly, in the waters that the pasture and water is more, owing to the pasture and water has the hookah, the pasture and water can gather together constantly and twine when the ship is opened to wherein, the problem that the paddle card is dead appears easily, finally leads to salvaging inefficiency.
In order to solve the problems, the proposal is generated.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a water surface cleaning robot salvage system based on an Arian and convolutional neural network algorithm, which solves the problems in the background art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a water surface cleaning robot salvage system based on ali cloud and convolutional neural network algorithm, includes the hull, and the rear side of hull is equipped with the screw, and the screw is through arranging the screw motor drive of hull bottom in, and the front side of hull is equipped with the rubbish transfer area through locating the driving system drive of hull, and the middle part of hull is equipped with the rubbish collecting box, rubbish transfer area slope arrangement, its lower extreme is located the surface of water below, and the seal cover is arranged in to the upper end, connects between screw pivoted pivot and the pivoted motor of drive pivot, the hull is equipped with air pump one respectively in the left and right sides, and the bottom of hull rear side is equipped with air pump two, be equipped with on the hull and collect and gather together the device, collect and gather together the device and collect and expand the net and the barrier device of bottom including locating the hull front side about, wherein about collect and expand the net and be used for gathering the rubbish of hull front side, barrier device cooperation air pump one to collect hull bottom and side rubbish when turning.
Preferably, the left and right collecting and expanding networks carry steering engines and realize 0-45-degree rotation control.
Preferably, the blocking device comprises blocking plates arranged on two sides of the bottom of the ship body, the two blocking plates are arranged in a staggered manner in the vertical direction, the upper ends of the blocking plates are respectively connected with tooth plates, the two tooth plates are respectively arranged in a staggered manner at intervals, gears meshed with the tooth plates are arranged in the middle of the blocking plates, the axes of the two gears are coincident and sleeved on a rotating shaft, the rotating shaft is driven to rotate through a motor arranged on the outer wall of the ship body, so that the two tooth plates do one-to-one cross operation, and the tooth plates are used for matching with the salvaging operation when the ship body turns.
Preferably, the bottom of the ship body is provided with a pushing plate, two ends of the pushing plate are connected with the inner side of the blocking plate, and the pushing plate is driven to stretch and retract through an air cylinder so as to be pushed along the length direction of the ship body.
Preferably, the garbage transfer belt is provided with a blocking strip, and the outer side end of the blocking strip is connected with the barb.
Preferably, the garbage collection box is arranged in the middle of the ship body, two lifting rods are arranged on the upper side of the garbage collection box, symmetrical supporting blocks are arranged on the side edges of the garbage collection box, and the supporting blocks are arranged on the upper surface of the ship body.
The water surface cleaning robot based on the Ali cloud and convolutional neural network algorithm comprises a microprocessor control system, a visual processing system, a power control system, an interaction system, a power supply and various sensors, wherein the microprocessor control system takes an STM32 singlechip as a core board, the visual processing system comprises a camera and an industrial personal computer, the power control system comprises a driving system board, a propeller motor and an air pump propeller, the sensors comprise a GPS/Beidou navigation positioning module, an MPU6050 gesture sensor, a front ultrasonic sensor, a left ultrasonic sensor and a right ultrasonic sensor, and the interaction system comprises an NB-IOT module, an Ali cloud Internet of things platform and PC end interaction, namely a terminal cloud platform.
The aspect of a vision processing system combines a yolo V3 target recognition platform built on a pyrach platform, uses a Darknet53 trunk feature extraction network, utilizes a Residual network Residual to properly increase network depth to improve accuracy, and uses a treaty connection to an internal Residual block to solve the problem of gradient disappearance; the method comprises the steps of performing enhanced feature extraction by constructing an FPN feature pyramid, predicting three effective feature layers by utilizing a Yolo Head to obtain prediction results of the three feature layers, dividing the whole picture into grids corresponding to the length and the width of the whole picture by the three feature layers, and then establishing a check frame in each grid to judge whether an object exists in the picture and whether the object is of the type; decoding the prediction result, adding x_offset and y_offset to each grid to obtain the center of a prediction frame, calculating the width and height of the prediction frame by using a check frame and h, w, and performing score sorting and non-maximum suppression screening on the obtained result to obtain the position of the prediction frame on an original image; and drawing the screened inhibition frame on an original drawing to obtain a recognition result.
