Garbage cleaning method and garbage cleaning ship

Abstract

The invention relates to the technical field of garbage collection, and discloses a garbage cleaning method and a garbage cleaning ship which can position, track and collect marine garbage. Comprising the following steps that after first image information of the sea surface is collected, the number and the position of garbage areas are recognized and determined, and positioning buoys are put in the garbage areas; according to the ship position signal of the garbage cleaning ship and the buoy position signal of the positioning buoy, the ship signal with the shortest stroke distance to the buoy position signal is determined; matching the positioning buoy with the shortest stroke distance with the garbage cleaning ship, and controlling the successfully matched garbage cleaning ship to arrive at the position of the corresponding positioning buoy for garbage collection; according to the second image information, after it is determined that all garbage is removed, the corresponding positioning buoys are recycled, and the matching relation is relieved. Positioning recycling is achieved, and the garbage recycling efficiency can be effectively improved; real-time positioning and tracking are realized, and the positioning reliability can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of garbage recycling, in particular to a garbage cleaning method and a garbage cleaning ship. Background Art

[0002] In recent years, ocean and river pollution has become increasingly serious. Improper handling of marine garbage will not only cause toxic substances in the garbage to enter the water body and directly poison aquatic organisms, but also change the natural nutritional conditions of animals and plants, destroy the water body's autonomy, cause serious pollution of seawater, and disrupt the ecological balance.

[0003] Cleaning up marine garbage: One is to use manual salvage, which uses a semi-cabin or deck motorized barge, and sanitation workers stand on the deck holding nets and other tools to directly salvage the garbage. This operation method is labor-intensive, has a bad working environment and low work efficiency. Another is to use a garbage cleaning ship to collect floating garbage on the sea surface using a garbage conveying device. This method is limited in flexibility, the ocean area is relatively large, and it cannot achieve large-scale, high-efficiency garbage positioning and recycling. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a garbage cleaning method that can locate, track and recycle the position of marine garbage.

[0005] The present invention also provides a garbage cleaning ship for executing the above-mentioned garbage cleaning method.

[0006] In a first aspect, a garbage cleaning method according to an embodiment of the present invention comprises the following steps: Collecting first image information of the sea surface, identifying and determining the number and location of garbage areas according to the first image information, and placing a positioning buoy at each of the garbage areas; According to the ship position signal of each garbage cleaning ship and the buoy position signal of each positioning buoy, determining the ship position signal having the shortest travel distance from the buoy position signal; Matching the positioning buoy determined to have the shortest travel distance with the garbage cleaning ship, and controlling the successfully matched garbage cleaning ship to reach the location of the corresponding positioning buoy to collect garbage; The second image information of the garbage area is collected and identified at regular intervals, and after it is determined that all garbage in the corresponding garbage area has been cleared, the corresponding positioning buoy is recovered, and the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released.

[0007] The garbage cleaning method according to the embodiment of the present invention has at least the following beneficial effects: by identifying the garbage area and placing a positioning buoy in the garbage area, the positioning buoy can automatically match the nearest garbage cleaning ship, thereby realizing positioning recovery and effectively improving the efficiency of garbage recovery, and reducing the energy loss of the garbage cleaning ship; when large waves appear and cause the position of the garbage area to change, the positioning buoy will drift synchronously with the garbage in the garbage area with the ocean current, so the garbage in the garbage area can be tracked in real time, and the matched garbage cleaning ship will also automatically adjust the path according to the real-time buoy position signal to realize real-time positioning and tracking of the garbage in the garbage area, which can not only improve the reliability of positioning, but also effectively improve the efficiency of garbage recovery.

[0008] According to some embodiments of the present invention, before the positioning buoy is deployed, the following steps are performed: based on the first image information, a center point corresponding to the garbage area is identified and determined, and the positioning buoy is deployed to the center point.

[0009] According to some embodiments of the present invention, after the shortest travel distance is determined, when matching the garbage cleaning ship and the positioning buoy, if the corresponding positioning buoy determines that at least two of the garbage cleaning ships have the same shortest travel distance as the corresponding positioning buoy, the garbage cleaning ship with the maximum load is matched with the corresponding positioning buoy based on the load of at least two of the garbage cleaning ships.

