River channel garbage recycling method, equipment and medium

Abstract

The invention discloses a riverway garbage recycling method and device and a medium, and the method comprises the steps: obtaining a riverway image corresponding to a to-be-cleaned riverway region, and carrying out the recognition of the riverway image, so as to determine the garbage information distributed in the to-be-cleaned riverway region; according to the garbage information, the river channel area to be cleaned is divided into a plurality of garbage convergence areas, and garbage concentration ratios corresponding to the garbage convergence areas are determined; a designated garbage convergence area with the corresponding garbage concentration ratio smaller than a preset concentration ratio is screened out from the garbage convergence areas, correlation analysis is conducted on the designated garbage convergence area, and a garbage convergence area combination capable of conducting fusion recycling in the designated garbage convergence area is determined; and carrying out space fusion on the areas corresponding to the garbage convergence area combination, and generating a corresponding recovery route for the garbage convergence area combination obtained after fusion and other garbage convergence areas which are not fused in the garbage convergence areas, so as to realize garbage recovery of the to-be-cleaned river channel area according to the recovery route by controlling the unmanned ship.

Description

Technical Field

[0001] The present application relates to the technical field of garbage recycling, and in particular to a method, equipment and medium for recycling river garbage. Background Art

[0002] With the increasing degree of industrialization, river garbage cleaning has become an important part of maintaining the ecological balance of water bodies and ensuring water quality safety. Existing river garbage recycling methods mostly rely on manual inspections, which are not only inefficient, but also difficult to fully cover all garbage areas. At the same time, traditional methods lack scientific regional division and garbage concentration assessment, resulting in a lack of targeted recycling work and serious waste of resources. Summary of the invention

[0003] In order to solve the above problems, the present application proposes a river garbage recycling method, comprising:

[0004] Acquire a river channel image corresponding to the river channel area to be cleaned, and identify the river channel image to determine the garbage information distributed in the river channel area to be cleaned;

[0005] According to the garbage information, the river area to be cleaned is divided into a plurality of garbage gathering areas, and the garbage concentration corresponding to the garbage gathering areas is determined;

[0006] Selecting designated garbage collection areas whose corresponding garbage concentration is less than a preset concentration from the garbage collection areas, and performing association analysis on the designated garbage collection areas to determine a combination of garbage collection areas that can be fused and recycled in the designated garbage collection areas;

[0007] The areas corresponding to the garbage collection area combination are spatially fused, and corresponding recycling routes are generated for the garbage collection area combination obtained after the fusion and other garbage collection areas that have not been fused in the garbage collection area, so as to realize garbage recovery in the river area to be cleaned by controlling the unmanned boat along the recycling route.

[0008] In one implementation of the present application, the river area to be cleaned is divided into a plurality of garbage collection areas according to the garbage information, and the garbage concentration corresponding to the garbage collection areas is determined, specifically including:

[0009] Geocoding the river channel area to be cleaned to convert the area covered by the river channel area to be cleaned into grid units;

[0010] Determine, according to the garbage information, the grid unit where each garbage is located, and whether there is a gap between the grid units where each garbage is located;

[0011] If so, determining whether the number of grid units between the garbage exceeds a preset number, and if not, adding the corresponding garbage to the same garbage collection area;

[0012] Determine the garbage collection area corresponding to the garbage collection area and the garbage area corresponding to each garbage, and use the ratio between the garbage area and the collection area as the garbage concentration corresponding to the garbage collection area.

[0013] In one implementation of the present application, an association analysis is performed on the designated garbage collection area to determine a combination of garbage collection areas in the designated garbage collection area that can be fused and recycled, specifically including:

[0014] For each designated garbage collection area, determining a corresponding regional center according to the spatial position of the designated garbage collection area;

[0015] From the designated garbage collection areas, select a target garbage collection area whose distance from the center of the area corresponding to the designated garbage collection area is less than a preset distance;

[0016] According to the garbage concentration corresponding to the target garbage collection area, a combination of garbage collection areas that can be integrated and recycled with the designated garbage collection area is determined.

