CN114063640B - Water area garbage cleaning method, device, equipment and storage medium - Google Patents
Water area garbage cleaning method, device, equipment and storage medium Download PDFInfo
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- CN114063640B CN114063640B CN202111209930.4A CN202111209930A CN114063640B CN 114063640 B CN114063640 B CN 114063640B CN 202111209930 A CN202111209930 A CN 202111209930A CN 114063640 B CN114063640 B CN 114063640B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 147
- 238000004140 cleaning Methods 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 30
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000005206 flow analysis Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims description 16
- 230000007613 environmental effect Effects 0.000 claims description 8
- 238000004146 energy storage Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 239000002699 waste material Substances 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 6
- 239000003643 water by type Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a method, a device, equipment and a storage medium for cleaning water area garbage, which are characterized in that a water area image is acquired, target detection is carried out on the water area image, a cleaning object is determined, water flow analysis is carried out on the water area image, the water flow direction of the water area is determined, a target position is determined according to the cleaning object and the water flow direction, and the driving module is controlled to enable an unmanned aerial vehicle to move to the target position so as to enable the cleaning object to enter a box body along the water flow, so that the cleaning object on the water area can be automatically collected and cleaned by avoiding manual operation, the cleaning object is more convenient and has higher automation degree, and the energy consumption can be reduced to a certain extent along the water flow through determining the water flow direction.
Description
Technical Field
The invention relates to the technical field of environmental protection, in particular to a method, a device, equipment and a storage medium for cleaning garbage in a water area.
Background
Along with the development progress of technology and the continuous improvement of production level, aiming at the problem that the environmental pollution on the water surface is more serious, the mechanization and the automation of the water surface garbage cleaning have absolute advantages in efficiency and safety compared with the manual salvage treatment, and the process is also a trend of developing the field in the future, such as utilizing an unmanned aerial vehicle on water for garbage cleaning. The unmanned aerial vehicle on water is as a novel application tool of surface of water rubbish clearance, because its flight characteristics, the collection that the degree of freedom can be favorable to rubbish more is higher. However, the existing unmanned aerial vehicle generally needs to be manually controlled remotely and moved to a proper position for garbage collection, and still needs to be manually controlled, so that the unmanned aerial vehicle is complex in operation, low in automation degree and high in energy consumption, and therefore a solution is required to be sought.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide a method, apparatus, device and storage medium for cleaning garbage in water, which are convenient and reduce energy consumption.
The technical scheme adopted by the embodiment of the invention is as follows:
a water area waste disposal device comprising:
the unmanned aerial vehicle comprises a box body and a driving module;
the visual processing module is used for acquiring a water area image, carrying out target detection on the water area image and determining a cleaning object;
the calibration module is used for carrying out water flow analysis on the water area image and determining the water flow direction of the water area;
and the main control module is used for determining a target position according to the cleaning object and the water flow direction and controlling the driving module to enable the unmanned aerial vehicle to move to the target position so as to enable the cleaning object to enter the box body along the water flow.
Further, the main control module comprises a solar energy storage module and a mobile control module, wherein the mobile control module is used for determining the target position and controlling the driving module, and the solar energy storage module is used for supplying power to at least one of the driving module, the vision processing module, the calibration module and the mobile control module.
Further, the case includes a main body for accommodating the cleaning object, and a drain port.
The embodiment of the invention also provides a water area garbage cleaning method which is applied to the water area garbage cleaning device, wherein the water area garbage cleaning device comprises an unmanned aerial vehicle, and the unmanned aerial vehicle comprises a box body and a driving module; the method comprises the following steps:
acquiring a water area image;
performing target detection on the water area image, determining a cleaning object, performing water flow analysis on the water area image, and determining the water flow direction of the water area;
determining a target position according to the cleaning object and the water flow direction;
and controlling the driving module to enable the unmanned aerial vehicle to move to the target position so that the cleaning object enters the box body along the water flow.
Further, the determining the target position according to the cleaning object and the water flow direction includes:
performing space modeling according to the position of the cleaning object, and determining a target geometric coordinate;
determining a target position according to the target geometric coordinates and the water flow direction; the target position is spaced a preset distance from the target geometry in the water flow direction.
