CN114771752A - High-precision intelligent obstacle-avoiding fishing system for water surface cleaning unmanned ship - Google Patents
High-precision intelligent obstacle-avoiding fishing system for water surface cleaning unmanned ship Download PDFInfo
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- CN114771752A CN114771752A CN202210234828.8A CN202210234828A CN114771752A CN 114771752 A CN114771752 A CN 114771752A CN 202210234828 A CN202210234828 A CN 202210234828A CN 114771752 A CN114771752 A CN 114771752A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 47
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 33
- 230000002452 interceptive effect Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 9
- 230000003993 interaction Effects 0.000 description 3
- 208000034699 Vitreous floaters Diseases 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses a high-precision intelligent obstacle avoidance catching system for a water surface cleaning unmanned ship, which relates to the technical field of function recovery and reconstruction of water ecological systems, and aims at solving the problems that the existing water surface cleaning unmanned ship is low in positioning accuracy, easy to cause catching obstruction and poor in cleaning catching effect. This system is catched to intelligence obstacle avoidance's work efficiency is high, obstacle avoidance catches effectually, controls conveniently, and clean mode is optional, optimizes the route through the modeling, improves the route accuracy of obstacle avoidance and catching.
Description
Technical Field
The invention relates to the technical field of function recovery and reconstruction of water ecosystem, in particular to a high-precision intelligent obstacle-avoiding fishing system for a water surface cleaning unmanned ship.
Background
The unmanned ship is a full-automatic water surface robot which sails on the water surface by means of satellite positioning and a self-sensor and according to a preset task, has very obvious application advantages in the environmental protection and water conservancy fields, plays a decisive role in the function recovery and reconstruction of a water ecosystem, has a series of characteristics of high response speed, accurate detection precision, long endurance time, high maneuverability and strong continuous operation capability, can greatly shorten the working time, improve the working efficiency, reduce the safety risk of personnel, save a large amount of resources, provides a new idea for the innovation of river and lake water environment management, can collect and return water quality related data, videos and pictures through a wireless ad hoc network to help the personnel to quickly lock the position of a pollution source, therefore, the monitoring capability and the early warning capability of the river and lake water environment risks are remarkably improved, and meanwhile, core data support is provided for the establishment of a river and lake informatization monitoring system.
However, the unmanned ship for water surface cleaning used in the current market still has defects in the using process, the positioning accuracy is low, when various floaters and garbage are collected, the catching path cannot be precisely avoided and optimized, the catching is easily blocked, and the hydrophilic and clean catching effect is influenced.
Disclosure of Invention
The invention provides a high-precision intelligent obstacle avoidance catching system for a water surface cleaning unmanned ship, which solves the problems that the existing high-precision intelligent obstacle avoidance catching system for the water surface cleaning unmanned ship has low positioning accuracy, cannot accurately avoid and optimize a catching path, is easy to cause catching obstruction, and has poor cleaning catching effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
the intelligent obstacle avoidance catching system for the water surface cleaning unmanned ship is composed of seven parts, namely an interaction terminal, a collecting part, a positioning part, an obstacle avoidance part, a control part and a catching part, wherein the interaction terminal controls the unmanned ship based on cleaning requirements, the collecting part is started to collect scenes around the unmanned ship, the positioning part is started to position the unmanned ship, the environment around the unmanned ship is modeled, the obstacle avoidance catching planning is carried out through the obstacle avoidance part based on the modeled scenes, then the obstacle avoidance and catching schemes of requirements are selected, and the catching part of the unmanned ship is controlled through the control part based on the selected schemes, so that the unmanned ship can carry out intelligent obstacle avoidance catching.
Preferably, the interactive terminal comprises an APP, a remote controller and a 4G, and the APP, the remote controller and the 4G are used as a control center to send commands to the unmanned ship through a local area network, a 4G and the Internet.
Preferably, the interactive terminal sends an instruction to the unmanned ship based on the requirements of cleaning obstacle avoidance and catching, starts a positioning module and an acquisition module of the unmanned ship, and judges the positioning of the unmanned ship and surrounding scenes.
Preferably, the acquisition part is embodied as an acquisition module, the acquisition module is started based on an instruction of the interactive terminal, acquires images of the unmanned ship area, uploads image data of the unmanned ship area to the storage database, and sends the image data to the positioning module for auxiliary positioning modeling.
