Water surface garbage cleaning ship control system based on ESP32 and garbage cleaning ship

Abstract

The invention relates to the technical field of water surface garbage cleaning, and particularly discloses an ESP32-based water surface garbage cleaning ship control system and a garbage cleaning ship, and an ESP32 microcontroller is used for controlling the cleaning ship to automatically cruise and avoid obstacles; the collecting device is controlled by the steering engine to collect the garbage; the ultrasonic sensor detects the distance of a front obstacle in real time and sends the distance to the ESP32 microcontroller; a camera shoots a water surface image in real time, and a garbage target is quickly recognized through an image processing algorithm; the wireless transmission module is in wireless signal connection with the control terminal, and the wireless transmission module is electrically connected with the ESP32 microcontroller; the motor driving module is used for driving an underwater propulsion motor of the cleaning ship; the power module supplies power to the system. The cleaning ship can advance and steer under automatic or remote control in water areas such as lakes and rivers, and garbage on the water surface can be recognized and recycled. The water surface garbage cleaning efficiency and quality are improved, the manual labor intensity is reduced, and meanwhile the water ecological environment is protected.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of water surface garbage cleaning, in particular to a water surface garbage cleaning ship control system based on ESP32 and a garbage cleaning ship. BACKGROUND

[0002] With the rapid development of the global economy and the acceleration of urbanization, water pollution problems are becoming increasingly serious, and water surface garbage pollution has become one of the environmental problems that need to be solved urgently. Water surface garbage not only affects the aesthetics of water bodies, but also seriously threatens the survival environment of aquatic organisms, hinders the normal ecological function of water bodies, and may even affect human health through the food chain. On the one hand, the types of water surface garbage are diverse, including plastic bottles, leaves, branches, foam, etc. These garbage floats on the water surface, has a wide distribution range and a fixed position, increasing the difficulty of cleaning. On the other hand, the traditional cleaning method mainly relies on manual operation, which requires a large amount of manpower and material resources. Manual cleaning not only has low efficiency, but also has safety hazards in some complex water areas, such as river junctions, lake centers, etc. In addition, manual cleaning is also limited by weather conditions and difficult to carry out work in bad weather.

[0003] Therefore, the water surface garbage cleaning ship control system based on ESP32 and the garbage cleaning ship have become a problem that needs to be solved urgently. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a water surface garbage cleaning ship control system based on ESP32 and a garbage cleaning ship. The cleaning ship can automatically or remotely control the forward movement, turning, identification of water surface garbage and recycling in lakes, rivers and other water areas. Improve the efficiency and quality of water surface garbage cleaning, reduce the labor intensity, and at the same time protect the water ecological environment. Through the integration of environmental perception, image recognition, wireless communication, rudder control and garbage collection device modules, the combination of environmental protection and intelligent technology is realized.

[0005] To solve the above technical problems, the technical solution provided by the present application is: a water surface garbage cleaning ship control system based on ESP32, comprising an ESP32 microcontroller, an ultrasonic sensor, a camera, a wireless transmission module, a control terminal, a motor drive module and a power module.

[0006] The ESP32 microcontroller is used to control the automatic cruising and obstacle avoidance of the cleaning ship; the garbage is collected by the rudder control collection device;

[0007] The ultrasonic sensor detects the distance of the obstacle in front in real time and sends it to the ESP32 microcontroller;

[0008] The camera shoots real-time water surface images and quickly identifies garbage targets through image processing algorithms;

[0009] The wireless transmission module is in wireless signal connection with the control terminal, and the wireless transmission module is electrically connected with the ESP32 microcontroller;

[0010] The motor driving module is used for driving the underwater propelling motor of the cleaning ship.

[0011] The power module supplies power for the system.

[0012] Further, the camera adopts an OV2640 camera module, and the camera and the edge computing board jointly process complex image recognition tasks.

[0013] Further, the collecting device is a mechanical flap or a net.

[0014] Further, the wireless transmission module includes a Bluetooth module and a WIFI module.