[0010] According to some embodiments of the present invention, when matching the garbage removal ship and the positioning buoy, the following steps are performed: collecting the loaded volume of each of the garbage removal ships, and removing the garbage removal ships whose loaded volume is greater than a first threshold from the matching ranks.

[0011] According to some embodiments of the present invention, after the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released, the following steps are performed: Collecting the corresponding loaded volume of the garbage cleaning ship, and determining whether the corresponding loaded volume is greater than a first threshold; When the judgment is "no", a new positioning buoy is matched for the corresponding garbage cleaning ship, and the garbage cleaning ship is made to reach the location of the new positioning buoy to collect garbage; When the judgment is "yes", the garbage cleaning ship is returned to the garbage collection station.

[0012] According to some embodiments of the present invention, the garbage recycling process further includes the following steps: collecting in real time a loaded signal of the garbage cleaning ship located in the garbage area, and when the loaded signal is a full-load signal, collecting the second image information corresponding to the garbage area to determine whether there is still garbage in the corresponding garbage area; When the judgment is "no", the corresponding positioning buoy is recovered, and after the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released, the corresponding garbage cleaning ship is returned to the garbage recycling station; When the judgment is "yes", the matching relationship between the corresponding garbage cleaning ship and the positioning buoy is released, and the garbage cleaning ship with the shortest travel distance is re-matched to the positioning buoy, and the newly matched garbage cleaning ship reaches the location of the corresponding positioning buoy to collect garbage.

[0013] In the second aspect, a garbage cleaning ship according to an embodiment of the present invention includes a background server, an image acquisition and processing module, a buoy delivery aircraft, a ship controller, a ship locator and a buoy locator; the background server is used to execute the garbage cleaning method as described in the first aspect of the present invention; the image acquisition and processing module is used to acquire the first image information or the second image information, the image acquisition and processing module is arranged on a camera aircraft or a satellite, and the image acquisition and processing module is communicatively connected to the background server; the buoy delivery aircraft is used to deliver the positioning buoy, and the buoy delivery aircraft is communicatively connected to the background server; the ship controller is arranged on the garbage cleaning ship, and is used to control the movement of the garbage cleaning ship and locate the position of the garbage cleaning ship, and the ship controller is communicatively connected to the background server; the ship locator is arranged on the garbage cleaning ship, and is communicatively connected to the ship controller and / or the background server; the buoy locator is arranged on the positioning buoy, and is communicatively connected to the background server.

[0014] The garbage cleaning ship according to the embodiment of the present invention has at least the following beneficial effects: the location and quantity of the garbage area can be identified through the image acquisition and processing module, and the positioning buoy can be dropped at the corresponding garbage area by using the buoy launcher, so that the positioning buoy can automatically match the nearest garbage cleaning ship to achieve positioning recovery, and can effectively improve the efficiency of garbage recovery, and can reduce the energy loss of the garbage cleaning ship; when there are large waves, causing the location of the garbage area to change, because the positioning buoy will drift synchronously with the garbage in the garbage area with the ocean current, the buoy locator can be used to track the garbage in the garbage area in real time, and the background server will update the navigation information for the matched garbage cleaning ship in real time according to the real-time position signal information, so that the corresponding garbage cleaning ship will automatically adjust the path according to the real-time navigation information, and realize real-time positioning and tracking of the garbage in the garbage area, which can not only improve the reliability of positioning, but also effectively improve the efficiency of garbage recovery.

[0015] According to some embodiments of the present invention, the image acquisition and processing module includes an image acquisition unit, an image processing unit and an image communication unit; the image acquisition unit is used to acquire information of the first image or the second image; the image processing unit is electrically connected to the output end of the image acquisition unit; the image communication unit is electrically connected to the output end of the image processing unit, and is used to communicate with the background server.