Preferably, the positioning part is embodied as a positioning module, and the positioning module comprises a millimeter radar and a laser radar, and the millimeter radar and the laser radar are used for carrying out accurate positioning and scene modeling on the unmanned ship.
Preferably, the positioning module receives the image of the unmanned ship region transmitted by the acquisition module, carries out scene modeling on the environment around the unmanned ship based on the image data and the accurate positioning of the unmanned ship from the millimeter radar and the laser radar, carries out all-around understanding on the unmanned ship, and transmits the modeling scene to the obstacle avoidance module for obstacle avoidance planning.
Preferably, the obstacle avoidance part is embodied as an obstacle avoidance module, intelligent calculation is carried out based on scene requirements, an obstacle avoidance catching plan is manufactured, a preview scheme is provided for the obstacle avoidance catching plan, and a user performs execution selection on the scheme of the obstacle avoidance catching plan and transmits the execution scheme to the control module.
Preferably, the obstacle avoidance module receives the modeling scene transmitted by the positioning module, provides a plurality of cleaning schemes for obstacle avoidance and fishing based on the modeling scene, and the schemes include but are not limited to a path planning, a cleaning mode, obstacle avoidance times, obstacle avoidance and cleaning costs, a cleaning amount and a cleaning rate value, and provides a rehearsal mode for the schemes.
Preferably, the control part is embodied as a control module, the control module receives the obstacle avoidance catching planning scheme transmitted by the obstacle avoidance module, controls the unmanned ship based on the scheme, formulates the control scheme, sends a command of the control scheme to a catching mode, and starts the obstacle avoidance and catching equipment of the unmanned ship.
Preferably, the catching part is embodied as a catching module, the catching module receives a control scheme command sent by the control module, and the unmanned ship is started to perform obstacle avoidance catching based on the control command, so that the unmanned ship completes the cleaning operation of obstacle avoidance catching.
The invention has the beneficial effects that:
1. carry out remote control to unmanned ship based on LAN, 4G and internet through mutual terminal, make unmanned ship collect all kinds of floaters and the rubbish of the surface of water, replace traditional artifical mode of salvaging to realize that the surface of water rubbish clearance is clean, reduce the cost of labor, promote clean efficiency.
2. Carry out accurate scene modeling location in unmanned ship region through setting up collection module and orientation module, to the environment surveyability in the region, keep away the barrier module and carry out intelligent calculation based on different scenes, optimize and keep away the barrier and catch the route, establish the multiple clean mode of keeping away the barrier and catching, supply the staff to select, improve the accuracy that intelligence kept away the barrier and caught, keep away the barrier and catch the route and optimize, keep away the barrier and catch efficient, effectual to intelligence.
To sum up, this system is catched to intelligence obstacle avoidance's work efficiency is high, controls conveniently, and clean mode is optional, optimizes the route through scene modeling, improves the route accuracy that the obstacle avoidance was catched, optimizes the effect that the obstacle avoidance was catched.
Drawings
Fig. 1 is a schematic diagram of the high-precision intelligent obstacle-avoiding catching system for the water surface cleaning unmanned ship.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
A high-precision intelligent obstacle avoidance catching system for a water surface cleaning unmanned ship is composed of seven parts, namely an interactive terminal, a collecting part, a positioning part, an obstacle avoidance part, a control part and a catching part, wherein the interactive terminal is used for knowing unmanned ship information based on cleaning requirements and controlling the unmanned ship, the collecting part is started to collect scenes around the unmanned ship, the positioning part is started to position the unmanned ship, modeling is carried out on the environment around the unmanned ship based on the collected scenes and the positioning, obstacle avoidance catching planning is carried out through the obstacle avoidance part based on the modeling scenes, then the required obstacle avoidance and catching schemes are selected, radar foreplaying can be carried out on the obstacle avoidance and catching schemes according to the requirements, obstacle avoidance and catching details and obstacle avoidance and catching results are known, driving control is carried out on the unmanned ship catching part through the control part based on the selected schemes, and starting the unmanned ship according to the selected scheme, so that the unmanned ship carries out intelligent obstacle avoidance and fishing.
