| As China’s economy booms and people gradually begin to pursue a higher quality of life,the number of artificial landscapes in cities gradually increases,and maintenance and restoration projects for small waters such as artificial lakes continue to emerge.Due to various reasons,some surface garbage often floats in small landscape waters.At present,the cleaning work of floating garbage in small landscape waters mainly relies on traditional tools,such as handheld nets,etc.,but there are problems such as difficulty in cleaning,low efficiency and difficulty in ensuring personal safety of staff.At present,the surface garbage removal devices on the market,such as garbage salvage vessels or surface cleaning vessels,are often suitable for large water areas.Their structures are too large and costly to build and use,which are not suitable for garbage removal in small water areas.In this context,this paper studies and designs an intelligent small water surface garbage cleaning robot.The main research work of this paper is as follows:(1)Firstly,the overall scheme of the system is designed.Solidworks is used to design the THREE-DIMENSIONAL mechanical structure of the robot,and the automatic navigation scheme of the robot is designed according to the characteristics of garbage collection on the surface.Then the mathematical model of the robot was established.By studying the performance and characteristics of the small water surface litter cleaning robot,the kinematic model and dynamics model of the robot under three degrees of freedom were established according to the MMG separation modelling idea,and the water surface conditions and environmental disturbance forces of the robot navigating in the small water environment were analyzed,and the mathematical model of the robot’s motion in three degrees of freedom under the disturbance of wind and wave currents was established.(2)The computer vision technology is applied to the robot surface trash target recognition,and the experimental results of various recognition algorithms for surface target recognition are analyzed,and the NCC recognition algorithm is proposed to be used,and the classical NCC algorithm is improved by using the difference summation theorem to reduce the model computation,improve the accuracy and efficiency of surface trash recognition,and identify the surface trash efficiently and in real time.(3)In order to verify the performance of the proposed small water waste cleaning robot,a robot control system based on Explorer STM32F407 is designed in this paper.Keil μVision5 is used as a software development tool.According to the 3D mechanical structure and hardware selection of the robot,a robot prototype is made.The robot is tested in an artificial lake.The test results show that the surface garbage cleaning robot designed in this paper can run smoothly on the artificial lake,and the power supply module of the robot can guarantee the power demand of the robot when it works normally.When there is garbage on the water surface,the robot can automatically identify garbage on the water surface according to the improved target recognition algorithm in this paper,and can also automatically approach and sail to the garbage on the water surface for garbage collection according to the environmental information obtained by multi-sensor collaborative perception.The robot designed in this paper provides convenience for the collection of floating garbage on the water surface,reduces manpower consumption,and provides a feasible scheme for the realization of intelligent automatic cleaning of garbage on the water surface,which has certain research significance and application value. |
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