[0016] According to some embodiments of the present invention, the ship controller includes a ship control unit, a ship communication unit and a detection unit; the ship control unit is used to control the navigation and garbage collection actions of the garbage cleaning ship, and is electrically connected to the system of the garbage cleaning ship and the ship locator, respectively; the ship communication unit is electrically connected to the ship control unit, and is used to communicate with the background server; the detection unit is arranged on the loading chamber of the garbage cleaning ship and is electrically connected to the ship control unit, and is used to detect the loaded amount of the garbage cleaning ship in real time.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A schematic diagram of a flow chart of a garbage cleaning method according to an embodiment of the present invention; Figure 2 A schematic diagram of the principle modules of a garbage cleaning and recycling system according to an embodiment of the present invention; Reference numerals: Backend server 100, image acquisition and processing module 200, image acquisition unit 210, image processing unit 220, image communication unit 230, buoy delivery aircraft 300, ship controller 400, ship control unit 410, ship communication unit 420, detection unit 430, ship locator 500, buoy locator 600. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0021] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0022] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0023] First, refer to Figure 1 According to an embodiment of the present invention, the garbage cleaning method comprises the following steps: Step S100, collecting first image information of the sea surface. The first image can be captured and analyzed by the image capture and processing module 200 on the camera aircraft or satellite. By cooperating with the garbage identification program conventionally used by those skilled in the art, the corresponding ocean area can be photographed, garbage identified and judged, and the location and quantity of the garbage area can be confirmed. At the same time, the garbage area identified at this time can be located. After the positioning is successful, the buoy launcher is controlled to reach the corresponding position according to the located information, and a positioning buoy with a positioning function is launched to the corresponding garbage area, so that the location of the garbage area can be tracked in real time later. Step S200, after the positioning buoy is deployed, the buoy locator 600 on the positioning buoy will send its own buoy positioning signal to the background server 100 in real time, and each garbage cleaning ship will also send its own ship position signal to the background server 100 through the ship locator 500. According to the ship position signal of each garbage cleaning ship and the buoy position signal of each positioning buoy, and in combination with conventional navigation technology and corresponding sea map information, a corresponding itinerary can be formulated according to the position between any two buoy position signals and the ship position signal, and the ship position signal with the shortest itinerary distance from the buoy position signal can be determined; Step S300, matching the positioning buoy determined as the shortest travel distance with the garbage collection ship, and controlling the successfully matched garbage collection ship to arrive at the location of the corresponding positioning buoy for garbage collection. During this process, if the positioning buoy drifts synchronously with the garbage in the garbage area due to the ocean current or other abnormal conditions, the background server 100 will update the travel information in real time according to the feedback signal between the garbage collection ship and the positioning buoy, so that the matched garbage collection ship can reach the designated area, avoiding the change of the position of the matched garbage area due to the influence of the ocean current, resulting in the garbage collection ship being unable to collect garbage. The positioning buoy selects the nearest garbage collection ship, which can avoid taking too many unnecessary trips, thereby achieving the effect of reducing the energy loss of the garbage collection ship; Step S400: During the garbage recycling process, the second image information of the garbage area is collected and identified periodically by the image collection and processing module 200 on the camera aircraft or satellite to determine whether the garbage in the corresponding garbage area has been completely cleared. After determining that all the garbage in the corresponding garbage area has been cleared, the corresponding positioning buoy is recovered by the garbage cleaning ship or buoy delivery aircraft 300 to release the matching relationship between the positioning buoy and the corresponding garbage cleaning ship. When collecting the second image information, the position signal fed back in real time by the corresponding buoy position signal can be directly collected at the location of the corresponding positioning buoy, and then the information of the second image is processed and analyzed.

[0024] In some embodiments of the present invention, before placing the positioning buoy, the following steps are performed: Step S110, based on the first image information, identify and determine the center point of the corresponding garbage area, and drop the positioning buoy to the center point. When the image and position of the garbage area are identified, the image of the garbage area is simultaneously analyzed to determine the center point position, and the buoy delivery aircraft 300 is controlled to deliver it to the designated position. Before delivery, the buoy delivery aircraft 300 can use its own camera to perform secondary identification and confirmation of the delivered area so that the positioning buoy can be accurately dropped to the center point of the garbage area, and the positioning buoy can drift with the main body of the garbage area, ensuring that the garbage cleaning ship can quickly locate and track the position of the garbage area, and prevent the position of the main body of the garbage area from changing due to the influence of ocean currents, so that the new position of the garbage area cannot be confirmed, and the garbage cannot be effectively recovered.

[0025] After completing step S110, step S200, step S300 and step S400 in the above embodiment are executed in sequence.

