CN105799872A - Unmanned automatic search ship for garbage on water - Google Patents
Unmanned automatic search ship for garbage on water Download PDFInfo
- Publication number
- CN105799872A CN105799872A CN201610192979.6A CN201610192979A CN105799872A CN 105799872 A CN105799872 A CN 105799872A CN 201610192979 A CN201610192979 A CN 201610192979A CN 105799872 A CN105799872 A CN 105799872A
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- ship
- water
- garbage
- photographic head
- electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Health & Medical Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Public Health (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses an unmanned automatic search ship for garbage on water. The unmanned automatic search ship is characterized by comprising two electric ships, each electric ship is provided with two direct-current motors, the two electric ships are connected and fixed through a carbon fiber plate, and a net bag is fixed in the gap between the two electric ships; a tablet personal computer and a camera are fixed to the carbon fiber plate, a lighting device is installed on the camera, the camera is connected with the tablet personal computer, and an image recognition program is installed on the tablet personal computer; the tablet personal computer is connected with a single-chip microcomputer, the single-chip microcomputer is connected with two direct-current motor drivers, and finally the two direct-current motor drivers control the four direct-current motors of the two electric ships respectively. Therefore, the unmanned automatic search ship is suitable for a closed lake or water surface which a large clearing ship cannot enter and needs manual fishing of a boat and a great number of urban small and medium river channels closed by gates, the problems that garbage on water is searched for manually at present, and therefore clearing efficiency is low are solved, and the unmanned automatic search ship is beneficial for improving efficiency and saving oil consumption.
Description
Technical field
The present invention relates to mechanical engineering field, field of Environment Protection, be specifically related to the unmanned searching ship automatically of a kind of garbage on water.
Background technology
Existing contamination removing ship is all mainly large-scale pick-up boat, and these pick-up boats mainly work in large-scale waters, and small-sized lake surface and water area refuse are then still based on traditional artificial salvaging, inefficient.Simultaneously take account of that large-scale pick-up boat cost is high, oil consumption high and cause that efficiency is low to salvage be main purpose, function of search is more weak.The technology is devoted to solve manpower consumption and improve the problem that efficiency salvaged by rubbish.Many city river gates are closed, and ship is difficult to cruise, and searching for by unmanned small-sized automaton ship and clear up is new solution.
Summary of the invention
It is an object of the invention to provide the unmanned searching ship automatically of a kind of garbage on water, the river course of closing lake surface or the water surface, the closing of segmentation gate that canoe need to be relied on manually to salvage is cannot be introduced at large-scale cleaning ship, utilize intelligentized unmanned salvaging pattern, improve efficiency and save fuel consumption.
Technical scheme includes herein below:
The unmanned searching ship automatically of a kind of garbage on water, including two electric ships, every electric ship is separately installed with two direct current generators, these two electric ship carbon fiber boards connect and fix, article two, the gap of amidships is fixed with the string bag, and described carbon fiber board is fixed with panel computer and photographic head, and photographic head is provided with luminaire, photographic head is connected with panel computer, and panel computer is provided with image recognition program；Panel computer is connected with single-chip microcomputer, and single-chip microcomputer is connected with two DC motor driver again, is finally controlled four direct current generators of two electric ships respectively by two DC motor driver.
In driving process, light is pointed into the water surface by photographic head, be automatically adjusted gray value and threshold values by the reflective degree of the water surface and scene, carry out black white binarization according to threshold values after the picture gray processing captured by photographic head, the picture of black white binarization building is determine rubbish site and its scope.In this process, the image of intercepting 24 frame per second carries out dynamic tracing, and rubbish can be taken in capsule by the string bag of last two amidships.
The invention have the characteristics that: hull use twin hull construction, utilize be placed on fore photographic head shooting image, reach image recognition program carry out rubbish identifying processing go forward side by side Mobile state follow the trail of, intelligently realize nobody with this and automatically search for and salvage rubbish.Catamaran has relatively stable, and water resistance is few, and gentlier, the not easily advantage such as shipwreck, when running at high speed, wave making resistance is less than monomer.The string bag collecting rubbish is placed in the space of two amidships, avoids and affect the phenomenon that ship center of gravity causes traveling unstable due to rubbish skewness in the process of refuse collection.Therefore, the present invention is applicable to closing lake surface or the water surface that large-scale cleaning ship cannot be introduced into relying on canoe manually to salvage, and solves the dilemma of nowadays garbage on water search, is favorably improved efficiency and saves fuel consumption.
Accompanying drawing explanation
Fig. 1 is the structural representation of the unmanned searching ship automatically of garbage on water of the present invention.
Detailed description of the invention
Present pre-ferred embodiments is provided, to describe technical scheme in detail below in conjunction with accompanying drawing.
Embodiment:
The unmanned searching ship automatically of the garbage on water of the present invention as shown in Figure 1, including two electric ships 100, every electric ship is separately installed with two direct current generators 110, these two electric ship carbon fiber boards connect and fix 120, article two, the gap of amidships is fixed with the string bag 130, described carbon fiber board is fixed with Surfacepro panel computer 140 and photographic head 150, photographic head is provided with luminaire, photographic head is connected with panel computer, and panel computer is provided with image recognition program；Panel computer is connected with Arduino single-chip microcomputer, and single-chip microcomputer is connected with two L298motorshield DC motor driver again, is finally controlled four direct current generators of two electric ships respectively by two DC motor driver.Simultaneously for convenient operation, the wire controlling two equidirectional operatings of motor is linked together.