[0015] Further, the control terminal includes a Bluetooth handle and a mobile client.

[0016] Further, the motor driving module adopts an L298N motor driving module, and the underwater propelling motor is accurately adjusted in speed through a PWM control mode, so that accurate speed control and steering control are realized.

[0017] Further, the steering engine is an MG996R, which is used for controlling the lifting or overturning action of the garbage collecting device.

[0018] The application also provides a garbage cleaning ship, which is loaded with the above-mentioned ESP32-based water surface garbage cleaning ship control system.

[0019] Compared with the prior art, the application has the following advantages:

[0020] The application can clean the garbage on the water surface in time through the automatic garbage collecting mechanism, and reduce the damage of the garbage to the ecological environment of the water area. The garbage collecting device carried by the cleaning ship can automatically adjust the heading to approach the garbage after identifying the garbage target, and collect the garbage through the steering engine control mechanical flap or net collecting device, so as to realize the automation of garbage collection. When the garbage collecting device is full of garbage, the system can automatically stop working or send a notification to remind the operator, and can also send a back to shore instruction according to the setting, so that the cleaning ship automatically returns to the shore, facilitating the subsequent processing of the garbage. This efficient garbage collecting mode can effectively reduce the residence time of the garbage on the water surface, reduce the pollution of the garbage to the water body, and protect the ecological environment of the water area, so as to create a more healthy and clean living environment for aquatic organisms.

[0021] The present application adopts advanced sensor technology, image recognition technology, automatic control technology and wireless communication technology, combines environmental protection with intelligent technology, and provides an intelligent solution for water surface garbage cleaning. Through the powerful processing capability and rich peripheral interface of the ESP32 master chip, the cleaning ship can realize multi-task processing and control of various sensors and actuators, meet the system's demand for automatic cruising, obstacle avoidance, garbage identification and collection functions. At the same time, the integrated Wi-Fi and Bluetooth functions of ESP32 provide convenience for the wireless communication of the system, reduce the hardware cost and complexity. In addition, the present application also supports joint processing of complex image recognition tasks with edge computing boards such as Jetson Nano, further improving the accuracy and efficiency of garbage identification. This intelligent water surface garbage cleaning equipment not only improves the cleaning efficiency and quality, but also provides new ideas and methods for the intelligent development of environmental protection industry. It can be widely used in garbage cleaning work in lakes, rivers, oceans and other water areas, and make important contributions to the protection of water resources and the improvement of ecological environment.

[0022] The present application can automatically navigate on water surface according to preset route or mode, without the need for continuous manual intervention. This not only saves a lot of labor cost, but also significantly improves work efficiency, so that garbage cleaning work can be carried out more efficiently. In complex water environment, the safe operation of the cleaning ship is crucial. Therefore, the present application is equipped with ultrasonic sensor, which can detect the distance of the front obstacle in real time. Once the obstacle is detected, the cleaning ship can automatically calculate and execute obstacle avoidance steering action, effectively avoiding collision with the obstacle. This intelligent obstacle avoidance function greatly reduces the risk of equipment damage, ensuring the stable operation of the cleaning ship in various complex water environment. In addition, the cleaning ship also supports predefined fixed route, and can realize more flexible path planning combined with GPS trajectory control. This means that it can cover a wider range of water areas for garbage cleaning work, further improving the cleaning range and efficiency. Whether it is a lake, river or other water area, this cleaning ship can flexibly adjust its navigation route according to different needs and environment, ensuring the comprehensiveness and efficiency of garbage cleaning work.

[0023] The application is equipped with an advanced OV2640 camera module, which can capture real-time water surface images. Through simple image processing algorithms such as edge detection or color filtering, the cleaning boat can quickly identify garbage targets. This simple identification method can achieve basic identification functions for common types of water surface garbage such as plastic bottles and leaves, providing a reliable basis for subsequent garbage collection. More importantly, the application has good scalability. It can be combined with edge computing boards such as Jetson Nano to handle complex image recognition tasks, further improving the accuracy and efficiency of garbage identification. This means that the cleaning boat can handle more types and shapes of garbage, improving overall cleaning effectiveness. With continuous technological advancement and optimization, its image recognition performance is expected to be further improved, making it play a greater role in water surface garbage cleaning. This intelligent identification function not only improves the efficiency of garbage cleaning, but also reduces the need for manual intervention, making the cleaning work more automated and intelligent.

