CN109518673A - A kind of quiet water area refuse take-up means and control method of view-based access control model - Google Patents
A kind of quiet water area refuse take-up means and control method of view-based access control model Download PDFInfo
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- CN109518673A CN109518673A CN201910059912.9A CN201910059912A CN109518673A CN 109518673 A CN109518673 A CN 109518673A CN 201910059912 A CN201910059912 A CN 201910059912A CN 109518673 A CN109518673 A CN 109518673A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 95
- 241000270708 Testudinidae Species 0.000 claims abstract description 23
- 230000004888 barrier function Effects 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 24
- 238000005259 measurement Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 description 4
- 239000003643 water by type Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
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- 238000011161 development Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 238000012549 training Methods 0.000 description 2
- 240000007651 Rubus glaucus Species 0.000 description 1
- 235000011034 Rubus glaucus Nutrition 0.000 description 1
- 235000009122 Rubus idaeus Nutrition 0.000 description 1
- 229920004933 Terylene® Polymers 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003899 penis Anatomy 0.000 description 1
- 239000005020 polyethylene terephthalate Substances 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Civil Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Refuse-Collection Vehicles (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The present invention relates to the quiet water area refuse take-up means and control method of a kind of view-based access control model, described device is tortoise shape structure, the tortoise shape structure includes the tail portion positioned at the head in the front of described device and positioned at the rear of described device, cabin portion is provided between the head and tail portion, the tail portion is provided with propeller and propeller driving motor, the head is provided with visual identity equipment, the head is provided with opening, the opening is provided with controlled valve, the controlled valve includes spigot baffle and barrier driving motor, spigot baffle described in the barrier driving motor driven blocks or exposes the opening, the water storehouse for being internally provided with the trash repository positioned at the top in the cabin portion and the lower section positioned at the cabin portion in the cabin portion.The present invention is by imitating the streamlined structure of tortoise body, using machine vision technique, the Automatic-searching rubbish of realization device, and when reducing precision and cost requirement, the efficiency of the garbage collection greatly improved.
Description
Technical field
The present invention relates to the quiet water area refuse take-up means of waters processing technology field, in particular to a kind of view-based access control model and
Control method, the waters such as the lake more gentle suitable for flow condition, man-made lake, reservoir, river.
Background technique
With the expansion of production dynamics, life, industrial refuse are also more next in the waters such as reservoir, lake, river man-made lake
It is more.And existing artificial cleaning or automatic cleaning apparatus higher cost, it is easy to produce fault and area coverage is smaller, it can not
Good waters cleaning effect is provided.
Summary of the invention
The object of the present invention is to provide the quiet water area refuse take-up means and control method of a kind of view-based access control model, pass through imitation
The streamlined structure of tortoise body, using machine vision technique, the Automatic-searching rubbish of realization device is reducing precision and cost requirement
When, the efficiency of the garbage collection greatly improved.
To achieve the goals above, the present invention has following constitute:
The present invention provides a kind of quiet water area refuse take-up means of view-based access control model, described device is tortoise shape structure, described
Tortoise shape structure includes positioned at the head in the front of described device and positioned at the tail portion at the rear of described device, the head and tail portion
Between be provided with cabin portion, the tail portion is provided with propeller and propeller driving motor, and the head is provided with visual identity and sets
Standby, the head is provided with opening, and the opening is provided with controlled valve, and the controlled valve includes spigot baffle and baffle
Driving motor, spigot baffle described in the barrier driving motor driven block or expose the opening, and the inside in the cabin portion is set
It is equipped with the water storehouse of the trash repository positioned at the top in the cabin portion and the lower section positioned at the cabin portion, the trash repository and the storage
Be provided with a mesh belt between sump, the inside of described device is additionally provided with control chip, the control chip respectively with
The visual identity equipment is connected with the barrier driving motor.
Optionally, the visual identity equipment is that binocular identifies equipment, and the binocular identification equipment includes two cameras,
Described two cameras are arranged higher than water surface setting height.