In the present invention, the control system of electric ship is computer multi-level control system.Using panel computer as the host computer controlling system, using Arduino single-chip microcomputer as slave computer, both realize serial data communication by USB.Use VisualBasic to write image processing program, set up dynamic tracing；ArduinoIDE is used to write program of lower computer.ArduinoLEONARDO single-chip microcomputer receives driving instruction by USB communication, performs respective operations.
All pixels in scene image are carried out line by line and scan by column process and use gray count formula by the program structure of double circulation, color image into as gray level image.By the gray value of each pixel and a threshold ratio relatively, greyscale image transitions is made to become black white binarization image.By the gray value conversion amplitude of relatively adjacent two pixels, detect the edge of target area.By the number of cumulative marginal point, calculate the girth of target area.By the number of pixel cumulative in target area, obtain the area of target area.By the abscissa of the pixel in target area and vertical coordinate are averaged, obtain center of mass point position.
The good carbon fiber board of toughness enables the weight that hull bears very big, the structure of catamaran makes the obstruction enable that hull runs into ripples and bulky refuse start by this structure more stablely, it is ensured that it is free to left and right turn to open towards the rubbish position judged rapidly.Ship, in the process travelled, constantly carries out shooting and transferring coloured image to gray level image with photographic head, by comparing and estimating orientation and the size of determining rubbish.Meanwhile, it is placed in two amidships spaces in order to collect the string bag of rubbish according to the information rubbish told.And it is positioned at amidships just because of it, do not have in the process of refuse collection and affect the phenomenon that ship center of gravity causes traveling unstable due to rubbish skewness.
Claims (2)
1. the unmanned searching ship automatically of garbage on water, it is characterized in that, including two electric ship hulls, being separately installed with two direct current generators on every hull, these two electric ship carbon fiber boards connect and fix, and the gap of two amidships is fixed with the refuse collection string bag, described carbon fiber board is fixed with panel computer and photographic head, being provided with luminaire on photographic head, photographic head is connected with panel computer, and panel computer is provided with image recognition program；Panel computer is connected with single-chip microcomputer, and single-chip microcomputer is connected with two DC motor driver again, is finally controlled four direct current generators of two electric ships respectively by two DC motor driver.
2. the unmanned searching ship automatically of garbage on water according to claim 1, it is characterized in that, in driving process, probe is pointed into the water surface by photographic head, it is automatically adjusted gray value and threshold values by the reflective degree of the water surface and scene, carry out black white binarization according to threshold values after the picture gray processing captured by photographic head, the picture of black white binarization building is determine rubbish site and its scope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610192979.6A CN105799872A (en) | 2016-03-30 | 2016-03-30 | Unmanned automatic search ship for garbage on water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610192979.6A CN105799872A (en) | 2016-03-30 | 2016-03-30 | Unmanned automatic search ship for garbage on water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105799872A true CN105799872A (en) | 2016-07-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610192979.6A Pending CN105799872A (en) | 2016-03-30 | 2016-03-30 | Unmanned automatic search ship for garbage on water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105799872A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741683A (en) * | 2017-03-08 | 2017-05-31 | 中国矿业大学 | A kind of water area refuse automated cleaning ship and automatic cleaning method based on machine vision |
| CN109466725A (en) * | 2018-10-11 | 2019-03-15 | 重庆邮电大学 | It is a kind of that system is salvaged based on the intelligent floater of neural network and image recognition |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4178247A (en) * | 1977-05-31 | 1979-12-11 | Jan-Bar Retrieval Corporation | Oil spill retrieval system |
| CN2318132Y (en) * | 1997-12-24 | 1999-05-12 | 邹敬民 | Shipping for collecting garbage on water-surface |
| CN103287549A (en) * | 2013-04-10 | 2013-09-11 | 暨南大学 | Intelligent water quality monitoring and water surface cleaning ship |
-
2016
- 2016-03-30 CN CN201610192979.6A patent/CN105799872A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4178247A (en) * | 1977-05-31 | 1979-12-11 | Jan-Bar Retrieval Corporation | Oil spill retrieval system |
| CN2318132Y (en) * | 1997-12-24 | 1999-05-12 | 邹敬民 | Shipping for collecting garbage on water-surface |
| CN103287549A (en) * | 2013-04-10 | 2013-09-11 | 暨南大学 | Intelligent water quality monitoring and water surface cleaning ship |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741683A (en) * | 2017-03-08 | 2017-05-31 | 中国矿业大学 | A kind of water area refuse automated cleaning ship and automatic cleaning method based on machine vision |
| CN106741683B (en) * | 2017-03-08 | 2019-03-22 | 中国矿业大学 | A kind of water area refuse automated cleaning ship and automatic cleaning method based on machine vision |
| CN109466725A (en) * | 2018-10-11 | 2019-03-15 | 重庆邮电大学 | It is a kind of that system is salvaged based on the intelligent floater of neural network and image recognition |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160727 |
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| RJ01 | Rejection of invention patent application after publication |