[0024] After identifying the garbage target, the ESP32-based water surface garbage cleaning boat can automatically adjust the heading to approach the garbage and collect it through the rudder control of mechanical flaps or net baskets and other collection devices. This process realizes the automation of garbage collection, greatly reducing the tediousness of manual operation and improving collection efficiency. When the garbage collection device is full of garbage, the system can automatically stop working or send a notification to remind the operator. In addition, the cleaning boat can also send back to the shore according to the settings, automatically returning to the shore for convenient subsequent processing of garbage. This full-load notification and return-to-shore function further improves the coherence and convenience of the entire garbage cleaning process, making the cleaning work more efficient and orderly. Through this efficient garbage recycling mechanism, the cleaning boat can clean a large amount of water surface garbage in a short time, effectively improving the water environment. At the same time, automated operation reduces the opportunity for human contact with garbage, improving the safety and comfort of work. Whether it is daily water maintenance or sudden garbage cleaning tasks, this cleaning boat can quickly and efficiently complete the task with its powerful garbage recycling capability, contributing to the protection of the water environment.

[0025] The application also has manual remote control (backup) function, further enhancing its flexibility and adaptability. In complex situations or for precise cleaning of specific garbage, the operator can manually operate through a Bluetooth handle or Wi-Fi remote control terminal. The function of real-time viewing of the front image makes the operation more intuitive and accurate, helping to improve the efficiency and quality of garbage cleaning, and also enables timely detection and handling of possible abnormal situations. The hardware performance of this cleaning boat is stable and reliable, and the software performance is efficient and flexible, making it effectively reduce the labor intensity in practical application, improve the cleaning efficiency and quality.

[0026] The application not only improves the efficiency of water surface garbage cleaning, reduces the labor intensity, but also protects the water ecological environment and promotes the intelligent development of environmental protection industry. BRIEF DESCRIPTION OF DRAWINGS

[0027] Fig. 1 is a system block diagram of the water surface garbage cleaning ship control system based on ESP32 of the application.

[0028] Fig. 2 is a wireless signal communication diagram of the water surface garbage cleaning ship control system based on ESP32 of the application and the client.

[0029] Fig. 3 is a principle diagram of PWM signal control double underwater propulsion motor. DETAILED DESCRIPTION

[0030] Various exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0031] The following description of at least one example embodiment is merely illustrative in nature and is in no way limiting to the scope of the application and its applications or uses.

[0032] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0033] In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative, and not as a limitation. Thus, other examples of the example embodiments can have different values.

[0034] The water surface garbage cleaning ship control system based on ESP32 of the application and the garbage cleaning ship will be further described below in conjunction with the drawings.

[0035] In conjunction with the drawings Figs. 1-3 The application is described in detail.

[0036] A water surface garbage cleaning ship control system based on ESP32 mainly comprises an ESP32 microcontroller, an ultrasonic sensor, a camera, a wireless transmission module, a control terminal, a motor drive module, and a power module.

[0037] ESP32 Microcontroller: As the core of the entire control system, it is responsible for controlling the automatic cruising and obstacle avoidance functions of the cleaning boat. By receiving the obstacle distance information feedback from the ultrasonic sensor, it adjusts the driving direction of the cleaning boat in real time to avoid collisions. At the same time, through the steering control of the collection device, it collects the recognized garbage.

[0038] Ultrasonic Sensor: Installed at the front end of the cleaning boat, it detects the distance of the front obstacles in real time and sends the detected distance data to the ESP32 microcontroller. The microcontroller judges whether to adjust the driving direction of the cleaning boat according to the received distance information to achieve the obstacle avoidance function.