[0026] Reference Figure 1 In some embodiments of the present invention, during the execution of step S200, after determining the shortest travel distance, when matching the garbage cleaning ship and the positioning buoy, if the corresponding positioning buoy determines that at least two garbage cleaning ships have the same shortest travel distance with the corresponding positioning buoy, the garbage cleaning ship with the maximum load is matched with the corresponding positioning buoy according to the loaded capacity of at least two garbage cleaning ships. When the travel distances are all the shortest, the garbage cleaning ship with the maximum load is selected for priority matching, which can improve the efficiency of garbage collection and achieve the effect of reducing the energy consumption of garbage cleaning ships, that is, it can avoid garbage cleaning ships with higher loads from traveling farther, and at the same time, it can make ships with larger loads return to the garbage recycling station first, thereby improving the effect of garbage recycling.

[0027] In some embodiments of the present invention, after performing the above steps S100 and S200, or after performing the above steps S110 and S200, when matching the garbage cleaning ship and the positioning buoy, the following steps are performed: Step S310, collect the loaded capacity of each garbage collection ship, and remove the garbage collection ship with a loaded capacity greater than the first threshold from the matching row. When the loaded capacity is greater than the first threshold, the recycling capacity of the corresponding garbage collection ship is reduced. If the garbage is recycled in the corresponding garbage area, it may not be able to achieve effective recycling, which will cause the garbage in the same garbage area to be matched with multiple garbage collection ships for garbage recycling. Removing the garbage collection ship with a loaded capacity greater than the first threshold can improve the efficiency of garbage recycling, reduce the number of times the garbage in the same garbage area is matched with the garbage collection ship, and achieve the effect of reducing the energy loss of the garbage collection ship.

[0028] After completing step S310, step S400 in the above embodiment is executed.

[0029] According to some embodiments of the present invention, after executing the above steps S100, S200, S300 and S400, or after executing the above steps S110, S200, S300 and S400, or after executing the above steps S100, S200, S310 and S400, in the process of executing step 400, after the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released, the following steps are performed: Step S410: collecting the loading volume of the corresponding garbage cleaning ship, and determining whether the corresponding loading volume is greater than a first threshold; Step S420: When the judgment is "No", a new positioning buoy is matched for the corresponding garbage collection ship, and the garbage collection ship is made to reach the location of the new positioning buoy to collect garbage; Step S430: When the answer is "yes", the garbage collection ship is returned to the garbage collection station.

[0030] When the loaded volume is greater than the first threshold, the recycling capacity of the corresponding garbage collection ship is reduced. If the garbage is recycled in the corresponding garbage area, it may not be able to achieve effective recycling, which will result in multiple garbage collection ships matching the garbage in the same garbage area for garbage recycling. The garbage collection ship with a loaded volume greater than the first threshold is given priority to return to the garbage recycling station, which can improve the efficiency of garbage recycling, reduce the number of times the garbage in the same garbage area is matched with the garbage collection ship, and achieve the effect of reducing the energy loss of the garbage collection ship.

[0031] Specifically, the first threshold value can be set according to the maximum loading capacity of the garbage collection ship, or can be set according to a percentage, or can be limited according to the first threshold value set by the user. For example, in this embodiment, the first threshold value is 90% of the maximum loading capacity of the corresponding garbage collection ship. When the loaded capacity reaches 90% of the maximum loading capacity, the matching row is removed, and the corresponding garbage collection ship is controlled to return to the garbage collection station.

[0032] In some embodiments of the present invention, the garbage recycling process further includes the following steps: Step S500, collecting in real time a loaded signal of the garbage cleaning ship located in the garbage area, and when the loaded signal is a full-load signal, collecting second image information of the corresponding garbage area to determine whether there is still garbage in the corresponding garbage area; Step S510: when the judgment is "No", the corresponding positioning buoy is recovered, and after the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released, the corresponding garbage cleaning ship is returned to the garbage recycling station; Step S520: When the answer is “yes”, the matching relationship between the corresponding garbage collection ship and the positioning buoy is cancelled, and the positioning buoy is re-matched with a garbage collection ship with the shortest travel distance, and the newly matched garbage collection ship reaches the location of the corresponding positioning buoy to collect garbage.

[0033] During the garbage collection process, the loading volume of the garbage collection ship is collected in real time, and the second image is collected in real time for identification and judgment. At the same time, a new garbage collection ship can be quickly matched to the garbage area that has been cleared for garbage collection again. This can not only improve the efficiency of garbage collection, but also provide an accurate judgment on whether the garbage collection in the garbage area is completed.

