CN114291217A - Garbage cleaning ship based on visual identification technology and control system thereof - Google Patents
Garbage cleaning ship based on visual identification technology and control system thereof Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention relates to a garbage cleaning ship based on a visual recognition technology and a control system thereof. The water surface garbage cleaning ship comprises a ship body frame, a collecting cabin which is detachably arranged in the ship body frame, a cabin door which is rotatably arranged at the front end of the ship body frame, a first floating block and a second floating block which are symmetrically arranged at the left side and the right side of the ship body frame, a camera and a control system which are arranged at the top of the front end of the ship body frame, and a pusher which is arranged at the bottom of the ship body frame. This surface of water rubbish clearance ship not only can realize the automatic clearance of surface of water rubbish, can also return to the departure point automatically after rubbish clearance finishes, and its function can realize the control of 2.4G remote controller to it, can also realize the APP of cell-phone end to its artifical remote control, and this surface of water rubbish clearance ship's garbage collection box easily separates with hull frame, the later stage of being convenient for maintenance and clearance to the hull.
Description
Technical Field
The invention relates to the technical field of garbage cleaning, in particular to a garbage cleaning ship based on a visual recognition technology and a control system thereof.
Background
In recent years, a plurality of water surface cleaning ships with high mechanization degree are developed by the country aiming at specific water pollution conditions, some companies also develop ships with specific functions of protecting aquatic plants, cleaning oil stains on water surfaces and the like, but most of the ships are manually operated to salvage garbage, a large amount of manpower is consumed, the cleaning time is long, and the efficiency is low.
Disclosure of Invention
The invention aims to provide a garbage cleaning ship based on a visual recognition technology and a control system thereof, wherein the water surface garbage cleaning ship not only can automatically clean water surface garbage, but also can automatically return to a starting point after the garbage cleaning is finished, the function of the water surface garbage cleaning ship can be manually controlled by means of APP at a mobile phone end, a 2.4G remote controller is not required to be equipped, and a garbage collection box of the water surface garbage cleaning ship is easy to separate from a ship body frame, so that the maintenance and cleaning of a ship body at the later stage are facilitated.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a rubbish clearance ship based on visual identification technique, includes hull frame, demountable installation at the collection cabin of hull frame in, rotates the hatch door of installing at hull frame front end, the symmetry sets up at the floating block one and the floating block two of the hull frame left and right sides, installs the camera at hull frame front end top and installs the impeller in hull frame bottom.
Furthermore, the hull frame is formed by welding a plurality of aluminum square pipes.
Furthermore, the collecting cabin is made of acrylic plates, the collecting cabin is a cavity with an opening at the front end and the upper end, and a plurality of first through holes are formed in the side wall and the bottom of the collecting cabin.
Furthermore, the number of the cabin doors is two, and the two cabin doors are respectively and rotatably arranged on the left side and the right side of the front end of the ship body frame; the cabin door is made of acrylic materials, and a plurality of second through holes are formed in the cabin door. The acrylic material has strong hardness, the hardness can be kept after the acrylic material is drilled, the collection cabin and the cabin door can resist the impact of waves on the water surface, and the resistance of the garbage ship when the garbage ship runs on the water surface can be reduced due to the arrangement of the first through hole and the second through hole.
Furthermore, the number of the propellers is 4, and the propellers are uniformly arranged at four corners of the bottom of the hull frame. The four propellers are used as a power system of the garbage cleaning boat, provide enough power for the operation of the water surface garbage cleaning boat on the water surface, and realize the steering of the boat body by adjusting the rotating speed difference and the rotating direction of the propellers at the two sides.
Furthermore, a first supporting plate is rotatably installed at the top of the front end of the ship body frame, and the camera is installed on the first supporting plate through a steering engine.
Further, a second supporting plate is rotatably arranged at the top of the rear end of the hull frame; and a storage battery is further installed on the second support plate, and the propeller is electrically connected with the storage battery. The first supporting plate and the second supporting plate are controlled to rotate through a steering engine respectively.