Further, the controlling the driving module to move the drone to the target location includes:
generating a moving route according to the target position;
acquiring environmental data of the surrounding environment of the unmanned aerial vehicle;
and controlling the driving module through a PI D algorithm according to the environment data so as to enable the unmanned aerial vehicle to move to the target position according to the moving route.
Further, the method further comprises:
controlling the box door to swing in the water flow direction so as to enable the cleaning object to enter the main body; the box body is provided with a main body and a box door;
or,
and controlling a capturing device to capture the cleaning object to the box body.
Further, the method further comprises:
obtaining vibration feedback of the cleaning object;
determining an object type of the cleaning object according to the vibration feedback; the object type is a living object or a static object;
and when the object type is a static object, enabling the cleaning object to enter the box body along the water flow, or when the object type is a living object, stopping the collection and cleaning of the cleaning object by the box body.
The embodiment of the invention also provides electronic equipment, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the method.
Embodiments of the present invention also provide a computer-readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by a processor to implement the method.
The beneficial effects of the invention are as follows: through acquireing the waters image, right the waters image carries out target detection, confirms the clearance object, and right the waters image carries out the rivers analysis, confirms the rivers direction in waters, according to clearance object with rivers direction confirms the target position, control drive module makes unmanned aerial vehicle removes to the target position supplies clearance object gets into along the rivers the box, avoids manual control and carries out the collection clearance of clearance object on the waters voluntarily, and is more convenient and degree of automation is higher, makes clearance object get into along the rivers through confirming the rivers direction the box can reduce the energy consumption to a certain extent again.
Drawings
Fig. 1 is a schematic view of a unmanned aerial vehicle in a flight configuration according to an embodiment of the present invention;
fig. 2 is a schematic view of a drone in cruise mode according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of steps of a method for cleaning garbage in a water area according to an embodiment of the invention.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims of this application and in the drawings, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
As shown in fig. 1 and 2, an embodiment of the present invention provides a water area garbage cleaning device, which includes an unmanned plane, a vision processing module, a calibration module (not shown), a main control module, and a capturing device (not shown). Optionally, the vision processing module, the calibration module and the main control module are all arranged in the unmanned aerial vehicle (external or internal); the vision processing module comprises a camera A and a processing unit (not shown), and the main control module comprises a solar energy storage module B, a movement control module (not shown) and a sensor module (not shown).
As shown in fig. 1 and 2, in the embodiment of the present invention, the unmanned aerial vehicle includes a plastic housing C, a box body fixed to the plastic housing C, and a driving module. Optionally, the case includes a main body 1, a box door 2, and a drain port 3. The main body 1 is used for accommodating cleaning objects (such as various garbage on a water area) to collect and clean the cleaning objects; the water outlet 3 is positioned at the rear side of the main body 1 and is used for discharging liquid entering the main body 1 in the process of collecting and cleaning objects so as to reduce the weight of the unmanned aerial vehicle and reserve more space for collecting garbage; the number of the box doors 2 is two, and the box doors 2 are arranged on the front side of the main body 1, when the box doors 2 are closed, cleaning objects in the main body 1 cannot fall off, and when the box doors 2 are opened, the cleaning objects in the water area can enter the main body 1. The door 2 and the driving module are controlled by the movement control module.
As shown in fig. 1 and 2, the drive module optionally includes respective internal steering and first, second and third rotors 4, 5, 6 respectively connected to the internal steering. In the embodiment of the present invention, the first rotor 4, the second rotor 5 and the third rotor 6 are disposed above the main body 1, the first rotor 4 and the second rotor 5 are used for controlling the direction of the unmanned aerial vehicle, and the third rotor 6 is used for providing forward power for the unmanned aerial vehicle. As shown in fig. 1, which is a schematic diagram of an unmanned aerial vehicle in a flying state, when a box door 2 is closed, a vision processing module detects whether a cleaning object exists, a first rotor wing 4, a second rotor wing 5 and a third rotor wing 6 are parallel to a horizontal plane, and buoyancy is provided for the unmanned aerial vehicle when the unmanned aerial vehicle flies at low altitude; fig. 2 is a schematic view showing the unmanned aerial vehicle finding the cleaning object and changing to the cruising state, at this time, the first rotor 4, the second rotor 5 and the third rotor 6 are rotated inward by 90 degrees and the door 2 is in an open state, and the object to be cleaned enters the main body 1.