[0017] In one implementation of the present application, according to the garbage concentration corresponding to the target garbage collection area, determining a combination of garbage collection areas that can be integrated and recycled with the designated garbage collection area specifically includes:

[0018] Calculate the average garbage concentration between the target garbage collection area and the designated garbage collection area in descending order of the garbage concentration corresponding to the target garbage collection area;

[0019] When the average garbage concentration is not less than the preset concentration, the corresponding target garbage collection area and the designated garbage collection area are combined as garbage collection areas capable of fusion recycling.

[0020] In one implementation of the present application, for the garbage collection area combination obtained after fusion and other garbage collection areas in the garbage collection area except the designated garbage collection area, a corresponding recycling route is generated, specifically including:

[0021] Determine, based on a preset geographic information system, river channel characteristics corresponding to a designated garbage gathering area included in the garbage gathering area combination;

[0022] According to the characteristics of the river channel, determining whether the garbage gathering area combination is a hot spot garbage gathering area; wherein the hot spot garbage gathering area refers to an area in the river channel where garbage is prone to accumulation;

[0023] If yes, generating a first recycling route corresponding to the hotspot garbage gathering area according to the current position of the hotspot garbage gathering area and the unmanned ship;

[0024] After completing the garbage collection of the hotspot garbage collection area according to the first recycling route, a corresponding second recycling route is generated for the remaining garbage collection area combinations and / or other garbage collection areas in the garbage collection area.

[0025] In one implementation of the present application, determining whether the garbage gathering area combination is a hotspot garbage gathering area according to the river channel characteristics specifically includes:

[0026] According to the river channel characteristics, determining whether the garbage gathering area combination is located at a special river channel location; wherein the special river channel location includes at least one or more of the following: a river mouth, a river confluence, and a river bend;

[0027] If so, determine that the garbage collection combination is the hotspot garbage collection area.

[0028] In one implementation of the present application, the river channel image is identified to determine the junk information distributed in the river channel area to be cleaned, specifically including:

[0029] Identify the river channel image to extract shape features corresponding to the garbage;

[0030] The shape feature is matched with a preset garbage feature library, and if the match is successful, the corresponding area is identified as a garbage area distributed in the river area to be cleaned.

[0031] In one implementation of the present application, before the garbage in the river area to be cleaned is recovered by controlling the unmanned boat according to the recovery route, the method further includes:

[0032] Calculate the corresponding number of recycling times according to the gathering area corresponding to the hot spot garbage gathering area, the gathering area corresponding to the combination of the remaining garbage gathering areas and / or other garbage gathering areas, and the load capacity of the unmanned boat;

[0033] The recovery route lengths corresponding to the first recovery route and the second recovery route are calculated, and the number of recovery times and the recovery route lengths are sent to the unmanned ship.

[0034] The present application provides a river garbage recycling device, the device comprising:

[0035] at least one processor;

[0036] and, a memory communicatively coupled to the at least one processor;

[0037] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0038] Acquire a river channel image corresponding to the river channel area to be cleaned, and identify the river channel image to determine the garbage information distributed in the river channel area to be cleaned;

[0039] According to the garbage information, the river area to be cleaned is divided into a plurality of garbage gathering areas, and the garbage concentration corresponding to the garbage gathering areas is determined;

[0040] Selecting designated garbage collection areas whose corresponding garbage concentration is less than a preset concentration from the garbage collection areas, and performing association analysis on the designated garbage collection areas to determine a combination of garbage collection areas that can be fused and recycled in the designated garbage collection areas;

[0041] The areas corresponding to the garbage collection area combination are spatially fused, and corresponding recycling routes are generated for the garbage collection area combination obtained after the fusion and other garbage collection areas that have not been fused in the garbage collection area, so as to realize garbage recovery in the river area to be cleaned by controlling the unmanned boat along the recycling route.

[0042] The embodiment of the present application provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured as follows:

[0043] Acquire a river channel image corresponding to the river channel area to be cleaned, and identify the river channel image to determine the garbage information distributed in the river channel area to be cleaned;

[0044] According to the garbage information, the river area to be cleaned is divided into a plurality of garbage gathering areas, and the garbage concentration corresponding to the garbage gathering areas is determined;

[0045] Selecting designated garbage collection areas whose corresponding garbage concentration is less than a preset concentration from the garbage collection areas, and performing association analysis on the designated garbage collection areas to determine a combination of garbage collection areas that can be fused and recycled in the designated garbage collection areas;

[0046] The areas corresponding to the garbage collection area combination are spatially fused, and corresponding recycling routes are generated for the garbage collection area combination obtained after the fusion and other garbage collection areas that have not been fused in the garbage collection area, so as to realize garbage recovery in the river area to be cleaned by controlling the unmanned boat along the recycling route.