[0039] Camera: OV2640 camera module is used to capture real-time water surface images. The camera and edge computing board jointly process complex image recognition tasks, quickly identifying garbage targets through image processing algorithms. The edge computing board can preliminarily process and analyze the images collected by the camera, reducing the computational burden of the ESP32 microcontroller and improving the efficiency and accuracy of image recognition.

[0040] Wireless Transmission Module: Including Bluetooth module and WIFI module, it is wirelessly connected with the control terminal and electrically connected with the ESP32 microcontroller. Through the wireless transmission module, the control terminal can obtain the working status of the cleaning boat, the captured water surface images, and other information in real time, and send control instructions to the cleaning boat to achieve remote control of the cleaning boat.

[0041] Control Terminal: Including Bluetooth handle and mobile client. Users can directly manually control the cleaning boat through the Bluetooth handle, such as adjusting the driving direction and speed, etc.; they can also view the working status of the cleaning boat in real time through the mobile client (such as mobile phone APP) and send control instructions to achieve more convenient remote control.

[0042] Motor Drive Module: L298N motor drive module is used to drive the underwater propulsion motor of the cleaning boat. Through PWM (Pulse Width Modulation) control method, the speed of the underwater propulsion motor is accurately adjusted to achieve precise speed control and steering control. Users can adjust the driving speed and direction of the cleaning boat according to actual needs through the control terminal.

[0043] Power Module: Provides power for the entire system to ensure the normal operation of each module. The power module can use rechargeable batteries such as lithium batteries, which have the advantages of large capacity and long battery life.

[0044] The collecting device of the system is a mechanical flap or a net. When the camera recognizes the garbage target, the ESP32 microcontroller controls the servo (model MG996R) to act, so that the mechanical flap or the net performs lifting or overturning action to collect the garbage. The servo has the advantages of large torque, high precision and fast response speed, and can accurately control the action of the collecting device.

[0045] The application also provides a garbage cleaning ship, which is equipped with the ESP32-based water surface garbage cleaning ship control system.

[0046] The specific implementation process of the ESP32-based water surface garbage cleaning ship control system and the garbage cleaning ship is as follows:

[0047] The power module is an indispensable part of the hardware design of the water surface garbage cleaning ship. Using 18650 lithium batteries in combination with a voltage regulation module can provide stable 5V / 3.3V power supply for the system, ensuring the normal operation of each module. Lithium batteries have high energy density and long service life, which can meet the endurance requirements of the cleaning ship within a certain period of time. Stable power supply is crucial for the stable operation of the system, especially in long-running tasks such as automatic cruising and garbage collection. The role of the voltage regulation module is to ensure that even in the case of gradually declining battery power, each component can still provide stable voltage, avoiding system instability or component damage caused by voltage fluctuations. In addition, good power management strategies also include real-time monitoring and management of battery power, which can remind the operator in time when the power is insufficient, or automatically return to the shore for charging, thereby further improving the reliability and user experience of the system.

[0048] The application uses an advanced ESP32 microcontroller as the main control chip, which is a high-performance chip integrated with WiFi and Bluetooth functions, with powerful processing capability and rich peripheral interfaces, capable of easily handling multi-task processing and precise control of various sensors and actuators. Through ESP32, the cleaning ship can realize automatic cruising and obstacle avoidance function, which is one of the core manifestations of its intelligence.

[0049] In the automatic cruising mode, the cleaning ship can automatically navigate on the water surface according to the preset route or mode without continuous manual intervention. This greatly saves labor costs and improves work efficiency for garbage cleaning work in lakes, rivers and other water areas. Users can flexibly set the cruising route according to different water environment and cleaning requirements, whether it is a simple straight path or a complex ring or grid path, the cleaning ship can accurately execute. This automated cruising mode not only covers a wider range of water areas, but also ensures the continuity and efficiency of the cleaning work.