Furthermore, the invention also comprises a control system of the garbage cleaning ship, wherein the control system is arranged on the top of the front end of the ship body frame, and is particularly arranged on the second support plate. The control system comprises a vision module, a propeller control module, a remote wireless control module, a GPS + Beidou dual-mode positioning module and an attitude analysis module; the visual module adopts a K210 chip and comprises a PWM peripheral I and a UART peripheral I, and the input end of the visual module is connected with the output end of the camera; the propeller control module comprises a cleaning ship main control chip and an electric controller, the cleaning ship main control chip adopts an STM32F103ZET6 chip and comprises a UART peripheral II and a PWM peripheral II, and the PWM peripheral II of the propeller main control chip is electrically connected with the propeller electric controller; the remote wireless control module comprises a Bluetooth JDY-31 module, a singlechip module and a wireless communication module; the single chip microcomputer module adopts STM32F103C8T6, and the wireless communication module adopts an HC-12 wireless communication module; the GPS positioning module adopts an S1216F8-BD GPS + Beidou dual-mode positioning module, the attitude analysis module adopts an MPU6050 module, and the attitude analysis module is used for adjusting the course angle and the advancing acceleration of the garbage cleaning ship.
The working method of the garbage cleaning ship based on the visual identification technology of the control system comprises the following steps:
(1) and starting a power supply main switch of the water surface garbage cleaning ship, enabling a propeller, a vision module and a positioning module of the water surface garbage cleaning ship to be in a standby state, enabling a carried communication module to be in a working state, and waiting for the communication module to receive a message instruction from a control end.
(2) The mobile terminal APP is started, a connection button on the APP is clicked, the Bluetooth mobile phone module can be established with the help of communication transfer equipment and the communication of the HC-12 module of the water surface garbage cleaning ship, the communication connection mode is shown in figure 5, and meanwhile, control buttons on the APP are all in a clickable state.
(3) Click the control button on removing the end APP, remove the end and can send corresponding string to the communication module of surface of water rubbish clearance ship, corresponding instruction information promptly, surface of water rubbish clearance ship can accomplish corresponding control action according to the instruction information who receives.
(4) Clicking a starting independent cleaning button on a mobile terminal APP, starting an activated state by a visual module of the water surface garbage cleaning ship, carrying out filtering processing on an image collected by a camera by the main control of the visual module, carrying out garbage target detection on the processed image, and simultaneously starting to receive control information from a UART peripheral II of the visual module by a UART peripheral of the water surface garbage cleaning ship main control. The control information is used to send information to control some status of the cleaning vessel, such as opening/closing of the collection hatches, and left/right corrections (in case the refuse is not in the direct front). The control information may be a frame of data, for example, "BCE", wherein the first bit 'B' and the third bit 'E' of the frame of data are check bits, and the second bit 'C' is a control information bit, and when the UART peripheral of the vision module transmits the frame of data to the UART peripheral of the cleaning ship main control, the frame of data is parsed to obtain 'C', which indicates that the collection door is closed. The protocol of the data frame is self-defined, e.g., "BOE", which means that the collection pod door is opened.
The method comprises the steps that a vision module carries out filtering processing on an image acquired by a camera, then carries out garbage detection on the processed image, if the vision module does not detect a target, a main control propeller of a water surface garbage cleaning ship is driven to rotate the water surface garbage cleaning ship in an original place by 360 degrees, the vision module carries out target detection while rotating, if the vision module does not find the detection target in the rotation process of the water surface garbage cleaning ship, the water surface garbage cleaning ship moves to the next area, rotates in the original place by 360 degrees, and the operation is repeated; when the vision module detects a target, the vision module captures the position information of the maximum pixel point target, packages the information according to a set communication protocol and sends the information to the main control of the water surface garbage cleaning ship through a serial port, and the main control of the water surface garbage cleaning ship analyzes a data frame sent by the vision module according to the set communication protocol to obtain the position information of the target and tracks and collects the target garbage.
(5) Clicking a closed autonomous cleaning button on a mobile terminal APP, and starting an autonomous return button by a motor, wherein the main control of the water surface garbage cleaning is not used for receiving a data frame from a vision module any more, but is used for receiving and analyzing information of a positioning module and a gyroscope, and calling an autonomous return algorithm to realize the autonomous return of the water surface garbage cleaning ship according to longitude and latitude information obtained by analysis from the positioning module and course angle information of the gyroscope.