[0047] The river garbage recycling method proposed in this application can bring the following beneficial effects:

[0048] By acquiring river channel images and identifying them, accurate information on garbage in the river channel area to be cleaned up is achieved. The river channel is divided into multiple garbage collection areas, and designated garbage collection areas with low concentration are selected for correlation analysis, and the combination of garbage collection areas that can be integrated and recycled is further determined. This not only improves the pertinence and efficiency of garbage recycling, but also reduces the overlap of recycling routes and resource waste through spatial fusion. In addition, by controlling unmanned boats to recycle garbage according to the generated recycling routes, comprehensive and rapid cleaning of river garbage is achieved, effectively maintaining the ecological balance of the water area and ensuring water quality safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0050] Figure 1 A schematic diagram of a process for recycling river garbage provided in an embodiment of the present application;

[0051] Figure 2 This is a schematic diagram of the structure of a river garbage recycling device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0053] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0054] like Figure 1 As shown, a river garbage recycling method provided in an embodiment of the present application includes:

[0055] S101: Obtain a river channel image corresponding to the river channel area to be cleaned, and identify the river channel image to determine the garbage information distributed in the river channel area to be cleaned.

[0056] The river channel images of the river area to be cleaned are obtained through equipment such as drones, satellites or ground cameras. Subsequently, the acquired river channel images are analyzed using image recognition technology to identify key information such as the type, quantity and specific location of garbage in the river channel, thereby providing detailed and reliable data support for subsequent garbage cleaning work, which helps to achieve precision and intelligent river channel cleaning work.

[0057] Specifically, the river image is identified through image recognition technology to extract the shape features corresponding to the garbage. Shape features include the outline, edge, angle, aspect ratio, etc. of the garbage, which together constitute the unique identification of the garbage in the image. The shape features are compared with the preset garbage feature library, which contains shape feature data of a variety of common river garbage (such as plastic bags, beverage bottles, paper, branches, etc.). During the comparison process, the extracted shape features are matched one by one with the garbage features in the feature library. If a certain shape feature is highly similar or completely consistent with a certain type of garbage feature in the feature library, the area where the garbage is located will be identified as a garbage area.

[0058] S102: According to the garbage information, the river area to be cleaned is divided into a plurality of garbage collection areas, and the garbage concentration corresponding to the garbage collection areas is determined.

[0059] According to the distribution and geographical characteristics of garbage, the river area is divided into several relatively independent garbage gathering areas, and then the garbage concentration of each garbage gathering area is calculated based on the garbage information of each garbage gathering area. The garbage concentration reflects the density of garbage in the current garbage gathering area. Generally speaking, the higher the concentration, the more difficult it is to recycle garbage, and the recycling efficiency will be relatively lower.

[0060] In one embodiment, the river area to be cleaned is geocoded to ensure that each location has a unique identifier, which can be done through geographic information system (GIS) software or online map service. According to the geocoding information, the river area to be cleaned is divided into multiple grid units, wherein the size of the grid unit can be adjusted according to actual needs. After being divided into multiple grid units, the grid unit where each garbage is located is determined according to the garbage information. Traverse all garbage locations and check whether each garbage and its adjacent garbage are in continuous grid units. If not in continuous grid units, it means that there is a gap between the garbage, and the number of interval grid units between them needs to be determined. The interval grid unit refers to the blank between the grid units where two garbage are located or the grid unit that does not contain garbage. For garbage with intervals and the number of interval grid units does not exceed the preset number, it means that the distance between the garbage is strong, and they need to be added to the same garbage gathering area. The preset number can be set according to the actual situation, such as comprehensively considering factors such as the width of the river and the density of garbage distribution. If the number of interval grid units exceeds the preset number, it means that the distance between the garbage is far, and the garbage is considered to be divided into different garbage gathering areas. After obtaining the garbage gathering area, the gathering area of ​​each garbage gathering area is calculated, that is, the total area of ​​all grid units in the area. The ratio of the sum of the garbage areas of all garbage in each garbage gathering area to the gathering area is taken as the garbage concentration of the garbage gathering area. The garbage concentration reflects the density of garbage in the gathering area, which helps to determine the cleaning priority and resource allocation.

