A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Trash cleaning boat for cleaning oil stains and floating objects on water surface, trash cleaning control system and trash cleaning control method
The invention discloses a trash cleaning boat, a trash cleaning control system comprising the trash cleaning boat and a trash cleaning control method. The trash cleaning boat comprises a main boat body, a gathering device, a coarse slag grabbing device, a collecting device, a fine slag filtering device, a separating device and a power device. The trash cleaning control system comprises a shore-based industrial personal computer, a shore-based end PLC, a boat-based industrial personal computer, a boat-based end PLC, a driving system, a trash cleaning boat, a yaw angle sensor, a visual system and the like, the visual system collects a target image through a camera and uploads image information to the industrial personal computer, a target is judged through an image processing algorithm, and an included angle between current navigation and the target is obtained; the boat-based industrial personal computer realizes motion control of the trash cleaning boat through a boat-based PLC (Programmable Logic Controller) so as to approach a target; when the boat body drives to the target, the trash cleaning boat removes the target; according to the device, floating objects on the water surface can be carefully treated; target garbage is rapidly and accurately recognized through visual detection and motion control, unmanned trash cleaning is achieved, and the efficiency of trash cleaning work is remarkably improved.
本发明公开一种清污船、包含该清污船的清污控制系统以及清污控制方法：清污船包括主船体、聚拢装置、粗渣抓起装置、收集装置、细渣过滤装置、分离装置和动力装置；清污控制系统包括岸基工控机、岸基端PLC、船基工控机、船基端PLC、驱动系统、清污船、偏航角传感器、视觉系统等，视觉系统通过摄像头采集目标图像，并将图像信息上传至工控机，通过图像处理算法对目标进行判断，并获取当前航行与目标的夹角；船基工控机通过船基PLC实现清污船的运动控制，实现对目标的接近；当船体驶至目标时，清污船对目标进行清除；本发明能够对水面漂浮物的进行细致的处理；采用视觉检测和运动控制快速准确识别目标垃圾，实现无人清污，显著提高了清污工作的效率。
Trash cleaning boat for cleaning oil stains and floating objects on water surface, trash cleaning control system and trash cleaning control method
The invention discloses a trash cleaning boat, a trash cleaning control system comprising the trash cleaning boat and a trash cleaning control method. The trash cleaning boat comprises a main boat body, a gathering device, a coarse slag grabbing device, a collecting device, a fine slag filtering device, a separating device and a power device. The trash cleaning control system comprises a shore-based industrial personal computer, a shore-based end PLC, a boat-based industrial personal computer, a boat-based end PLC, a driving system, a trash cleaning boat, a yaw angle sensor, a visual system and the like, the visual system collects a target image through a camera and uploads image information to the industrial personal computer, a target is judged through an image processing algorithm, and an included angle between current navigation and the target is obtained; the boat-based industrial personal computer realizes motion control of the trash cleaning boat through a boat-based PLC (Programmable Logic Controller) so as to approach a target; when the boat body drives to the target, the trash cleaning boat removes the target; according to the device, floating objects on the water surface can be carefully treated; target garbage is rapidly and accurately recognized through visual detection and motion control, unmanned trash cleaning is achieved, and the efficiency of trash cleaning work is remarkably improved.
本发明公开一种清污船、包含该清污船的清污控制系统以及清污控制方法：清污船包括主船体、聚拢装置、粗渣抓起装置、收集装置、细渣过滤装置、分离装置和动力装置；清污控制系统包括岸基工控机、岸基端PLC、船基工控机、船基端PLC、驱动系统、清污船、偏航角传感器、视觉系统等，视觉系统通过摄像头采集目标图像，并将图像信息上传至工控机，通过图像处理算法对目标进行判断，并获取当前航行与目标的夹角；船基工控机通过船基PLC实现清污船的运动控制，实现对目标的接近；当船体驶至目标时，清污船对目标进行清除；本发明能够对水面漂浮物的进行细致的处理；采用视觉检测和运动控制快速准确识别目标垃圾，实现无人清污，显著提高了清污工作的效率。
Trash cleaning boat for cleaning oil stains and floating objects on water surface, trash cleaning control system and trash cleaning control method
用于清理水面油污和漂浮物的清污船、清污控制系统及清污控制方法
TANG YANBING (author) / ZHENG BOWEN (author) / LU DAOHUA (author) / TANG XIANGDONG (author) / ZHONG JISONG (author)
2021-11-16
Patent
Electronic Resource
Chinese
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