(6) Click and remove opening the storehouse button on holding APP, the backup pad of front and back is opened to the steering wheel can be controlled to the surface of water rubbish cleaning boat, makes garbage collection box be in the state that can take out, to taking out of rubbish and the clearance to the surface of water rubbish cleaning boat.
The water surface garbage cleaning ship described by the invention not only can realize automatic tracking of water surface garbage through a vision system, but also has two wireless remote control functions, namely 2.4G wireless remote control and APP remote control wireless communication. The 2.4G remote controller is controlled by adopting an SBUS protocol, one frame of data of the SBUS protocol comprises 35 bytes, the invention tests the byte bit number corresponding to each channel of the remote controller by a serial assistant, and then analyzes the corresponding bytes in a main control program of the cleaning ship to obtain the change state of the remote controller, thereby realizing the control of the 2.4G remote controller on the cleaning ship. The remote control scheme of the APP is shown in FIG. 5, and the mobile terminal APP interface is shown in FIG. 8. Firstly, a Bluetooth serial port communication APP of a mobile phone is used for sending serial port data to a JDY-31 Bluetooth module of the transfer device, then a main control of the transfer device sends a data packet received by the JDY-31 Bluetooth module to an HC-12 remote wireless communication module of the water surface garbage cleaning ship through a serial port of the HC-12 remote wireless communication module, and finally the main control of the water surface garbage cleaning ship analyzes the received data packet and executes corresponding functions.
A K210 chip with strong performance is integrated on the visual module, and the visual module is provided with a serial port UART peripheral I and a PWM peripheral I. According to the invention, a PID algorithm is adopted to track the target garbage, if a propeller is controlled by a PWM (pulse width modulation) peripheral device of a main control of the water surface garbage cleaning ship in an automatic water surface garbage cleaning mode, the main control of the water surface garbage cleaning ship is always in a communication state with a vision module, and the main control of the water surface garbage cleaning ship can obtain the position information of the current target central point after analyzing data sent by the vision module, so that the execution efficiency is influenced. Thus, the present invention controls the propeller in a control manner as shown in fig. 9. In the manual remote control mode, a PWM (pulse width modulation) peripheral secondary control propeller controlled by the water surface garbage cleaning ship is adopted; in the automatic cleaning mode, a vision module PWM is adopted to control the propeller to move to a target position.
The number of obstacles on the water surface is small, and the autonomous return system designed by the invention improves the performance of the water surface garbage cleaning ship. The autonomous return flight system is mainly realized by a positioning module and a three-axis gyroscope module. The invention adopts an S1216F8-BD GPS + Beidou dual-mode positioning module as a positioning module and adopts an MPU6050 as a triaxial gyroscope module. The main control of the cleaning ship is communicated with the positioning module in a serial port communication mode, a cleaning ship main control program analyzes serial port data from the positioning module according to a specified protocol, so that the current longitude and latitude coordinate information of the cleaning ship can be obtained, and a return route of the cleaning ship can be planned by combining the longitude and latitude coordinate information of a previous trigger position. The main control of the cleaning ship is to adopt an IIC communication mode to communicate with an MPU6050 three-axis gyroscope to obtain the current course angle of the cleaning ship, and control the propeller to return to the starting position by combining with a planned route.
Compared with the prior art, the invention has the advantages that:
(1) the garbage cleaning ship disclosed by the invention can realize automatic cleaning of water surface garbage, can realize autonomous return after cleaning is finished, can realize manual remote control by means of APP (application) of a mobile phone end, and does not need to be provided with a 2.4G remote controller. In addition, this surface of water rubbish clearance ship's garbage collection box easily separates with hull frame, and the later stage of being convenient for is to the maintenance and the clearance of hull.