[0061] S103: Filter out designated garbage collection areas whose corresponding garbage concentration is less than a preset concentration from the garbage collection areas, and perform association analysis on the designated garbage collection areas to determine a combination of garbage collection areas that can be integrated and recycled in the designated garbage collection areas.

[0062] According to factors such as cleaning goals, resource allocation, and recycling efficiency, a reasonable garbage concentration threshold is set as the preset concentration. Traverse all garbage gathering areas, compare the concentration of each garbage gathering area with the preset concentration, and screen out the garbage gathering areas with corresponding garbage concentrations less than the preset concentration as designated garbage gathering areas. These designated garbage gathering areas refer to areas where the garbage inside is relatively loose. When garbage is subsequently recycled, the designated garbage gathering areas can be associated with analysis to determine the combination of garbage gathering areas that can be fused and recycled in the designated garbage gathering areas. By fusing several garbage gathering areas with smaller garbage concentrations and merging them into a more concentrated garbage gathering area, it helps to reduce the number of recycling times of unmanned ships, thereby effectively improving the efficiency of garbage recycling.

[0063] In one embodiment, when merging the designated garbage gathering areas, it is first necessary to determine the geographical location information of the designated garbage gathering areas, including latitude and longitude coordinates, boundary information, etc., and calculate the regional center of the designated garbage gathering areas based on the geographical location information of the designated garbage gathering areas. The regional center can be a geometric center (such as a centroid) or a weighted center determined based on garbage distribution or other factors. Then, the distance between the regional center of each designated garbage gathering area and other garbage gathering areas is calculated, and the target garbage gathering areas whose distance from the regional center of the designated garbage gathering area is less than a preset distance are screened out. Combined with the garbage concentration of the target garbage gathering area, the impact of the garbage density after the fusion of the garbage gathering area is considered to determine the combination of garbage gathering areas that can be fused and recycled with the designated garbage gathering area.

[0064] Specifically, the target garbage collection areas are sorted from large to small according to their corresponding garbage concentrations, which helps to find those garbage collection areas with high garbage concentrations and greater recycling value. For each sorted target garbage collection area, calculate the average garbage concentration between it and the designated garbage collection area. Compare the calculated average garbage concentration with the preset concentration. The preset concentration is a threshold used to determine whether two garbage collection areas are suitable for fusion recycling. If the average garbage concentration is not less than the preset concentration, it means that the two garbage collection areas have high complementarity in terms of concentration and other aspects, and are suitable for fusion recycling. At this time, the corresponding target garbage collection area and the designated garbage collection area are regarded as a combination of garbage collection areas that can be fusion recycled.

[0065] S104: Perform spatial fusion on the areas corresponding to the garbage gathering area combination, and generate corresponding recycling routes for the garbage gathering area combination obtained after fusion and other garbage gathering areas that have not been integrated in the garbage gathering area, so as to realize garbage recycling in the river area to be cleaned by controlling the unmanned boat along the recycling route.

[0066] After determining the combination of garbage collection areas that can be integrated and recycled, the corresponding garbage collection areas can be spatially integrated through the unmanned ship to obtain the integrated garbage collection area combination. At this time, for other unintegrated garbage collection areas and garbage collection area combinations, it is necessary to generate corresponding recycling routes based on the central control system in the unmanned ship, so that by controlling the unmanned ship to travel along the recycling route, the garbage collection of each garbage collection area can be completed in turn.

[0067] Among them, the unmanned boat is equipped with a large garbage collection bucket in front of the hull, and the garbage is automatically collected into the bucket through a mechanical arm or a water flow guide device. The collection bucket can be adjusted according to the size and shape of the garbage to improve the collection efficiency. A filtering device is set in the garbage collection bucket to filter out the water in the garbage, reduce the volume and weight of the garbage, and facilitate transportation and processing. A garbage compression device is set on the hull to compress the collected garbage, further reduce the volume of the garbage, and improve transportation efficiency. At the same time, the unmanned boat is also equipped with an advanced automatic navigation system, which can automatically travel according to the preset route or the real-time monitoring of the garbage distribution, improving the cleaning efficiency.