(III) beneficial effects
After the technical scheme is adopted, compared with the prior art, the invention has the following advantages: according to the invention, by arranging the blocking device and the air pumps arranged on the two sides of the ship body, the garbage can be efficiently salvaged in severe water areas with more water and grass, and the garbage collection amount per time can be improved by matching with the left and right collection expansion nets, so that the garbage can not be smoothly salvaged due to outward water flow generated during travelling is prevented. Secondly, the robot system is arranged on the ship body, so that sundries such as garbage, water grass and the like on the water surface can be rapidly identified and rapidly approaching to the ship body to realize salvaging.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is a schematic view of the rear side of the hull according to the present invention;
FIG. 4 is a schematic view of a blocking device according to the present invention;
FIG. 5 is a schematic view of a garbage collection bin of the present invention;
FIG. 6 is a schematic view of the structure of the garbage transfer belt of the present invention;
FIG. 7 is a schematic diagram of a control system according to the present invention;
fig. 8 is a flowchart of the garbage recognition control according to the present invention.
In the figure: 1. a hull; 2. a propeller; 3. a propeller motor; 4. a waste transfer belt; 5. a garbage collection box; 6. sealing sleeve; 7. an air pump I; 8. an air pump II; 9. a blocking device; 91. a blocking plate; 92. tooth plate; 93. a gear; 94. a rotating shaft; 95. a motor; 10. collecting the expansion net left and right; 11. a pushing plate; 12. a cylinder; 13. a blocking bar; 14. a barb; 15. a carrying rod; 16. a support block; 17. a terminal cloud platform; 18. a camera; 19. a GPS/Beidou positioning module; 20. MPU6050 attitude sensor; 21. STM32 singlechip; 22. front ultrasonic waves; 23. left ultrasonic wave; 24. right ultrasonic wave; 25. a drive system; 26. a propeller motor; 27. an air pump propeller; 28. NB-IOT module; 29. and the industrial personal computer.
Detailed Description
The invention is further illustrated by the figures and examples.
As shown in fig. 1-8: a water surface cleaning robot salvage system based on an Arian cloud and convolutional neural network algorithm is characterized in that an ultrasonic module is arranged at the front end of a ship body 1 and used for front obstacle avoidance, a camera 18 is further arranged above the ultrasonic module, and front images are collected, and front objects are identified and processed.
The control devices such as a control board of the ship body 1 are arranged on the rear side of the ship body 1, two symmetrical mounting holes are formed in the rear side of the ship body, a propeller 2 is connected, a propeller motor 3 in the propeller 2 is connected with the control board, and the propeller 2 is always in a vertical state, so that the balance of the control of the ship body 1 is ensured.
A sealing sleeve 6 is arranged between a rotating shaft 94 connected with the propeller 2 and a motor 95 for driving the rotating shaft 94 to rotate, so that the garbage and the waterweeds are prevented from being wound and blocked.
The garbage collection box 5 is arranged in a notch in the middle of the ship body 1, the garbage collection box 5 is provided with two lifting rods 15 and symmetrical supporting blocks 16, and the supporting blocks 16 are arranged on the upper surface of the ship body 1 and are used for carrying on the ship body 1 and can be quickly taken down, so that the garbage cleaning and transferring purposes are achieved.
The front end of the ship body 1 is provided with a garbage transfer belt 4, and is driven and conducted by a power system. The garbage transfer belt 4 is obliquely arranged, the lower end of the garbage transfer belt is positioned below the water surface, and the upper end of the garbage transfer belt is arranged in the garbage collection box 5. The surface of the garbage transfer belt 4 is provided with blocking strips at intervals, so that the problem of sliding of garbage is avoided (a conventional chain belt type conveyor belt is adopted, and a power system is in a gear 93 and motor 95 structure).
The hull 1 is equipped with air pump one 7 respectively in the left and right sides, and the air pump one 7 of both sides is used for assisting the steering propulsion of hull 1 through producing thrust, and the propelling movement power of air pump one 7 is higher relative paddle's diversion controllability, drives hull 1 through the operation of air pump promotion and slowly rotates constantly to change the orientation, and the cooperation is collected and is gathered together the device and make hull 1 circumference and even the pasture and water of bottom constantly gathered together and collect to transport through rubbish transfer belt 4 and salvage, salvage efficiency is higher.
Secondly, an air pump II 8 is arranged at the bottom of the rear side of the ship body 1 and is used for assisting the ship body 1 to slowly push forward when the propeller 2 stops working. Meanwhile, due to the arrangement of the air pump II 8, the water tank around the propeller 2 can be dispersed, the problem of water grass winding is avoided, and the operation can be carried out on the water area where the water grass gathers.