In the embodiment of the invention, the processing unit is connected with the main control module, and the camera A is used for acquiring image data. Optionally, the image data comprises a water area image and an environment image collected during the movement of the unmanned aerial vehicle; the processing unit is used for carrying out target detection on the water area image and determining a cleaning object. In the embodiment of the invention, the processing unit adopts an artificial intelligence algorithm, including but not limited to yo lov4 algorithm, the yo lov4 algorithm frames the target identification of the water area image, accurately identifies our cleaning objects to be captured, the algorithm judges the number of the identification targets in front of the cleaning objects, automatically plans a route, and dynamically plans a travelling route according to a rule of approaching and separating before if more than two cleaning objects exist. It should be noted that, the water area garbage cleaning device of the embodiment of the invention carries a custom-planned path algorithm, performs space modeling on the geometric coordinates of the cleaning object, and automatically plans an optimal path (i.e. a moving route) of the unmanned aerial vehicle to the target position, and the custom-planned path algorithm can be carried in a vision processing module or a main control module and can be set according to actual needs.
In the embodiment of the invention, the calibration module is provided with a convection algorithm, and the water flow direction of the water area is determined by carrying out water flow analysis on the water area image, for example, the water flow analysis is carried out to judge the direction of the tangential vector of the water wave of the water flow, so that the water flow direction of the water flow is determined.
In the embodiment of the invention, the solar energy storage module B is used for supplying power to at least one of the driving module, the vision processing module, the calibration module and the mobile control module, and optionally supplies power to the driving module, the vision processing module, the calibration module and the mobile control module, so that the unmanned aerial vehicle has all-weather operation capability, is environment-friendly and has a protection effect on water area environment to a certain extent. In the embodiment of the invention, the movement control module is used for determining the target position according to the cleaning object and the water flow direction, and controlling the driving module (specifically, controlling the first rotor wing 4, the second rotor wing 5 and the third rotor wing 6) to move the unmanned aerial vehicle to the target position, so that the cleaning object enters the box along the water flow.
In the embodiment of the invention, besides enabling the cleaning object to flow into the box body along the water flow, the cleaning object can be captured into the box body through the capturing device, so that the success rate and the efficiency of garbage collection and cleaning are further improved.
As shown in fig. 3, an embodiment of the present invention provides a method for cleaning garbage in a water area, which includes steps S100 to S400:
s100, acquiring a water area image.
It should be noted that the water areas mentioned in the embodiments of the present invention include, but are not limited to, ocean, river, lake, etc.
And S200, performing target detection on the water area image, determining a cleaning object, performing water flow analysis on the water area image, and determining the water flow direction of the water area.
In the embodiment of the invention, the yo lov4 algorithm is adopted to carry out target detection on the water area image, so as to determine the cleaning object. In addition, water flow analysis is performed on the water area image through a convection algorithm, specifically, water flow analysis is performed to judge the direction of the tangential vector of the water wave of the water flow, so that the water flow direction of the water flow in the water area is determined. It should be noted that, the moving speed of the cleaning object may be determined by acquiring a plurality of water area images, performing water flow analysis or performing target detection, so as to calculate the flow velocity of the water flow.
S300, determining the target position according to the cleaning object and the water flow direction.
Optionally, step S300 includes steps S310-S320:
s310, performing spatial modeling according to the position of the cleaning object, and determining the geometric coordinates of the target.
Specifically, the coordinate system of the unmanned aerial vehicle is used as a reference, and space modeling is performed according to the position of the cleaning object, so that the target geometric coordinates of the position of the cleaning object in space are determined.
S320, determining the target position according to the target geometric coordinates and the water flow direction.
In the embodiment of the invention, for example, when the water flow direction is from front to back, the target position is determined to be a position spaced from the target geometric coordinate by a preset distance in the front-to-back direction, for example, the preset distance is 1m, and the value of the corresponding coordinate axis is 1, then the target geometric coordinate is the target position when 1 is added to the front-to-back direction. It should be noted that, the preset distance can be set according to the requirement, or can be determined by combining the flow velocity, so that after the unmanned aerial vehicle reaches the target position, the cleaning object still needs a certain time/distance along the water flow to reach the target position, and the unmanned aerial vehicle is ensured to have enough time to wait for the cleaning object to enter the box body.