[0068] It should be noted that some sections of the river may easily accumulate a large amount of garbage due to terrain, human intervention and other reasons. When recycling garbage, due to their critical terrain location, garbage recycling in such hot spots where garbage accumulation is prone to occur should be completed first.

[0069] Specifically, the river channel characteristics corresponding to each designated garbage gathering area in the garbage gathering area combination are obtained through a preset geographic information system (GIS). The river channel characteristics include the width, depth, flow velocity, flow direction, curvature, bottom type, etc. of the river channel. The collected river channel characteristics are analyzed in detail to understand the river channel environment where each garbage gathering area is located, and then determine whether there is a hot garbage gathering area in the garbage gathering area combination based on the river channel characteristics. Hot garbage gathering areas refer to areas in the river where garbage accumulation is prone to occur. Generally speaking, due to the complexity of hydrodynamics, special locations such as estuaries, river confluences, and river bends are more prone to garbage accumulation. Therefore, if the garbage gathering area combination includes these special locations, they need to be identified as characteristic garbage gathering areas. For example, the estuary of a river is usually located at the end of the river on the map, connected to the ocean, lake or other water bodies, the confluence is shown as the location where multiple rivers intersect or approach on the map, and the bend can be determined by observing the continuous changes in the river morphology.

[0070] After clarifying the hot garbage gathering area, it is necessary to complete the garbage collection in this area first. When recycling garbage, in order to better ensure the working quality of the unmanned ship and avoid recycling problems caused by insufficient energy and other resource problems during the work process, it is necessary to evaluate the recycling route of the planning department in advance. The evaluation is mainly carried out from two aspects: the number of recycling times and the recycling distance. First of all, it is necessary to calculate the corresponding number of recycling times based on the corresponding gathering area of ​​the hot garbage gathering area, the remaining garbage gathering area combination and / or the corresponding gathering area of ​​other garbage gathering areas, and the load of the unmanned ship. At the same time, it is also necessary to calculate the recycling route length corresponding to the first recycling route and the second recycling route. After calculating the number of recycling times and the length of the recycling route, the above information needs to be sent to the unmanned ship. In this way, the corresponding staff will plan the working time and required working resources of the unmanned ship according to the recycling intensity this time, and ensure the smooth progress of garbage recycling to the greatest extent.

[0071] The above are embodiments of the method proposed in this application. Based on the same idea, some embodiments of this application also provide devices and non-volatile computer storage media corresponding to the above methods.

[0072] Figure 2 This is a schematic diagram of the structure of a river garbage recycling device provided in an embodiment of the present application. Figure 2 As shown, including:

[0073] at least one processor; and,

[0074] at least one processor is communicatively connected to a memory; wherein,

[0075] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute a river garbage recycling method as described in any of the above items.

[0076] The embodiment of the present application provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured as follows:

[0077] A method for recycling river garbage as described in any of the above items.

[0078] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0079] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0080] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0081] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0086] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for recycling river garbage, characterized in that: The method comprises: Acquire a river channel image corresponding to the river channel area to be cleaned, and identify the river channel image to determine the garbage information distributed in the river channel area to be cleaned; According to the garbage information, the river area to be cleaned is divided into a plurality of garbage gathering areas, and the garbage concentration corresponding to the garbage gathering areas is determined; Selecting designated garbage collection areas whose corresponding garbage concentration is less than a preset concentration from the garbage collection areas, and performing association analysis on the designated garbage collection areas to determine a combination of garbage collection areas that can be fused and recycled in the designated garbage collection areas; The areas corresponding to the garbage collection area combination are spatially fused, and corresponding recycling routes are generated for the garbage collection area combination obtained after the fusion and other garbage collection areas that have not been fused in the garbage collection area, so as to realize garbage recovery in the river area to be cleaned by controlling the unmanned boat along the recycling route.