(2) The invention relates to a small-sized water surface garbage cleaning boat researched and developed on the market, which is added with the functions of cleaning garbage by autonomous and remote control and autonomously returning to a starting point. Compared with the traditional water surface garbage cleaning boat on the market, the water surface garbage cleaning boat adopts the K210 as a vision system. Because the ship body searches for target garbage on the water surface, the interference of the external environment to a visual system is large, so that the data set in the invention collects the common garbage under different water surface environment conditions, and a YOLO neural network training model is adopted. When the vision system catches rubbish in the field of vision, can track the target, realize the autonomic clearance of opposite rubbish.
(3) Compared with the traditional water surface garbage cleaning boat in the market, the intelligent water surface garbage cleaning boat disclosed by the invention has the advantages that the convenience of operating the boat body to clean garbage is further considered, and the qualified intelligent water surface garbage cleaning boat not only can track the water surface garbage through a vision system, but also has a remote wireless control function. The communication distance of the long-distance Bluetooth communication module on the market is mostly not more than 100 meters, and meanwhile, the price of the 2.4G remote controller on the market is high, and the communication is one-way communication with limited channel number. The invention realizes the wireless control of the 2.4G remote controller, firstly, the Bluetooth serial port communication APP of the mobile phone is used for sending serial port data to the JDY-31 Bluetooth module of the transfer equipment, then the main control of the transfer equipment sends a data packet received by the JDY-31 Bluetooth module to the HC-12 remote wireless communication module of the water surface garbage cleaning ship through the serial port of the HC-12 remote wireless communication module, and finally the main control of the water surface garbage cleaning ship analyzes the received data packet and executes corresponding functions.
Drawings
FIG. 1 is a schematic structural view of the water surface garbage disposal ship according to the present invention (with its hatch closed);
FIG. 2 is a schematic structural diagram of the water surface garbage cleaning ship (the cabin door is opened and the collection cabin is taken out) in the invention;
FIG. 3 is a bottom view of the water surface garbage removing boat in the present invention;
FIG. 4 is a schematic diagram of the control system of the present invention;
fig. 5 is a schematic diagram of the operation of the wireless communication module of the present invention;
FIG. 6 is a schematic view of the control operation of the propeller of the present invention;
FIG. 7 is a method flow diagram of a method of operation of the present invention;
FIG. 8 is an interface diagram of the mobile terminal APP;
FIG. 9 is a diagram of a training report using the YOLO model training data.
Wherein:
1. the device comprises a control system, 2, a propeller, 3, a steering engine, 4, a cabin door, 5, a collection cabin, 6, a ship body frame, 7, a first support plate, 8, a second support plate, 9 and a first floating block.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example 1
The garbage disposal ship based on the visual recognition technology as shown in fig. 1-3 comprises a ship body frame, a collection cabin detachably mounted in the ship body frame, a cabin door mounted at the front end of the ship body frame, a first floating block and a second floating block which are symmetrically arranged at the left side and the right side of the ship body frame, a camera and a control system mounted at the top of the front end of the ship body frame, and a pusher mounted at the bottom of the ship body frame. The hull frame provides stable mechanical structure for the surface garbage cleaning boat, and the adopted material is an aluminum square tube, and a steering engine, a propeller and other elements are arranged on the aluminum square tube. The collecting cabin is detachably arranged in the hull frame, the adopted material is an acrylic plate, and the main function of the collecting cabin is to temporarily store garbage collected in the collecting process. The cabin door arranged at the front end of the hull frame mainly comprises a waterproof steering engine, a steel wire and a fishing net, and is mainly used for collecting garbage and protecting the collected garbage from entering the water again. The first floating block and the second floating block are symmetrically arranged on the left side and the right side of the hull frame, and the floating blocks are made of hard plastic foam and mainly provide enough buoyancy and balance for the water surface garbage cleaning ship. The camera is arranged at the top of the front end of the hull frame and is mainly used for collecting visual field information in front of the water surface garbage cleaning ship and transmitting the visual field information to the visual processing module. The propellers are symmetrically distributed at the bottom of the water surface garbage cleaning boat and mainly used for providing forward power for the water surface garbage cleaning boat, and the working principle of the propellers is shown in fig. 6.
Furthermore, the hull frame is formed by welding a plurality of aluminum square pipes.