S400, controlling the driving module to enable the unmanned aerial vehicle to move to a target position, and enabling the cleaning object to enter the box body along the water flow.
Optionally, the step S400 of controlling the driving module to move the unmanned aerial vehicle to the target position includes steps S410 to S430:
s410, generating a moving route according to the target position.
Specifically, a route with the shortest distance is generated as a moving route according to the distance between the position of the unmanned plane and the target position by a self-defined planning path algorithm (including but not limited to a rapid-expansion random tree of the RRT).
S420, acquiring environmental data of the surrounding environment of the unmanned aerial vehicle.
Alternatively, the environmental data may include a water area image acquired by the camera, an environmental image, sensor data acquired by the sensor module, and so forth.
S430, controlling the driving module through a PI D algorithm according to the environment data so that the unmanned aerial vehicle moves to the target position according to the moving route.
Specifically, according to the environmental data acquired in real time, self-adaptive real-time control is realized through a PI D algorithm, and self-adaptive feedback of the driving module is controlled, so that the unmanned aerial vehicle is controlled to automatically and efficiently move to the target position along the moving route.
It should be noted that, when the unmanned aerial vehicle reaches the target position, it is determined whether the direction of the tangential vector of the water wave of the water flow (water flow direction) is aligned with the box door (inlet of the main body), and under the condition of alignment, assuming that the water flow direction is from front to back, the box door faces forward at this time, so that the cleaning object can flow into the main body along the water flow; if the water flow direction is not aligned with the box door, the direction of the unmanned aerial vehicle is adjusted, specifically, the first rotor wing and the second rotor wing are adjusted, so that alignment is realized, and the cleaning object can smoothly enter the box body along with water flow.
According to the embodiment of the invention, when the unmanned aerial vehicle moves to the target position, the unmanned aerial vehicle is switched from a flight mode to a cruising mode, the rotating speeds of the first rotor wing, the second rotor wing and the third rotor wing of the PI D algorithm in the cruising mode are controlled in real time, the direction calibration of the unmanned aerial vehicle is realized, the cruising power of the unmanned aerial vehicle is controlled, the mobile control module controls the steering engine control box door to be opened, a cleaning object is fed in, and the water body is discharged through the water outlet after being filtered.
Optionally, when no cleaning object is present or it is determined that the tank is full (e.g., the weight of the drone or the total amount of tanks is greater than a weight threshold), the drive module is controlled to move the drone away from the current body of water.
Optionally, the method for cleaning water area garbage further includes steps S510 and S520, where S510 and S520 do not limit the execution sequence, specifically:
and S510, controlling the box door to swing in the water flow direction so that the cleaning object enters the main body.
Optionally, for example, the water flow direction is from front to back, then the two doors are controlled to swing in the front-back direction, so that the unmanned aerial vehicle moves towards the cleaning object, or touches the cleaning object through the doors to further enable the cleaning object to smoothly enter the main body.
S520, controlling the capturing device to capture the cleaning object to the box body.
Optionally, a capturing device can be further arranged near the box body to capture the cleaning object into the box body, so that the cleaning success rate and the cleaning efficiency of the cleaning object are improved. Specifically, when the preset distance threshold is reached, the capturing module is started to capture correspondingly, so that energy consumption is greatly saved, and meanwhile, efficiency is improved.
Optionally, the method for cleaning water area garbage according to the embodiment of the present invention further includes step S600, and the execution sequence is not limited to step S400, specifically includes steps S610 to S630:
s610, vibration feedback of the cleaning object is obtained.
Specifically, vibration feedback of the cleaning object may be obtained by the sensor module.
S620, determining the object type of the cleaning object according to vibration feedback.
Optionally, the object type is a living object or a stationary object. For example, the movement control module determines that the vibration feedback is greater than or equal to the vibration threshold, considers the object type of the cleaning object to be a living object, otherwise the object type of the cleaning object to be a stationary object. For example, a body of water may exist that includes living shells and empty shells, and identification is performed to avoid cleaning the living shells as a cleaning object.
S630, when the object type is a static object, enabling the cleaning object to enter the box body along the water flow, or when the object type is a living object, stopping collecting and cleaning the cleaning object by the box body.
