Most of the existing water surface cleaning devices cannot achieve autonomous cleaning for the entire water surface.This paper proposes a deep learning-based water surface cleaning robot.The robot is equipped with dual propeller motors,a link gathering garbage structure,and a crank push structure,which can complete autonomous cleaning and cruising of the water surface.Together with the vision system,it applies the convolutional neural network for training,and through the algorithms of backbone network,Ancher-Free detection head and loss function,it uses the YOLO PT model,and after 300 iterations,it realizes the garbage recognition accuracy of more than 87%in the self-constructed dataset.The robot also provides orientation data,which can achieve automatic mooring,providing a solution for the management of small urban water surfaces,promoting the utilization and recycling of garbage.
关键词
水面清洁机器人/机器视觉/垃圾检测/YOLO/自主系泊
Key words
water surface cleaning robot/machine vision/garbage detection/YOLO/autonomous mooring
维普
万方数据