2. A river garbage recycling method according to claim 1, characterized in that: According to the garbage information, the river area to be cleaned is divided into a plurality of garbage gathering areas, and the garbage concentration corresponding to the garbage gathering areas is determined, specifically including: Geocoding the river channel area to be cleaned to convert the area covered by the river channel area to be cleaned into grid units; Determine, according to the garbage information, the grid unit where each garbage is located, and whether there is a gap between the grid units where each garbage is located; If so, determining whether the number of grid units between the garbage exceeds a preset number, and if not, adding the corresponding garbage to the same garbage collection area; Determine the garbage collection area corresponding to the garbage collection area and the garbage area corresponding to each garbage, and use the ratio between the garbage area and the collection area as the garbage concentration corresponding to the garbage collection area.

3. A river garbage recycling method according to claim 2, characterized in that: The designated garbage collection area is subjected to association analysis to determine a combination of garbage collection areas capable of fusion recycling in the designated garbage collection area, specifically including: For each designated garbage collection area, determining a corresponding regional center according to the spatial position of the designated garbage collection area; From the designated garbage collection areas, select a target garbage collection area whose distance from the center of the area corresponding to the designated garbage collection area is less than a preset distance; According to the garbage concentration corresponding to the target garbage collection area, a combination of garbage collection areas that can be integrated and recycled with the designated garbage collection area is determined.

4. A river garbage recycling method according to claim 3, characterized in that: According to the garbage concentration corresponding to the target garbage collection area, a combination of garbage collection areas that can be integrated and recycled with the designated garbage collection area is determined, specifically including: Calculate the average garbage concentration between the target garbage collection area and the designated garbage collection area in descending order of the garbage concentration corresponding to the target garbage collection area; When the average garbage concentration is not less than the preset concentration, the corresponding target garbage collection area and the designated garbage collection area are combined as garbage collection areas capable of fusion recycling.

5. A river garbage recycling method according to claim 1, characterized in that: For the garbage collection area combination obtained after fusion and other garbage collection areas in the garbage collection area except the designated garbage collection area, a corresponding recycling route is generated, specifically including: Determine, based on a preset geographic information system, river channel characteristics corresponding to a designated garbage gathering area included in the garbage gathering area combination; According to the characteristics of the river channel, determining whether the garbage gathering area combination is a hot spot garbage gathering area; wherein the hot spot garbage gathering area refers to an area in the river channel where garbage is prone to accumulation; If yes, generating a first recycling route corresponding to the hotspot garbage gathering area according to the current position of the hotspot garbage gathering area and the unmanned ship; After completing the garbage collection of the hotspot garbage collection area according to the first recycling route, a corresponding second recycling route is generated for the remaining garbage collection area combinations and / or other garbage collection areas in the garbage collection area.

6. A river garbage recycling method according to claim 5, characterized in that: According to the river channel characteristics, determining whether the garbage gathering area combination is a hot spot garbage gathering area specifically includes: According to the river channel characteristics, determining whether the garbage gathering area combination is located at a special river channel location; wherein the special river channel location includes at least one or more of the following: a river mouth, a river confluence, and a river bend; If so, determine that the garbage collection combination is the hotspot garbage collection area.

7. A river garbage recycling method according to claim 1, characterized in that: Identifying the river channel image to determine the junk information distributed in the river channel area to be cleaned up specifically includes: Identify the river channel image to extract shape features corresponding to the garbage; The shape feature is matched with a preset garbage feature library, and if the match is successful, the corresponding area is identified as a garbage area distributed in the river area to be cleaned.

8. A river garbage recycling method according to claim 5, characterized in that: Before recycling the garbage in the river area to be cleaned by controlling the unmanned boat according to the recycling route, the method further includes: Calculate the corresponding number of recycling times according to the gathering area corresponding to the hot spot garbage gathering area, the gathering area corresponding to the combination of the remaining garbage gathering areas and / or other garbage gathering areas, and the load capacity of the unmanned boat; The recovery route lengths corresponding to the first recovery route and the second recovery route are calculated, and the number of recovery times and the recovery route lengths are sent to the unmanned ship.

9. A river garbage recycling device, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a river garbage recycling method as described in any one of claims 1-8.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: A method for recycling river garbage as described in any one of claims 1 to 8.

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