Optionally, the inner wall of the trash repository is provided at least one laser range finder, the laser range finder with it is described
Control chip is connected, and the control chip receives the measurement data of the laser range finder, if the laser range finder is surveyed
The distance for measuring barrier is less than pre-determined distance threshold value and the duration is greater than preset time threshold, then the control chip determines
The trash repository has been filled with.
Optionally, the inner wall of the water storehouse is provided at least one water level sensor, the water level sensor with it is described
Control chip is connected, and the control chip judges whether water level reaches default water according to the detection data of the water level sensor
Position threshold value.
Optionally, the inside of the water storehouse is additionally provided with a diaphragm pump, and the control chip determines that water level reaches pre-
If when watermark threshold, starting the diaphragm pump, the water storehouse is drained.
Optionally, described device is additionally provided with wireless communication module, and the wireless communication module and Digiplex carry out
Wireless communication, and the wireless communication module is connected with the control chip.
Optionally, the tortoise shape structure includes upper housing and lower case, the upper housing and lower case merge to be formed it is described
Tortoise shape structure, and the arc-shaped surface in outer surface on the head；
The mesh belt tilts upward from front end to rear end.
Optionally, the handle door of open-close type is provided with above the upper housing, the handle door includes two door-plates, institute
It states and is connected between two door-plates by hinge, and be provided with handle above the junction of described two door-plates.
The embodiment of the present invention also provides a kind of quiet water area refuse take-up means control method of view-based access control model, for controlling
The quiet water area refuse take-up means for the view-based access control model stated, described method includes following steps:
The control chip obtains the acquisition image of the visual identity equipment, to the acquisition image using trained
Rubbish identification model identifies the rubbish in image, and determines the position coordinates of rubbish；
The control chip controls the propeller driving motor according to the position coordinates of the rubbish and starts, described in driving
Propeller rotational drives the take-up means to traveling at the position of the rubbish；
Barrier driving electric motor starting described in the control chip controls, opens the spigot baffle, exposes the opening, with
So that rubbish enters the cabin portion with water flow, the rubbish is blocked by the mesh belt and stays in the trash repository, water flow
Into the water storehouse；
Barrier driving electric motor starting described in the control chip controls, closes the spigot baffle, shelters from the opening.
Optionally, the inner wall of the trash repository is provided at least one laser range finder, the laser range finder with it is described
Control chip is connected, and described device is additionally provided with wireless communication module, and the wireless communication module and Digiplex carry out
Wireless communication, and the wireless communication module is connected with the control chip；
The method also includes following steps:
Measurement data and is sent to described by the laser range finder every the distance of preset time measurement front obstacle
Control chip；
The control chip receives the measurement data of the laser range finder, if the laser range finder measures obstacle
The distance of object is less than pre-determined distance threshold value and the duration is greater than preset time threshold, then the control chip determines the rubbish
Storehouse has been filled with；
If the control chip determines that the trash repository has been filled with, the control chip passes through the radio communication mold
Block is communicated with the Digiplex；
The control chip receives the remote signal of the Digiplex by the wireless communication module, and according to institute
It states remote signal and controls the propeller driving motor, described device is driven to be back to initial position.
The quiet water area refuse take-up means and control method of view-based access control model provided by the present invention have following beneficial to effect
Fruit:
The present invention uses bionical tortoise structure, the angular dimension that tortoise body head is opened by steering engine control valve, the spiral shell of tail portion
Rotation paddle pushing meanss advance to collect rubbish, after rubbish and water enter device inside, go up shelving mesh belt by one,
Water, which is taken advantage of a situation, to be flowed into the groove below conveyer belt, and rubbish is then sent to trash repository storage by conveyer belt, therefore whole device can
With the nearest rubbish of Automatic-searching, and judge rubbish coordinate, go to rubbish mark, completes the work for collecting rubbish, and can lead to
The self-test that sensor is completed the demand of intelligent drainage function and completed rubbish surplus using laser ranging module is crossed, the filled letter of rubbish is issued
Number, staff can return bank by wireless remote controller control device.Manpower people's sheet is greatly reduced, national intelligence system is met
The development plan made.
