摘要
为了解决我国内河垃圾的收集与防控问题,贴合当下环保需求,设计一种解决水域环境、水域垃圾“消”“防”问题的内河垃圾清理机器人。机器人的结构设计包含上层云台、下层推进与收集部件。上层云台利用树莓派中的opensv模块进行图像自动识别,基于神经网络模型并结合图像位置标定算法获取垃圾在水域中的位置信息,基于RRT*算法实现机器人在小型水域中进行垃圾收集的自主路径规划;下层推进部件主要由3个无刷双向防水推进器构成,通过差速推动控制机器人在水域中全向移动;收集部件基于伯努利定常流动定律,通过漩涡自主吸收水域垃圾。该设计基于伯努利定常流动定律实现漩涡吸收垃圾,并结合当下先进的自动化技术,实现一种集水域漂浮垃圾收集、水域环境(图像、温度、p H、含氧量)信息实时监测为一体的机器人设计。
In order to solve the problems of collection,prevention and control of inland river garbage in China and meet the current environmental protection needs,an inland river garbage cleaning robot is designed to solve the problems of"elimination"and"prevention"of water environment and water garbage.The structural design of the robot includes the upper pan tilt,the lower propulsion and collection components.The upper pan tilt uses the opensv module in raspberry pie for automatic image recognition.Based on the neural network model and combined with the image position calibration algorithm,the position information of garbage in the water area is obtained,and the autonomous path planning of robot garbage collection in small water area is realized based on RRT*algorithm.The lower propulsion part is mainly composed of three brushless two-way waterproof thrusters,which can control the robot to move in all directions in the water through differential propulsion.Based on Bernoulli's law of steady flow,the collection part absorbs the garbage in the water area by vortex.Based on Bernoulli's law of steady flow,the design realizes the vortex absorption of garbage,and combined with the current advanced automation technology,the design of a robot that collects floating garbage collection in water area and real-time monitoring of water environment(image,temperature,pH and oxygen content)is realized.
作者
李秀
陈慧敏
窦培林
赵世发
孔令海
LI Xiu;CHEN Huimin;DOU Peilin;ZHAO Shifa;KONG Linghai(School of Ship and Ocean Engineering,Jiangsu University of Science and Technology,Zhenjiang 212000,Jiangsu,China)
出处
《船舶工程》
CSCD
北大核心
2023年第4期27-33,132,共8页
Ship Engineering
关键词
图像位置标定算法
路径规划
差速推动
伯努利定常流动定律
image position calibration algorithm
path planning
differential propulsion
Bernoulli's law of constant flow