Specifically, when the object type is a static object, enabling the cleaning object to enter the box body along the water flow to perform normal collection cleaning; if the object type is a living object, the collection and cleaning of the cleaning object by the box body can be stopped, for example, the box door can be closed, so that the cleaning object of the living object is prevented from entering the box body, or the cleaning object is discharged again after entering the box body.
The embodiment of the invention also provides electronic equipment, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the water area garbage cleaning method of the previous embodiment. The electronic equipment of the embodiment of the invention comprises any intelligent terminal such as a mobile phone, a tablet personal computer, a vehicle-mounted computer and the like, but is not limited to the mobile phone.
The content in the method embodiment is applicable to the embodiment of the device, and functions specifically implemented by the embodiment of the device are the same as those of the embodiment of the method, and the achieved beneficial effects are the same as those of the embodiment of the method.
The embodiment of the invention also provides a computer readable storage medium, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by a processor to realize the water area garbage cleaning method of the previous embodiment.
Embodiments of the present invention also provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the water area garbage cleaning method of the foregoing embodiment.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. A water area waste cleaning device, comprising:
the unmanned aerial vehicle comprises a box body and a driving module;
the visual processing module is used for acquiring a water area image, carrying out target detection on the water area image and determining a cleaning object;
the calibration module is used for carrying out water flow analysis on the water area image and determining the water flow direction of the water area;
the main control module is used for determining a target position according to the cleaning object and the water flow direction and controlling the driving module to enable the unmanned aerial vehicle to move to the target position so as to enable the cleaning object to enter the box body along the water flow;
the determining a target position according to the cleaning object and the water flow direction comprises the following steps:
performing space modeling according to the position of the cleaning object, and determining a target geometric coordinate;
determining a target position according to the target geometric coordinates and the water flow direction; the target position is spaced a preset distance from the target geometry in the water flow direction.
2. A water waste disposal device as claimed in claim 1, wherein: the main control module comprises a solar energy storage module and a mobile control module, wherein the mobile control module is used for determining the target position and controlling the driving module, and the solar energy storage module is used for supplying power to at least one of the driving module, the vision processing module, the calibration module and the mobile control module.
3. A water waste disposal device according to claim 1 or 2, wherein: the box includes a main body for accommodating the cleaning object, and a drain port.
4. The water area garbage cleaning method is characterized by being applied to a water area garbage cleaning device, wherein the water area garbage cleaning device comprises an unmanned aerial vehicle, and the unmanned aerial vehicle comprises a box body and a driving module; the method comprises the following steps:
acquiring a water area image;
performing target detection on the water area image, determining a cleaning object, performing water flow analysis on the water area image, and determining the water flow direction of the water area;
determining a target position according to the cleaning object and the water flow direction;
controlling the driving module to enable the unmanned aerial vehicle to move to the target position, so that the cleaning object enters the box body along the water flow;
the determining a target position according to the cleaning object and the water flow direction comprises the following steps:
performing space modeling according to the position of the cleaning object, and determining a target geometric coordinate;
determining a target position according to the target geometric coordinates and the water flow direction; the target position is spaced a preset distance from the target geometry in the water flow direction.
5. The method for cleaning water area garbage as claimed in claim 4, wherein: the controlling the drive module to move the drone to the target location includes:
generating a moving route according to the target position;
acquiring environmental data of the surrounding environment of the unmanned aerial vehicle;
and controlling the driving module through a PID algorithm according to the environmental data so that the unmanned aerial vehicle moves to the target position according to the moving route.
6. The method for cleaning water area garbage as claimed in claim 4, wherein: the method further comprises the steps of:
controlling the box door to swing in the water flow direction so as to enable the cleaning object to enter the main body; the box body is provided with a main body and a box door;
or,
and controlling a capturing device to capture the cleaning object to the box body.
7. A method of cleaning water waste according to any one of claims 4 to 6, wherein: the method further comprises the steps of:
obtaining vibration feedback of the cleaning object;
determining an object type of the cleaning object according to the vibration feedback; the object type is a living object or a static object;
and when the object type is a static object, enabling the cleaning object to enter the box body along the water flow, or when the object type is a living object, stopping the collection and cleaning of the cleaning object by the box body.
8. An electronic device comprising a processor and a memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the method of any one of claims 4-7.
9. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the method of any of claims 4-7.
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