[0034] It is conceivable that during the execution of the above-mentioned steps S110, S200, S300 and S400, or during the execution of the above-mentioned steps S100, S200, S310 and S400, steps S500, S510 and S520 may also be executed during the garbage recycling process.

[0035] The garbage cleaning method according to the embodiment of the present invention has at least the following beneficial effects: by identifying the garbage area and placing a positioning buoy in the garbage area, the positioning buoy can automatically match the nearest garbage cleaning ship, thereby realizing positioning recovery and effectively improving the efficiency of garbage recovery, and reducing the energy loss of the garbage cleaning ship; when large waves appear and cause the position of the garbage area to change, the positioning buoy will drift synchronously with the garbage in the garbage area with the ocean current, so the garbage in the garbage area can be tracked in real time, and the matched garbage cleaning ship will also automatically adjust the path according to the real-time buoy position signal to realize real-time positioning and tracking of the garbage in the garbage area, which can not only improve the reliability of positioning, but also effectively improve the efficiency of garbage recovery.

[0036] Reference Figure 2In the second aspect, a garbage cleaning ship according to an embodiment of the present invention comprises a hull and a background server 100, an image acquisition and processing module 200, a buoy delivery aircraft 300, a ship controller 400, a ship locator 500 and a buoy locator 600, all of which are arranged on the hull; the background server 100 is used to execute the garbage cleaning method of the first aspect of the present invention; the image acquisition and processing module 200 is used to acquire the first image information or the second image information, the image acquisition and processing module 200 is arranged on the camera aircraft or on the satellite, and the image acquisition and processing module 200 is connected to the background server 100 in communication; the buoy delivery aircraft 300, a ship controller 400, a ship locator 500 and a buoy locator 600; the background server 100 is used to execute the garbage cleaning method of the first aspect of the present invention; the image acquisition and processing module 200 is used to acquire the first image information or the second image information, the image acquisition and processing module 200 is arranged on the camera aircraft or on the satellite, and the image acquisition and processing module 200 is connected to the background server 100 in communication; The launch aircraft 300 is used to launch the positioning buoy, and the buoy launching aircraft 300 is communicatively connected to the backend server 100; the ship controller 400 is arranged on the garbage cleaning ship, and is used to control the movement of the garbage cleaning ship and locate the position of the garbage cleaning ship, and the ship controller 400 is communicatively connected to the backend server 100; the ship locator 500 is arranged on the garbage cleaning ship, and is communicatively connected to the ship controller 400 and the backend server 100, and the ship locator 500 synchronously feeds back the ship position signal to the ship controller 400 and the backend server 100; the buoy locator 600 is arranged on the positioning buoy, and is communicatively connected to the backend server 100.

[0037] Among them, it can be imagined that the ship locator 500 can be connected to the ship controller 400 for communication alone, or the ship locator 500 can be connected to the background server 100 for communication alone; the location signal of the garbage cleaning ship can also be collected. When the ship locator 500 is connected to the ship controller 400 alone, the ship controller 400 will feed back the collected ship location signal to the background server 100.

[0038] Among them, the image acquisition and processing module 200 can use a high-resolution camera and an image processing device to realize the acquisition and analysis of the first image and the second image. It uses conventional image acquisition and processing equipment of technical personnel in this field. According to needs, devices with different resolutions and processing functions can be selected to complete the corresponding image acquisition and analysis; in addition, the buoy delivery aircraft 300 can be a delivery device modified from a drone. With the conventional grabbing mechanism and wireless transmission equipment, the background server 100 can realize wireless communication connection with the buoy delivery aircraft 300, and the positioning buoy can be remotely grabbed and delivered; the other structures and operations of the garbage cleaning ship, the background server 100 and the buoy delivery aircraft 300 used in the embodiment of the present invention are known to ordinary technicians in this field and will not be described in detail here.

[0039] The garbage cleaning ship according to the embodiment of the present invention has at least the following beneficial effects: the location and quantity of the garbage area can be identified through the image acquisition and processing module 200, and the positioning buoy can be dropped at the corresponding garbage area by using the buoy launcher, so that the positioning buoy can automatically match the nearest garbage cleaning ship to achieve positioning and recovery, and can effectively improve the efficiency of garbage recovery, and can reduce the energy loss of the garbage cleaning ship; when there are large waves, causing the location of the garbage area to change, because the positioning buoy will drift synchronously with the garbage in the garbage area with the ocean current, the buoy locator 600 can be used to track the garbage in the garbage area in real time, and the background server 100 will update the navigation information for the matched garbage cleaning ship in real time according to the real-time position signal information, so that the corresponding garbage cleaning ship will automatically adjust the path according to the real-time navigation information, and realize real-time positioning and tracking of the garbage in the garbage area, which can not only improve the reliability of positioning, but also effectively improve the efficiency of garbage recovery.