Example 2
The utility model provides a clean unmanned ship of surface of water high accuracy intelligence is kept away barrier and is catched system, intelligence is kept away the barrier and is catched system and include mutual terminal, collection module, orientation module, keep away barrier module, control module and catch the module.
The interactive terminal comprises an APP, a remote controller and a 4G, and the APP, the remote controller and the 4G serve as a control center to send commands to the unmanned ship through a local area network, the 4G and the Internet.
The interaction terminal sends an instruction to the unmanned ship based on the clean obstacle avoidance and fishing requirements, starts a positioning module and an acquisition module of the unmanned ship, and judges the positioning and surrounding scenes of the unmanned ship.
The acquisition module is started based on an instruction of the interactive terminal, acquires images of the unmanned ship area, uploads image data of the unmanned ship area to the storage database, and sends the image data to the positioning module for auxiliary positioning modeling.
The positioning module comprises a millimeter radar and a laser radar, and the unmanned ship is accurately positioned and subjected to scene modeling through the millimeter radar and the laser radar.
The positioning module receives the images of the unmanned ship area transmitted by the acquisition module, carries out scene modeling on the environment around the unmanned ship based on image data and accurate positioning of the unmanned ship from the millimeter radar and the laser radar, carries out all-round understanding on the periphery of the unmanned ship, and transmits the modeling scene to the obstacle avoidance module for obstacle avoidance planning.
The obstacle avoidance module carries out intelligent calculation based on scene requirements, an obstacle avoidance fishing plan is manufactured, a preview scheme is provided for the obstacle avoidance fishing plan, a user carries out execution selection on the scheme of the obstacle avoidance fishing plan, and the execution scheme is transmitted to the control module.
The obstacle avoidance module receives the modeling scene transmitted by the positioning module, provides a plurality of cleaning schemes for obstacle avoidance and fishing based on the modeling scene, and the schemes include but are not limited to a path planning mode, a cleaning mode, obstacle avoidance times, obstacle avoidance and cleaning cost, a cleaning amount and a cleaning rate value, and provides a rehearsal mode for the schemes.
The control module receives the obstacle avoidance and fishing planning scheme transmitted by the obstacle avoidance module, controls the unmanned ship based on the scheme, formulates the control scheme, sends a command of the control scheme to a fishing mode, and starts obstacle avoidance and fishing equipment of the unmanned ship.
The module receives a control scheme command sent by the control module, and carries out obstacle avoidance catching starting on the unmanned ship based on the control command, so that the unmanned ship completes the cleaning operation of obstacle avoidance catching.
Example 3
The high-precision intelligent obstacle-avoiding fishing system for the water surface cleaning unmanned ship comprises the following use steps:
s1, understanding unmanned ship information based on cleaning requirements through an interactive panel, controlling the unmanned ship, sending an instruction to start an acquisition module and a positioning module, acquiring scenes around the unmanned ship by an acquisition part, and positioning the unmanned ship by the positioning part;
s2, modeling the environment around the unmanned ship based on the scene and the positioning information acquired in the step S1, starting an obstacle avoidance part based on the modeled scene to carry out obstacle avoidance and fishing planning on the unmanned ship, and carrying out radar preview on the obstacle avoidance and fishing schemes according to the requirements of the unmanned ship, knowing obstacle avoidance and fishing details and obstacle avoidance and fishing results, and then selecting the required obstacle avoidance and fishing schemes;
and S3, based on the scheme selected in the step S2, the unmanned ship is remotely controlled through the control part based on the local area network, the 4G and the Internet, so that the driving control of the catching part is completed, the unmanned ship is started according to the selected scheme, and the intelligent obstacle avoidance catching operation is completed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The intelligent obstacle-avoiding fishing system is characterized in that the interactive terminal controls the unmanned ship based on cleaning requirements, the acquisition part is started to acquire scenes around the unmanned ship, the positioning part is started to position the unmanned ship, the environment around the unmanned ship is modeled, obstacle-avoiding fishing planning is carried out through the obstacle-avoiding part based on the modeled scenes, then required obstacle-avoiding and fishing schemes are selected, and the fishing part of the unmanned ship is controlled through the control part based on the selected schemes, so that the unmanned ship can carry out intelligent obstacle-avoiding fishing.