Detailed description of the invention
Fig. 1 is the top view of the quiet water area refuse take-up means of the view-based access control model of one embodiment of the invention；
Fig. 2 is the side view of the quiet water area refuse take-up means of the view-based access control model of one embodiment of the invention；
Fig. 3 is the front view of the quiet water area refuse take-up means of the view-based access control model of one embodiment of the invention；
Fig. 4 is the rearview of the quiet water area refuse take-up means of the view-based access control model of one embodiment of the invention；
Fig. 5 is the cross-sectional view in the direction A-A in Fig. 4；
Fig. 6 is the structural representation of the opening of the quiet water area refuse take-up means of the view-based access control model of one embodiment of the invention
Figure；
Fig. 7 is the structural schematic diagram of the mesh belt of one embodiment of the invention；
Fig. 8 is the flow chart of the course of work of the quiet water area refuse take-up means of the view-based access control model of one embodiment of the invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
As shown in Fig. 1~7, the technical issues of in order to solve in the prior art, the present invention provides a kind of view-based access control models
Quiet water area refuse take-up means, described device are tortoise shape structure, and the tortoise shape structure includes the head positioned at the front of described device
Portion 3 and tail portion 6 positioned at the rear of described device, are provided with cabin portion, the tail portion 6 is provided between the head 3 and tail portion 6
Propeller and propeller driving motor, the head 3 are provided with visual identity equipment 32, and the head 3 is provided with opening 31, institute
It states and is provided with controlled valve at opening 31, the controlled valve includes spigot baffle and barrier driving motor, the barrier driving
Spigot baffle described in motor driven blocks or exposes the opening 31, and the cabin portion is internally provided with before the cabin portion
The water storehouse 5 of the trash repository 4 in portion and the rear portion positioned at the cabin portion is provided with one between the trash repository 4 and the water storehouse 5
Mesh belt 42, the inside of described device be additionally provided with control chip 7, the control chip 7 respectively with the visual identity
Equipment 32 is connected with the barrier driving motor.Raspberry Pi 3B+ (raspberry pie chip) can be used by controlling chip 7,
However, the present invention is not limited thereto.Tortoise shape structure can also include two swing arms 8 for being set to cabin portion two sides.
As shown in figure 8, the embodiment of the present invention also provides a kind of quiet water area refuse take-up means control method of view-based access control model,
For controlling the quiet water area refuse take-up means of the view-based access control model, described method includes following steps:
The control chip 7 obtains the acquisition image of the visual identity equipment 32, to the acquisition image using training
Rubbish in good rubbish identification model identification image, and determine the position coordinates of rubbish；
The control chip 7 controls the propeller driving motor according to the position coordinates of the rubbish and starts, and drives institute
Propeller rotational is stated, drives the take-up means to traveling at the position of the rubbish；
The control chip 7 controls the barrier driving electric motor starting, opens the spigot baffle, exposes the opening
31, so that rubbish enters the cabin portion with water flow, the rubbish is blocked by the mesh belt 42 and stays in the rubbish
Storehouse 4, water flow enter the water storehouse 5；
The control chip 7 controls the barrier driving electric motor starting, closes the spigot baffle, shelters from the opening
31。
Barrier driving motor can be connected by one or more gear pairs with the spigot baffle, drive the valve
Baffle is around a center axis rotation.The spigot baffle, which can be rotated to relative to opening 31, is inclined outwardly unlatching, is open 31 at this time
Expose, rubbish can enter cabin portion with water flow, and gradually be revolved from the state being inclined outwardly to opening sidewalls in spigot baffle
When turning, it is mobile to cabin portion direction that water flow or rubbish can also be further driven to.Spigot baffle is in cuboid, with a thickness of 0.5CM.Gear
Plate driving motor and gear pair form a steering engine.