[0040] In some embodiments of the present invention, the image acquisition and processing module 200 includes an image acquisition unit 210, an image processing unit 220 and an image communication unit 230; the image acquisition unit 210 is used to acquire information of the first image or the second image; the image processing unit 220 is electrically connected to the output end of the image acquisition unit 210; the image communication unit 230 is electrically connected to the output end of the image processing unit 220, and is used to communicate with the background server 100. After collecting the first image and the second image, 210 sends the relevant information to the image processing unit 220 for analysis and processing. The image processing unit 220 performs grayscale, binarization and edge extraction processing on the first image and the second image information to locate the position information of the garbage area in the entire ocean area image and the position information of the center point of the garbage area. The grayscale, binarization, edge extraction and other processing involved in the image belong to the conventional image processing method in this field, and its specific processing process and steps are not repeated here. Then, the relevant information after analysis and processing is sent to the background server 100 through the image communication unit 230, and the background server 100 executes the subsequent corresponding steps and procedures according to the collected first image and second image information to realize the garbage cleaning method of the first embodiment. Among them, the image communication unit 230 can use conventional wireless transmission methods such as GPRS unit or WCDMA unit to realize signal wireless transmission.

[0041] In some embodiments of the present invention, the ship controller 400 includes a ship control unit 410, a ship communication unit 420 and a detection unit 430; the ship control unit 410 is used to control the navigation and garbage collection actions of the garbage cleaning ship, and is electrically connected to the system of the garbage cleaning ship and the ship locator 500 respectively; the ship communication unit 420 is electrically connected to the ship control unit 410, and is used to communicate with the background server 100; the detection unit 430 is arranged on the loading chamber of the garbage cleaning ship and is electrically connected to the ship control unit 410, and is used to detect the loaded amount of the garbage cleaning ship in real time, wherein the detection unit 430 can adopt a photoelectric sensor or an ultrasonic sensor, so that the loaded amount of the garbage cleaning ship can be collected and monitored in real time, and sensors are respectively arranged at different heights of the loading chamber of the garbage cleaning ship, so that the loaded amount can be collected and monitored in real time, and at the same time, the detection unit 430 can also adopt a weighing sensor to monitor the volume in the loading chamber in real time, that is, the volume and weight of the recycled garbage can be monitored in real time synchronously. The ship control unit 410 is connected to the backend server 100 through the ship communication unit 420, and can remotely control the garbage cleaning ship automatically. At the same time, after the garbage cleaning ship reaches the corresponding garbage area, effective garbage recycling can be achieved according to the garbage recycling method commonly used by those skilled in the art. Among them, the ship communication unit 420 can use conventional wireless transmission methods such as GPRS unit or WCDMA unit to achieve wireless signal transmission. When the ship locator 500 is connected to the ship controller 400, the ship locator 500 is connected to the ship control unit 410.

[0042] In a third aspect, according to a computer-readable storage medium of an embodiment of the present invention, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors, and when the programs are executed by the processors, the steps of the garbage cleaning method of the first aspect embodiment are implemented. Specifically, the processor here can be the circuit structure of the goose backend server 100 in the garbage cleaning ship of the second aspect embodiment.

[0043] The computer-readable storage medium of the embodiment of the present invention has the same effect as the garbage cleaning method of the first aspect of the embodiment, and will not be repeated here.

[0044] Those of ordinary skill in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a backend server, a controller, a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, R garbage cleaning method M, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0045] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] Of course, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art may make equivalent modifications or substitutions without violating the spirit of the present invention, and these equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A garbage cleaning method, characterized in that: The following steps are involved: Collecting first image information of the sea surface, identifying and determining the number and location of garbage areas according to the first image information, and placing a positioning buoy at each of the garbage areas; According to the ship position signal of each garbage cleaning ship and the buoy position signal of each positioning buoy, determining the ship position signal having the shortest travel distance from the buoy position signal; Matching the positioning buoy determined to have the shortest travel distance with the garbage cleaning ship, and controlling the successfully matched garbage cleaning ship to reach the location of the corresponding positioning buoy to collect garbage; The second image information of the garbage area is collected and identified at regular intervals, and after it is determined that all garbage in the corresponding garbage area has been cleared, the corresponding positioning buoy is recovered, and the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released.