2. The high-precision intelligent obstacle-avoiding catching system for the water surface cleaning unmanned ship as claimed in claim 1, wherein the interactive terminal comprises an APP, a remote controller and a 4G, and the interactive terminal is used as a control center to send commands to the unmanned ship through a local area network, the 4G and the Internet.
3. The high-precision intelligent obstacle-avoiding fishing system for the water surface cleaning unmanned ship according to claim 1, wherein the interactive terminal sends an instruction to the unmanned ship based on the requirements of cleaning obstacle-avoiding and fishing, starts a positioning module and a collecting module of the unmanned ship, and judges the positioning and surrounding scenes of the unmanned ship.
4. The high-precision intelligent obstacle-avoiding catching system for the water surface cleaning unmanned ship as claimed in claim 1, wherein the collecting part is embodied as a collecting module, the collecting module is started based on an instruction of an interactive terminal, and the collecting module performs image acquisition on the unmanned ship area, uploads image data of the unmanned ship area to a storage database, and sends the image data to a positioning module for auxiliary positioning modeling.
5. The high-precision intelligent obstacle-avoiding fishing system for the water surface cleaning unmanned ship is characterized in that the positioning part is embodied as a positioning module, the positioning module comprises a millimeter radar and a laser radar, and the unmanned ship is precisely positioned and subjected to scene modeling through the millimeter radar and the laser radar.
6. The high-precision intelligent obstacle-avoiding fishing system for the water surface cleaning unmanned ship according to claim 5, wherein the positioning module receives the image of the unmanned ship region transmitted by the acquisition module, carries out scene modeling on the environment around the unmanned ship based on the image data and the accurate positioning of the unmanned ship from the millimeter radar and the laser radar, carries out all-around understanding on the unmanned ship, and transmits the modeling scene to the obstacle-avoiding module for obstacle-avoiding planning.
7. The high-precision intelligent obstacle avoidance and catching system for the water surface cleaning unmanned ship according to claim 1, wherein the obstacle avoidance part is embodied as an obstacle avoidance module, intelligent calculation is performed based on scene requirements, an obstacle avoidance and catching plan is manufactured, a preview scheme is provided for the obstacle avoidance and catching plan, and a user performs execution selection on the scheme of the obstacle avoidance and catching plan and transmits the execution scheme to the control module.
8. The high-precision intelligent obstacle avoidance and catching system for the water surface cleaning unmanned ship of claim 7, wherein the obstacle avoidance module receives the modeling scene transmitted by the positioning module, provides a plurality of cleaning schemes for obstacle avoidance and catching based on the modeling scene, the schemes include but are not limited to route planning, cleaning modes, obstacle avoidance times, obstacle avoidance and cleaning costs, cleaning amount and cleaning rate values, and provides a preview mode for the schemes.
9. The high-precision intelligent obstacle avoidance and catching system for the water surface cleaning unmanned ship as claimed in claim 1, wherein the control part is embodied as a control module, the control module receives the obstacle avoidance and catching planning scheme transmitted by the obstacle avoidance module, controls the unmanned ship based on the scheme, formulates the control scheme, issues a command of the control scheme to a catching mode, and starts the obstacle avoidance and catching device of the unmanned ship.
10. The high-precision intelligent obstacle-avoiding fishing system for the water surface cleaning unmanned ship according to claim 1, wherein the fishing part is embodied as a fishing module, the module receives a control scheme command sent by the control module, and the obstacle-avoiding fishing of the unmanned ship is started based on the control command, so that the unmanned ship completes the cleaning operation of the obstacle-avoiding fishing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210234828.8A CN114771752A (en) | 2022-03-10 | 2022-03-10 | High-precision intelligent obstacle-avoiding fishing system for water surface cleaning unmanned ship |
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| CN202210234828.8A CN114771752A (en) | 2022-03-10 | 2022-03-10 | High-precision intelligent obstacle-avoiding fishing system for water surface cleaning unmanned ship |
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2022
- 2022-03-10 CN CN202210234828.8A patent/CN114771752A/en active Pending
Patent Citations (9)
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| CN103287549A (en) * | 2013-04-10 | 2013-09-11 | 暨南大学 | Intelligent water quality monitoring and water surface cleaning ship |
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