The collecting and gathering device is arranged on the ship body 1 and comprises left and right collecting and expanding nets 10 arranged on the front side of the ship body 1, wherein the left and right collecting and expanding nets 10 are carried with steering engines to realize 0-45-degree rotation control, so that a garbage cleaning area is widened, and cleaning efficiency is improved.
Further, the collecting and gathering device further comprises blocking plates 91 arranged on two sides of the bottom of the ship body 1, the two blocking plates 91 are arranged in a staggered mode in the vertical direction, the upper ends of the blocking plates are respectively connected with tooth plates 92, the two tooth plates 92 are respectively arranged in a staggered mode at intervals, gears 93 meshed with the two tooth plates 92 are arranged in the middle of the collecting and gathering device, the axes of the two gears 93 coincide and are sleeved on a rotating shaft 94, the rotating shaft 94 is driven to rotate through a motor 95 arranged on the outer wall of the ship body 1, and the two tooth plates 92 do one-to-one cross operation.
The bottom of the blocking plate 91 may be provided with a blade, especially when there are more water plants, to cut it off for quick salvage.
The blocking plate 91 is mainly matched with the air pump I7 for use, when steering, the waterweed or sundry garbage below and on the side is gathered below the ship body 1 by the blocking plate 91 on the corresponding side, therefore, the scheme is further provided with the pushing plate 11, the pushing plate 11 is arranged below the ship body 1 and can be pushed along the length direction of the ship body 1 (the driving can be carried out through the air cylinder 12), and the waterweed or sundry garbage at the bottom of the ship body 1 is pushed to be gathered close to the garbage conveying belt 4. Secondly, connect barb 14 at the barrier outside end for can catch on the rubbish that is close to and collect, also can be collected the salvage promptly rubbish that rubbish transfer belt 4 rear side contact part, clearance efficiency is higher.
As shown in fig. 7-8, the robot system includes a microprocessor control system, a vision processing system, a power control system, an interaction system, a power supply and a sensor, wherein the microprocessor control system uses an STM32 single-chip microcomputer 21 as a core board, the vision processing system includes a camera 18 and an industrial personal computer 29, the power control system includes a driving system 25 board, a propeller motor 26 and an air pump propeller 27, the sensor includes a GPS/beidou navigation positioning module, an MPU6050 gesture sensor 20, a front ultrasonic wave 22 sensor, a left ultrasonic wave 23 sensor and a right ultrasonic wave 24 sensor, and the interaction system includes an NB-IOT module 28, an ali cloud internet of things platform and PC end interaction, namely a terminal cloud platform 17. The power supply is a 12V/24V direct current power storage power supply.
The control system comprises an STM32 singlechip 21, an NB-IOT module, a camera 18, an industrial personal computer 29, an ultrasonic module, an air pump, a propeller motor and electric control module, a GPS positioning module and a gesture recognition module. The air pump and the ultrasonic wave are connected with the STM32 singlechip 21, the propeller motor is connected with the electric regulator, the electric regulator is connected with the STM32 singlechip 21, and the GPS and gesture recognition module and the NB-IOT module are connected with the STM32 singlechip 21. The camera 18 is connected with the industrial personal computer 29, and is connected with the STM32 singlechip 21 after being processed. The STM32 singlechip 21, the industrial personal computer 29, the NB-IOT module, the electric tuning, the GPS positioning and the gesture recognition module are all arranged inside the rear side ship body 1.
The invention combines a yolo V3 target recognition platform built on a pytorch platform in the aspect of a vision processing system. The method uses a Darknet53 trunk feature extraction network, utilizes a Residual network Residual to appropriately increase network depth to improve accuracy, and uses a treaty connection to internal Residual blocks to solve the problem of gradient disappearance. The method comprises the steps of carrying out enhanced feature extraction by constructing an FPN feature pyramid, predicting three effective feature layers by utilizing a Yolo Head, obtaining prediction results of the three feature layers from the feature layers, dividing the whole picture into grids corresponding to the length and the width of the whole picture by the three feature layers, and then establishing a check frame in each grid to judge whether an object exists in the picture and whether the type of the object exists in the picture. And decoding the prediction result, adding x_offset and y_offset to each grid to obtain the center of a prediction frame, calculating the width and height of the prediction frame by using a check frame and h, and carrying out score sorting and non-maximum suppression screening on the obtained result to obtain the position of the prediction frame on the original image. And drawing the screened inhibition frame on an original drawing to obtain a recognition result.
