Unmanned ship cleaning route planning method, device, computer equipment and storage medium
A technology for route planning and unmanned ships, which is applied to computer components, calculations, and measuring devices, etc., can solve the problems of high energy consumption of unmanned ships, long time-consuming cleaning routes, and low accuracy of garbage identification, so as to improve accuracy Effect
Active Publication Date: 2022-03-29
陕西欧卡电子智能科技有限公司
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[0004] The embodiment of the present invention provides a cleaning route planning method, device, computer equipment and storage medium for an unmanned ship, aiming to solve the problem that the existing cleaning route planning method for an unmanned ship has low accuracy in garbage identification, and the cleaning route traversal is time-consuming. The long time leads to the problem of high energy consumption of unmanned ships
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[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0020] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and / or collections thereof.
[0021] It should also be understood that the terminology used ...
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The embodiment of the invention discloses a cleaning route planning method, device, computer equipment and storage medium for an unmanned ship, and relates to the technical field of artificial intelligence. The method includes: generating an initial grid image and an initial route according to the current position information and a preset range to be cleaned; acquiring an image of the current field of view in real time as an image to be detected; generating a grid containing garbage according to the image to be detected and the initial grid image Visual grid image; if the number of garbage grids in the visual grid image of consecutive N frames is greater than the preset total threshold, determine the target cleaning area according to the number and position of the garbage grids, and based on the target cleaning area and the visual grid Figure repeats planning cleaning routes. The present invention generates a visual grid map containing garbage grids based on a pre-trained neural network, which improves the accuracy of garbage recognition and anti-interference performance; and switches different route planning methods according to the number of detected garbage grids to ensure cleanliness While reducing the energy consumption of the unmanned ship.
Description
technical field [0001] The present invention relates to the technical field of artificial intelligence, in particular to a cleaning route planning method, device, computer equipment and storage medium for an unmanned ship. Background technique [0002] In recent years, landscape waters, lakes, inland rivers, and sea areas have been seriously polluted by floating objects, seriously affecting the water ecological environment, and water surface cleaning has been paid more and more attention. At present, water surface garbage is mainly removed by manual salvage. This method is not only inefficient, but also poor in safety. Therefore, unmanned ships assisting manual operations have become the development trend of water surface cleaning. [0003] In the actual scene of unmanned water surface cleaning work, due to the wide area of rivers, lakes and other waters, the water surface environment is complex, which leads to low accuracy of garbage recognition by unmanned ships when pla...
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IPC IPC(8): G06V20/10G06V10/762G06V10/764G06V10/80G06V10/82G06K9/62G06N3/04G06N3/08G01C21/20
CPCG06N3/08G01C21/203G06N3/045G06F18/23G06F18/241G06F18/253
Inventor 程宇威朱健楠王心爽池雨豪虞梦苓
Owner 陕西欧卡电子智能科技有限公司