Furthermore, the collecting cabin is made of acrylic plates, the collecting cabin is a cavity with an opening at the front end and the upper end, and a plurality of first through holes are formed in the side wall and the bottom of the collecting cabin.
Furthermore, the number of the cabin doors is two, and the two cabin doors are respectively and rotatably arranged on the left side and the right side of the front end of the ship body frame; the cabin door is made of acrylic materials, and a plurality of second through holes are formed in the cabin door. The acrylic material has strong hardness, the hardness can be kept after the acrylic material is drilled, the collection cabin and the cabin door can resist the impact of waves on the water surface, and the resistance of the garbage ship when the garbage ship runs on the water surface can be reduced due to the arrangement of the first through hole and the second through hole.
Furthermore, the number of the propellers is 4, and the propellers are uniformly arranged at four corners of the bottom of the hull frame. The four propellers are used as a power system of the garbage cleaning boat, provide enough power for the operation of the water surface garbage cleaning boat on the water surface, and realize the steering of the boat body by adjusting the rotating speed difference and the rotating direction of the propellers at the two sides.
Furthermore, a first supporting plate is rotatably installed at the top of the front end of the ship body frame, and the camera is installed on the first supporting plate through a steering engine.
Furthermore, a second supporting plate is rotatably arranged at the top of the rear end of the hull frame, and the control system is arranged on the second supporting plate; and a storage battery is further installed on the second support plate, and the propeller is electrically connected with the storage battery.
Further, as shown in fig. 4, the control system includes a vision module, a propeller control module, a remote wireless control module, a GPS + beidou dual-mode positioning module, and an attitude resolution module. The visual module adopts a K210 chip and comprises a PWM (pulse-Width modulation) peripheral I and a UART (universal asynchronous receiver/transmitter) peripheral I, and the input end of the visual module is connected with the output end of the camera. The propeller control module is controlled the chip and is transferred with the electricity including the clearance ship owner, the clearance ship owner is controlled the chip and is adopted STM32F103ZET6 chip, and it includes that UART peripheral hardware two and PWM establish two outward, the connection is transferred with the propeller electricity to the PWM peripheral hardware two of propeller main control chip. The remote wireless control module comprises a Bluetooth JDY-31 module, a single chip microcomputer module and a wireless communication module. The single chip module adopts STM32F103C8T6, and the wireless communication module adopts HC-12 wireless communication module. The GPS + Beidou dual-mode positioning module adopts an S1216F8-BD GPS + Beidou dual-mode positioning module. The attitude analysis module adopts an MPU6050 module and is used for adjusting the course angle and the advancing acceleration of the garbage cleaning ship. The invention adopts a K210 chip as a vision system. Because the ship body searches for target garbage on the water surface, the interference of the external environment to the visual system is large, so that the data set of the invention collects the common garbage under different water surface environment conditions, and adopts a YOLO training model, and the final training report is shown in fig. 9. When the vision system captures debris in the field of view, the target is tracked using control logic as shown in FIG. 7.
The propeller control module is connected with a speed stability adjusting module, a motion behavior control module and a motion information receiving and processing module. The autonomous return module is connected with an angle detection module, a GPS real-time positioning module and an automatic motion path adjusting module. The visual module is connected with a visual processing module and a serial port information communication module. As shown in fig. 5, the bluetooth wireless communication module is matched with the 2.4G wireless remote control module, the JDY-31 bluetooth module and the HC-12 remote wireless communication module, and includes a mobile phone terminal for communicating with the JDY-31 module and the HC-12 module. The wireless information receiving and processing module is matched with the whole ship integrated main control system. In the process of cleaning the water surface garbage, when the situation that a water area cleaned by a ship is deviated from an area expected to be cleaned by a user or the autonomous cleaning of the ship cannot meet the requirement of the user is possible, the 2.4G wireless remote control module, the JDY-31 Bluetooth module and the HC-12 remote wireless communication module are combined, the cleaning ship can be remotely controlled through a mobile phone end APP or a 2.4G remote controller, so that people can directly control the movement of the cleaning ship, the water surface garbage is directionally cleaned according to the thought of the people, and the problem that the water area is deviated from the expected water area is solved.