In this embodiment, the visual identity equipment 32 is that binocular identifies equipment, and the binocular identification equipment includes two
A camera, described two cameras are arranged higher than water surface setting height, in one embodiment, are higher than water surface 37CM, but this
It invents without being limited thereto.Binocular identification equipment acquires image, and the spacing between two cameras by two cameras respectively
It is known that can not only determine the plane coordinates of rubbish according to two images, it is also possible to obtain depth information, therefore rubbish can be obtained
The three-dimensional coordinate of rubbish.Binocular identifies that equipment is conducive to detection water surface situation, carries out rubbish positioning and Image Acquisition.In control chip 7
After the middle progress image preprocessing by opencv, image is verified with sample set automatically, passes through the instruction in tensorflow
The rubbish identification model perfected carries out target detection.Rubbish identification model can carry out characteristics of spam using various garbage image
Identification, the convergence model of rubbish and non-junk can be identified using the algorithm training of deep learning or other similar machine learning.
In this embodiment, the inner wall of the trash repository 4 is provided at least one laser range finder 41, the laser ranging
The distance of straightline propagation principle measurement front obstacle of the instrument 41 using laser when accessible, is connected with the control chip 7
It connects, the control chip 7 receives the measurement data of the laser range finder 41, if the laser range finder 41 measures obstacle
The distance of object is less than pre-determined distance threshold value and the duration is greater than preset time threshold, then the control chip 7 determines the rubbish
Rubbish storehouse 4 has been filled with.For example, initially setting the distance of laser as the diameter of shell.When rubbish is filled, rubbish blocks the straight of laser
It penetrates, then the surveyed range of laser shortens naturally.Timer starts timing, maintains then determine that rubbish has been expired apart from constant within 20 seconds.
In this embodiment, described device is additionally provided with wireless communication module, the wireless communication module and wireless remote control
Device carries out wireless communication, and the wireless communication module is connected with the control chip 7.
Accordingly, in this embodiment, the control method of the quiet water area refuse take-up means of the view-based access control model further includes
Following steps:
The laser range finder 41 measures the distance of front obstacle every preset time, and measurement data is sent to institute
State control chip 7；
The control chip 7 receives the measurement data of the laser range finder 41, if the laser range finder 41 measures
Distance to barrier is less than pre-determined distance threshold value and the duration is greater than preset time threshold, then the control chip 7 determines
The trash repository 4 has been filled with；
If the control chip 7 determines that the trash repository 4 has been filled with, the control chip 7 passes through the channel radio
Letter module is communicated with the Digiplex；
The remote signal for controlling chip 7 and receiving the Digiplex by the wireless communication module, and according to
The remote signal controls the propeller driving motor, and described device is driven to be back to initial position.
Therefore, the rubbish that the entire take-up means of the embodiment can be nearest with Automatic-searching, and judge rubbish coordinate, it goes to
Rubbish mark completes the work for collecting rubbish, and can complete the demand of intelligent drainage function by sensor and utilize laser ranging
Module completes the self-test of rubbish surplus, issues the filled signal of rubbish, and staff can pass through wireless remote controller control device
Return bank.
In this embodiment, the inner wall of the water storehouse 5 is provided at least one water level sensor 52, for example, water storehouse
Hydraulic pressure sensor is installed along 5cm, the water level sensor 52 is connected with the control chip 7, the control under inner opening
Chip 7 judges whether water level reaches preset water level threshold value according to the detection data of the water level sensor 52.
In this embodiment, the inside of the water storehouse 5 is additionally provided with a diaphragm pump 51, and the control chip 7 determines
When water level reaches preset water level threshold value, start the diaphragm pump 51, the water storehouse 5 is drained, thus can realize rubbish
The Auto-drainage of rubbish cleaning device determines the water level of water storehouse by the measurement of conducting wire stitching, when water level reaches preset value,
Transfer start signal diaphragm pump, extraction water have guaranteed the stability of glans penis operation.
In this embodiment, the tortoise shape structure includes upper housing 1 and lower case 2, and the upper housing 1 and lower case 2 are closed
And form the tortoise shape structure.The head 3 of the tortoise shape structure is arranged at the hollow shape of cuboid, in one embodiment, opening
Diameter is 20CM, is highly 15CM, is conducive to the sucking of rubbish, however, the present invention is not limited thereto.The outer surface on the head 3 is in arc
The possibility that rubbish blocks is reduced on shape surface 33.