The system of the ship body 1 works as follows: image data are collected by the camera 18 and transmitted to the industrial personal computer 29, the industrial personal computer 29 utilizes a trained CNN neural network model to identify garbage in a picture, the central coordinates of the garbage are processed and sent to the STM32 singlechip 21 through a serial port, the STM32 singlechip 21 drives the propeller 2 to reach a coordinate designated position according to instructions and a PID algorithm, the unmanned ship sequentially cleans the position according to the distance from the coordinates to the origin (ship position), and if the garbage is not monitored in the front, the unmanned ship performs patrol state straight line walking.
The above-described embodiments are intended to suggest that, in view of the above description, various changes and modifications may be made by the worker without departing from the spirit of the invention. The technical scope of the present invention is not limited to the description, but the scope of protection must be determined according to the scope of claims.
Claims (5)
1. The utility model provides a surface of water cleaning robot salvage system based on ali cloud and convolutional neural network algorithm, includes the hull, and the rear side of hull is equipped with the screw, and the screw is through arranging the screw motor drive of hull bottom in and rotate, and the front side of hull is equipped with through locating the driven rubbish transfer belt of hull's driving system, and the middle part of hull is equipped with the rubbish collecting box, rubbish transfer belt slope is arranged, and its lower extreme is located the surface of water below, and in the rubbish collecting box was arranged in to the upper end, its characterized in that: the ship body is provided with a first air pump at the left and right sides and a second air pump at the bottom of the rear side, and is provided with a collecting and gathering device which comprises left and right collecting and expanding nets arranged at the front side of the ship body and a blocking device at the bottom, wherein the left and right collecting and expanding nets are used for gathering garbage at the front side of the ship body, and the blocking device is matched with the first air pump for use so as to collect garbage at the bottom and the side of the ship body during steering;
the blocking device comprises blocking plates arranged on two sides of the bottom of the ship body, the two blocking plates are arranged in a staggered mode in the vertical direction, the upper ends of the blocking plates are respectively connected with tooth plates, the two tooth plates are arranged in a staggered mode at intervals, gears meshed with the tooth plates are arranged in the middle of the blocking plates, the axes of the two gears are coincident and sleeved on a rotating shaft, the rotating shaft is driven to rotate through a motor arranged on the outer wall of the ship body, so that the two tooth plates do one-to-one cross operation, and the tooth plates are used for fishing operation when being matched with the ship body to turn.
2. The water surface cleaning robot salvage system based on the alicloud and convolutional neural network algorithm as set forth in claim 1, wherein: the left and right collecting and expanding net carries steering engines and realizes 0-45-degree rotation control.
3. The water surface cleaning robot salvage system based on the alicloud and convolutional neural network algorithm as set forth in claim 1, wherein: the bottom of the ship body is provided with a pushing plate, two ends of the pushing plate are connected with the inner side of the blocking plate, and the pushing plate is driven to stretch and retract through an air cylinder so as to be pushed along the length direction of the ship body.
4. The water surface cleaning robot salvage system based on the alicloud and convolutional neural network algorithm as set forth in claim 1, wherein: the garbage transfer belt is provided with a blocking strip, and the outer side end of the blocking strip is connected with a barb.
5. The water surface cleaning robot salvage system based on the alicloud and convolutional neural network algorithm as set forth in claim 1, wherein: the garbage collection box is arranged in the middle of the ship body, two lifting rods are arranged on the upper side of the garbage collection box, symmetrical supporting blocks are arranged on the side edges of the garbage collection box, and the supporting blocks are arranged on the upper surface of the ship body.
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| CN202111347219.5A CN113895575B (en) | 2021-11-15 | 2021-11-15 | Water surface cleaning robot salvaging system based on Arian cloud and convolutional neural network algorithm |
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| CN202111347219.5A CN113895575B (en) | 2021-11-15 | 2021-11-15 | Water surface cleaning robot salvaging system based on Arian cloud and convolutional neural network algorithm |
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| CN113895575B true CN113895575B (en) | 2023-09-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117795163A (en) * | 2022-01-18 | 2024-03-29 | 广州工商学院 | Platform system based on AI surface of water rubbish classification recovery |
| CN115535162A (en) * | 2022-10-20 | 2022-12-30 | 武汉理工大学 | Automatic change rubbish clearance ship |
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