The working method of the garbage cleaning ship with the control system based on the visual recognition technology comprises the following steps:
(1) as shown in fig. 8, the power main switch of the water surface garbage cleaning ship is turned on, the propeller, the vision module and the positioning module of the water surface garbage cleaning ship are in a standby state, the communication module carried by the ship is in a working state, and the waiting communication module receives a message instruction from the control end.
(2) If the 2.4G remote controller is adopted to control the water surface garbage cleaning ship, the gear of the 2.4G remote controller is pushed to a forward gear by a temporary gear, and the 2.4G remote controller can send a data frame of an SBUS protocol to a receiver of the water surface garbage cleaning ship; if the APP of the mobile terminal is adopted to control the water surface garbage cleaning ship, the Bluetooth module of the mobile terminal sends a data frame with a set protocol to the Bluetooth module of the transfer device, and the control module of the transfer device forwards the data frame received by the Bluetooth module to the receiving module of the water surface garbage cleaning ship through the HC-12 module.
(3) When a receiving module of the water surface garbage cleaning ship receives a data frame from a 2.4G remote control, the receiving module can analyze the corresponding relation between each bit of data of the data frame and the remote control according to an SBUS protocol so as to analyze a push rod moved by the 2.4G remote control, and the water surface garbage cleaning ship can change some flag bit information such as the rotating speed and the driving direction of a propeller according to the information; when receiving the data frame from the mobile terminal APP, the receiving module of the water surface garbage cleaning ship can analyze the data frame according to a set protocol so as to realize communication between the mobile terminal APP and the water surface garbage cleaning ship.
Compared with the existing design, the intelligent water surface garbage cleaning boat based on the visual recognition technology is characterized in that a steering engine and a corresponding camera for visual recognition are installed at the front end of the top of a boat body frame, and an angle sensor (namely a three-axis gyroscope) and a GPS positioning module are also installed on the intelligent water surface garbage cleaning boat based on the visual recognition technology. Compared with the traditional water surface cleaning ship, the automatic cruise control system has the advantages that the visual identification and automatic return function are added, and the automatic cruise control, the return and garbage cleaning of the cleaning ship can be realized by combining a set of complete visual identification and return algorithm. Compared with the traditional cleaning boat in the market, the visual identification and return function can be used for improving the garbage cleaning efficiency, helping people clean garbage in the tiny environment where manpower cannot reach easily, reducing the consumption of manpower resources in the water surface garbage cleaning process and reducing potential danger potential brought to personal safety due to water surface operation. In addition, compared with the traditional cleaning boat on the market, the invention considers the conversion between the automatic cleaning mode and the manual remote control mode. The efficiency of surface of water rubbish clearance is one of the function that the user is comparatively concerned with, and traditional manpower is salvaged and is threatened people's safety, consumes manpower resources, and efficiency often reduces because of what of the input manpower to must the people just can acquire the pollution condition of each local surface of water rubbish on the ship. The design provided by the invention just takes the point into consideration, the cleaning boat has the functions of visual identification and autonomous cruising, a user can control the movement of the boat at a mobile phone end, can realize cleaning in an automatic mode, and has the function of autonomous return by one key, so that the hands of people are greatly liberated, and the manpower consumption is reduced.
The speed stability adjusting module is matched with the K210 vision module and the main control system and comprises an automatic control unit and a manual remote control unit.
According to the invention, the propeller is controlled by adopting the PWM (pulse width modulation) peripheral controlled by the water surface garbage cleaning ship in the automatic water surface garbage cleaning mode, so that the main control of the water surface garbage cleaning ship can always keep a communication state with the vision module, and the execution efficiency is influenced. Therefore, in the manual remote control mode, the propeller is controlled by adopting a PWM (pulse width modulation) peripheral device which is controlled by the water surface garbage cleaning ship; in the automatic cleaning mode, the PWM peripheral of the vision module is adopted to control the propeller to drive to the target position, so that the motion control of the cleaning ship is realized with high efficiency. The manual mode and the remote control mode are selected according to different water surface cleaning conditions of users, and are not mutually conflicted.