As shown in fig. 7, offering multiple filtration holes on mesh belt 42.It is driven into the rubbish in tortoise body by conveyer belt
Into trash repository, and water is then because weight potential energy is flowed downwardly into warehouse by filter opening.Mesh belt 42 can use terylene
Material.
In this embodiment, the top of the upper housing 1 is provided with the handle door 11 of open-close type, and the handle door 11 includes
Two door-plates are connected between described two door-plates by hinge, and are provided with handle above the junction of described two door-plates.
It, can be in order to the installation of the circuit original part inside take-up means after handle door 11 is opened.
The quiet water area refuse take-up means and control method of view-based access control model provided by the present invention have following beneficial to effect
Fruit:
The present invention uses bionical tortoise structure, the angular dimension that tortoise body head is opened by steering engine control valve, the spiral shell of tail portion
Rotation paddle pushing meanss advance to collect rubbish, after rubbish and water enter device inside, go up shelving mesh belt by one,
Water, which is taken advantage of a situation, to be flowed into the groove below conveyer belt, and rubbish is then sent to trash repository storage by conveyer belt, therefore whole device can
With the nearest rubbish of Automatic-searching, and judge rubbish coordinate, go to rubbish mark, completes the work for collecting rubbish, and can lead to
The self-test that sensor is completed the demand of intelligent drainage function and completed rubbish surplus using laser ranging module is crossed, the filled letter of rubbish is issued
Number, staff can return bank by wireless remote controller control device.Manpower people's sheet is greatly reduced, national intelligence system is met
The development plan made.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (10)
1. a kind of quiet water area refuse take-up means of view-based access control model, which is characterized in that described device is tortoise shape structure, the tortoise shape
Structure includes positioned at the head in the front of described device and between the tail portion at the rear of described device, the head and tail portion
It is provided with cabin portion, the tail portion is provided with propeller and propeller driving motor, and the head is provided with visual identity equipment, institute
It states head and is provided with opening, the opening is provided with controlled valve, and the controlled valve includes spigot baffle and barrier driving
Motor, spigot baffle described in the barrier driving motor driven block or expose the opening, and the cabin portion is internally provided with
Positioned at the trash repository of the top in the cabin portion and the water storehouse of the lower section positioned at the cabin portion, the trash repository and the water storehouse
Between be provided with a mesh belt, the inside of described device is additionally provided with control chip, the control chip respectively with it is described
Visual identity equipment is connected with the barrier driving motor.
2. the quiet water area refuse take-up means of view-based access control model according to claim 1, which is characterized in that the visual identity
Equipment is that binocular identifies equipment, and the binocular identification equipment includes two cameras, and described two cameras are set higher than the water surface
Height is arranged.
3. the quiet water area refuse take-up means of view-based access control model according to claim 1, which is characterized in that the trash repository
Inner wall is provided at least one laser range finder, and the laser range finder is connected with the control chip, the control chip
The measurement data of the laser range finder is received, if the distance that the laser range finder measures barrier is less than pre-determined distance
Threshold value and duration are greater than preset time threshold, then the control chip judgement trash repository has been filled with.
4. the quiet water area refuse take-up means of view-based access control model according to claim 1, which is characterized in that the water storehouse
Inner wall is provided at least one water level sensor, and the water level sensor is connected with the control chip, the control chip
Judge whether water level reaches preset water level threshold value according to the detection data of the water level sensor.
5. the quiet water area refuse take-up means of view-based access control model according to claim 4, which is characterized in that the water storehouse
Inside is additionally provided with a diaphragm pump and starts the diaphragm water when control chip determines that water level reaches preset water level threshold value
Pump, drains the water storehouse.
6. the quiet water area refuse take-up means of view-based access control model according to claim 1, which is characterized in that described device is also set
It is equipped with wireless communication module, the wireless communication module is carried out wireless communication with Digiplex, and the wireless communication module
It is connected with the control chip.
7. the quiet water area refuse take-up means of view-based access control model according to claim 1, which is characterized in that the tortoise shape structure
Including upper housing and lower case, the upper housing and lower case merge to form the tortoise shape structure, and the outer surface on the head
Arc-shaped surface；
The mesh belt tilts upward from front end to rear end.