2. The garbage cleaning method according to claim 1, characterized in that: Before placing the positioning buoy, the following steps are performed: based on the first image information, a center point corresponding to the garbage area is identified and determined, and the positioning buoy is placed at the center point.

3. The garbage cleaning method according to claim 1, characterized in that: After determining the shortest travel distance, when matching the garbage cleaning ship and the positioning buoy, if the corresponding positioning buoy determines that at least two of the garbage cleaning ships have the same shortest travel distance as the corresponding positioning buoy, the garbage cleaning ship with the maximum load will be matched with the corresponding positioning buoy based on the load of at least two of the garbage cleaning ships.

4. The garbage cleaning method according to claim 3, characterized in that: When matching the garbage removal ship and the positioning buoy, the following steps are performed: collecting the loaded volume of each garbage removal ship, and removing the garbage removal ship whose loaded volume is greater than a first threshold from the matching row.

5. The garbage cleaning method according to claim 1, characterized in that: After the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released, the following steps are performed: collecting the loaded amount of the corresponding garbage cleaning ship, and determining whether the loaded amount is greater than a first threshold; When the judgment is "no", a new positioning buoy is matched for the corresponding garbage cleaning ship, and the garbage cleaning ship is made to reach the location of the new positioning buoy to collect garbage; When the judgment is "yes", the garbage cleaning ship is returned to the garbage recycling station.

6. The garbage cleaning method according to claim 1, characterized in that: In the garbage collection process, the following steps are also included: real-time acquisition of a loaded signal of the garbage cleaning ship located in the garbage area, when the loaded signal is a full-load signal, acquisition of the second image information corresponding to the garbage area, and determination of whether there is still garbage in the corresponding garbage area; When the judgment is "no", the corresponding positioning buoy is recovered, and after the matching relationship between the positioning buoy and the corresponding garbage cleaning ship is released, the corresponding garbage cleaning ship is returned to the garbage recycling station; When the judgment is "yes", the matching relationship between the corresponding garbage cleaning ship and the positioning buoy is released, and the garbage cleaning ship with the shortest travel distance is re-matched to the positioning buoy, and the newly matched garbage cleaning ship reaches the location of the corresponding positioning buoy to collect garbage.

7. Garbage cleaning ship, characterized in that: include: A backend server, used to execute the garbage cleaning method according to any one of claims 1 to 6; An image acquisition and processing module, used for acquiring the first image information or the second image information, wherein the image acquisition and processing module is disposed on a camera aircraft or a satellite, and the image acquisition and processing module is communicatively connected with the background server; A buoy delivery aircraft, used for delivering the positioning buoy, the buoy delivery aircraft being communicatively connected with the backend server; A ship controller, provided on the garbage cleaning ship, for controlling the movement of the garbage cleaning ship and locating the position of the garbage cleaning ship, the ship controller being communicatively connected with the background server; A ship locator, disposed on the garbage cleaning ship and communicatively connected to the ship controller and / or the backend server; The buoy locator is arranged on the positioning buoy and is communicatively connected with the background server.

8. The garbage cleaning ship according to claim 7, characterized in that: The image acquisition and processing module includes: an image acquisition unit, used to acquire information of the first image or the second image; An image processing unit, electrically connected to the output end of the image acquisition unit; The image communication unit is electrically connected to the output end of the image processing unit and is used for communication connection with the background server.

9. The garbage cleaning ship according to claim 7, characterized in that: The ship controller includes: a ship control unit, which is used to control the navigation and garbage collection of the garbage cleaning ship and is electrically connected to the system of the garbage cleaning ship and the ship locator respectively; A ship communication unit, electrically connected to the ship control unit, and used for communication connection with the background server; The detection unit is arranged on the loading chamber of the garbage cleaning ship and is electrically connected to the ship control unit, and is used for real-time detection of the loaded amount of the garbage cleaning ship.

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