The automatic motion path adjusting module is matched with the MPU6050 angle detecting module and the GPS real-time positioning module; the vision module matches the K210 vision module.
The conventional cleaning ship in the market is not provided with a visual identification module, and the ship cannot be cleaned by autonomously identifying and tracking garbage, so that a large amount of manpower is used for manual salvage and cleaning, time and labor are wasted, and a large amount of manpower resources are wasted; there is no GPS positioning function to return to the starting point by one key, and the position information cannot be acquired in real time. According to the invention, the garbage can be tracked and cleaned in real time through the K210 vision module and the GPS positioning module, if necessary, the starting point can be directly returned when the cleaning is finished, and meanwhile, the garbage cleaning data information is displayed at the mobile phone end, so that people can clearly, intuitively and real-timely determine the working state and cleaning progress of the cleaning ship and control whether the cleaning ship directly returns, and the maintenance of the water surface environment by people is facilitated.
In conclusion, the K210 vision module is used for identifying water surface garbage, the propeller is controlled to move to the target position, then the garbage is cleaned through the collection structure, and finally the MPU6050 attitude analysis module is used for acquiring a real-time course angle and combining with real-time positioning information of the GPS positioning module to realize autonomous return voyage; a mechanical part of the water surface garbage cleaning ship based on visual identification is composed of an integral frame of a ship body, a collecting structure and a collecting box. The frame of the ship body is composed of aluminum square tubes, the collecting structure is made of a barrier which is controlled by a steering engine and made of a fishing net, and the collecting box is composed of an acrylic plate set; the intelligent control system comprises a vision system, wherein a YOLO model is operated on a K210 vision processor to track the water surface garbage; the remote wireless control system, the propeller control system and the autonomous return system are mainly realized by a GPS positioning module and an MPU6050 three-axis gyroscope module. The invention mainly utilizes the visual identification technology to realize automatic salvage, and simultaneously relates to the GPS positioning technology, the gyroscope technology and the like, thereby improving the garbage cleaning efficiency and saving the human resources.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. The utility model provides a rubbish clearance ship based on visual identification technique which characterized in that: the ship comprises a ship body frame, a collecting cabin which is detachably arranged in the ship body frame, a cabin door which is rotatably arranged at the front end of the ship body frame, a first floating block and a second floating block which are symmetrically arranged at the left side and the right side of the ship body frame, a camera which is arranged at the top of the front end of the ship body frame and a pusher which is arranged at the bottom of the ship body frame.
2. The trash cleaning boat based on the visual recognition technology as claimed in claim 1, wherein: the hull frame is formed by welding a plurality of aluminum square tubes.
3. The trash cleaning boat based on the visual recognition technology as claimed in claim 1, wherein: the collecting cabin is made of acrylic plates, the collecting cabin is a cavity with an opening at the front end and the upper end, and a plurality of first through holes are formed in the side wall and the bottom of the collecting cabin.
4. The trash cleaning boat based on the visual recognition technology as claimed in claim 1, wherein: the two cabin doors are respectively and rotatably arranged at the left side and the right side of the front end of the hull frame; the cabin door is made of acrylic materials, and a plurality of second through holes are formed in the cabin door.
5. The trash cleaning boat based on the visual recognition technology as claimed in claim 1, wherein: the number of the propellers is 4, and the propellers are uniformly arranged at four end corners of the bottom of the hull frame.
6. The trash cleaning boat based on the visual recognition technology as claimed in claim 1, wherein: a first supporting plate is rotatably installed at the top of the front end of the ship body frame, and the camera is installed on the first supporting plate through a steering engine.
7. The trash cleaning boat based on the visual recognition technology as claimed in claim 1, wherein: a second supporting plate is rotatably arranged at the top of the rear end of the hull frame; and a storage battery is further installed on the second support plate, and the propeller is electrically connected with the storage battery.