8. the quiet water area refuse take-up means of view-based access control model according to claim 7, which is characterized in that the upper housing
Top is provided with the handle door of open-close type, and the handle door includes two door-plates, is connected between described two door-plates by hinge
It connects, and is provided with handle above the junction of described two door-plates.
9. a kind of quiet water area refuse take-up means control method of view-based access control model, which is characterized in that for control claim 1 to
The quiet water area refuse take-up means of view-based access control model described in any one of 8, described method includes following steps:
The control chip obtains the acquisition image of the visual identity equipment, uses trained rubbish to the acquisition image
Identification model identifies the rubbish in image, and determines the position coordinates of rubbish；
The control chip controls the propeller driving motor according to the position coordinates of the rubbish and starts, and drives the spiral
Paddle rotation drives the take-up means to traveling at the position of the rubbish；
Barrier driving electric motor starting described in the control chip controls, opens the spigot baffle, exposes the opening, so that
Rubbish enters the cabin portion with water flow, and the rubbish is blocked by the mesh belt and stays in the trash repository, and water flow enters
The water storehouse；
Barrier driving electric motor starting described in the control chip controls, closes the spigot baffle, shelters from the opening.
10. automotive throttle control method according to claim 8, which is characterized in that the inner wall of the trash repository is provided with
At least one laser range finder, the laser range finder are connected with the control chip, and described device is additionally provided with channel radio
Believe module, the wireless communication module is carried out wireless communication with Digiplex, and the wireless communication module and the control
Chip is connected；
The method also includes following steps:
The laser range finder measures the distance of front obstacle every preset time, and measurement data is sent to the control
Chip；
The control chip receives the measurement data of the laser range finder, if the laser range finder measures barrier
Distance is less than pre-determined distance threshold value and the duration is greater than preset time threshold, then the control chip has determined the trash repository
It is filled with；
If the control chip determines that the trash repository has been filled with, the control chip by the wireless communication module and
The Digiplex is communicated；
The control chip receives the remote signal of the Digiplex by the wireless communication module, and according to described distant
It controls signal and controls the propeller driving motor, described device is driven to be back to initial position.
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| CN201910059912.9A CN109518673A (en) | 2019-01-22 | 2019-01-22 | A kind of quiet water area refuse take-up means and control method of view-based access control model |
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| CN201910059912.9A CN109518673A (en) | 2019-01-22 | 2019-01-22 | A kind of quiet water area refuse take-up means and control method of view-based access control model |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110306512A (en) * | 2019-08-01 | 2019-10-08 | 上海电力大学 | River channel garbage cleaning device |
| CN113534797A (en) * | 2021-07-07 | 2021-10-22 | 江苏科技大学 | Processing method of automatic planning system for identifying and collecting paths of floating garbage on water |
| CN114089656A (en) * | 2021-10-27 | 2022-02-25 | 广州大学 | Marine garbage recycling planning method and system based on machine vision and reinforcement learning |
| CN114351672A (en) * | 2022-02-10 | 2022-04-15 | 武汉工程大学 | Bionic robot for cleaning garbage in lake with buttercup |
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| CN110306512A (en) * | 2019-08-01 | 2019-10-08 | 上海电力大学 | River channel garbage cleaning device |
| CN110306512B (en) * | 2019-08-01 | 2021-08-17 | 上海电力大学 | River channel garbage cleaning device |
| CN113534797A (en) * | 2021-07-07 | 2021-10-22 | 江苏科技大学 | Processing method of automatic planning system for identifying and collecting paths of floating garbage on water |
| CN114089656A (en) * | 2021-10-27 | 2022-02-25 | 广州大学 | Marine garbage recycling planning method and system based on machine vision and reinforcement learning |
| CN114089656B (en) * | 2021-10-27 | 2023-08-08 | 广州大学 | Ocean garbage recycling planning method and system based on machine vision and reinforcement learning |
| CN114351672A (en) * | 2022-02-10 | 2022-04-15 | 武汉工程大学 | Bionic robot for cleaning garbage in lake with buttercup |
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