8. The control system of the garbage disposal ship based on the visual recognition technology as claimed in any one of claims 1 to 7, wherein: the control system is arranged at the front end of the hull frame and is arranged on the second supporting plate, and the control system comprises a vision module, a propeller control module, a remote wireless control module, a GPS and Beidou dual-mode positioning module and an attitude analysis module; the visual module adopts a K210 chip and comprises a PWM peripheral I and a UART peripheral I, and the input end of the visual module is connected with the output end of the camera; the propeller control module comprises a cleaning ship main control chip and an electric controller, the cleaning ship main control chip adopts an STM32F103ZET6 chip and comprises a UART peripheral II and a PWM peripheral II, and the PWM peripheral II of the propeller main control chip is connected with the electric controller of the propeller control module; the remote wireless control module comprises a Bluetooth JDY-31 module, a singlechip module and a wireless communication module; the single chip microcomputer module adopts an STM32F103C8T6 chip, and the wireless communication module adopts an HC-12 wireless communication module; the GPS + Beidou dual-mode positioning module adopts an S1216F8-BD GPS + Beidou dual-mode positioning module, the attitude analysis module adopts an MPU6050 module, and the attitude analysis module is used for adjusting the course angle and the forward acceleration of the garbage cleaning ship;
the working method of the garbage cleaning ship with the control system comprises the following steps:
(1) starting a power supply main switch of the water surface garbage cleaning ship, finishing initialization of a propeller, a vision module and a GPS and Beidou dual-mode positioning module of the water surface garbage cleaning ship to be in a standby state, enabling a carried wireless communication module to be in a working state, and waiting for the wireless communication module to receive a message instruction from a control end;
(2) starting a mobile terminal APP, establishing communication connection between the mobile terminal APP and the water surface garbage cleaning ship, and simultaneously enabling control keys on the mobile terminal APP to be in a clickable state;
(3) clicking a control button on a mobile terminal APP, sending corresponding instruction information to a wireless communication module of the water surface garbage cleaning ship by the mobile terminal APP, and finishing corresponding control action by the water surface garbage cleaning ship according to the received instruction information;
(4) clicking an opening autonomous cleaning button on the mobile terminal APP, starting an activated state of a vision module of the water surface garbage cleaning ship, carrying out filtering processing on an image acquired by a camera by the main control of the vision module, carrying out garbage target detection on the processed image, and simultaneously starting to receive control information from a UART peripheral II of the vision module by a UART peripheral of the main control of the water surface garbage cleaning ship;
the vision module carries out filtering processing on the image acquired by the camera, then carries out garbage detection on the processed image, if the vision module does not detect a target, the main control propeller of the water surface garbage cleaning ship drives the water surface garbage cleaning ship to rotate at a slow speed of 360 degrees in situ, and the vision module carries out target detection while rotating, if the vision module does not find a detection target in the rotation process of the water surface garbage cleaning ship, the water surface garbage cleaning ship moves to the next area, rotates at a slow speed of 360 degrees in situ, and repeats the operation; when the vision module detects a target, the vision module captures the position information of the maximum pixel point target, packages the information according to a set communication protocol and sends the information to the main control of the water surface garbage cleaning ship through a serial port, and the main control of the water surface garbage cleaning ship analyzes a data frame sent by the vision module according to the set communication protocol to obtain the position information of the target and tracks and collects the target garbage;
(5) clicking a closing autonomous cleaning key on a mobile terminal APP, and starting an autonomous return key by a motor, wherein a main control unit for cleaning the water surface garbage does not receive a data frame from a vision module any more, but starts receiving and analyzing information of a positioning module and a gyroscope, performing coordinate operation on current longitude and latitude coordinate information from the positioning module obtained by analysis and longitude and latitude coordinate information of a previous starting position to obtain a returned path, and driving a cleaning ship along the obtained path direction by combining course angle information of the gyroscope until the current longitude and latitude coordinate information of the cleaning ship reaches a target threshold value, so that the autonomous return of the water surface garbage cleaning ship is realized;
(6) click and remove opening the storehouse button on holding APP, the backup pad of front and back is opened to the steering wheel that surface of water rubbish clearance ship can control, makes the garbage collection cabin be in the state that can take out, the rubbish of being convenient for in the garbage collection case take out and the clearance to surface of water rubbish clearance ship.
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Application publication date: 20220408 |