[0050] The obstacle avoidance function further enhances the safety and reliability of the cleaning boat in complex water environments. By mounting the HCSR04 ultrasonic sensor, the cleaning boat can detect the distance of the obstacle in front of it in real time. Once the obstacle is detected, the system will automatically calculate and execute the obstacle avoidance steering action, so as to avoid collision with the obstacle. This function is crucial to protect the cleaning boat itself and other objects in the water from damage. Whether it is a floating branch, rock or other boats, the cleaning boat can easily avoid it, ensuring its safe operation in various complex water environments.

[0051] The identification and recovery of water surface garbage is a key link in the entire cleaning process. The water surface garbage cleaning boat based on ESP32 performs well in this regard, as it is equipped with an OV2640 camera module that can take real-time images of the water surface. Through simple image processing algorithms such as edge detection or color filtering, the cleaning boat can quickly identify garbage targets. Although this simple identification method may have certain limitations in complex scenarios, it can achieve basic identification functions for common types of water surface garbage such as plastic bottles, leaves, etc., providing a reliable basis for subsequent garbage collection.

[0052] The invention has good scalability. It can be combined with edge computing boards such as Jetson Nano to handle complex image recognition tasks, further improving the accuracy and efficiency of garbage identification. This means that the cleaning boat can handle more types and shapes of garbage, improving cleaning effectiveness. With continuous technological advancement and algorithm optimization, the image recognition capabilities of this cleaning boat will continue to improve, and in the future, it may be able to accurately identify more types of garbage, even distinguishing between different materials, providing support for subsequent garbage classification and processing.

[0053] In terms of garbage collection mechanism, once the garbage target is identified, the heading can be automatically adjusted to approach the garbage, and the garbage collection device such as the mechanical flap or net can be controlled by the rudder to collect the garbage. This process realizes the automation of garbage collection, reduces the tediousness of manual operation, and improves the collection efficiency. When the garbage collection device is full of garbage, the system can automatically stop working or send a notification to remind the operator, and can also send a return instruction to the shore according to the settings, so that the cleaning boat automatically returns to the shore. This full load notification and return to shore function not only improves the continuity and convenience of the entire garbage cleaning process, but also provides convenience for subsequent garbage disposal.

[0054] In addition to the automated functions, the invention also has a manual remote control mode, providing users with more operational flexibility. In complex situations or for precise cleaning of specific garbage, the operator can manually operate through a Bluetooth handle or a WiFi remote control terminal. This manual control mode allows the operator to control the ship's movements and the operation of the collection devices such as the mechanical arm based on the real-time images viewed, thereby improving the cleaning effect.

[0055] In manual remote control mode, the operator can view the front image in real time, making the operation more intuitive and accurate. This real-time image viewing function not only helps to improve the efficiency and quality of garbage cleaning, but also allows for timely detection and handling of potential abnormal situations. Through WiFi remote control, users can control the cleaning ship from a distance, which is very convenient for open water operations. Bluetooth remote control is more stable and reliable for close-range operations, providing users with multiple options.

[0056] The combination of L298N motor drive module and double underwater propulsion motor provides stable power output for the cleaning ship, ensuring its stability and flexibility on the water surface. Through PWM control, precise adjustment of motor speed can be achieved, enabling precise speed control and steering control. The MG996R or similar type of rudder has high torque and response speed, allowing accurate and fast control of the lifting or flipping action of the garbage collection device, ensuring the reliability and efficiency of the garbage collection process.

[0057] The system developed based on Arduino IDE and ESP32 development library has a good development environment and rich development resources. This not only reduces the development difficulty and cost, but also improves the development efficiency. At the same time, the Arduino IDE community has strong support, and developers can easily obtain technical support and reference cases. Although the image recognition algorithm currently uses a simple version, it can achieve a certain recognition accuracy when dealing with common water surface garbage. Through subsequent algorithm optimization and combination with more powerful edge computing devices, it is expected to further improve the recognition performance.

[0058] In addition, the present application also has powerful communication performance, supporting multiple communication modes such as WiFi remote control, Bluetooth remote control, and automatic control. This provides users with flexible operation options, whether it is remote control or close-range fine operation, and can be easily achieved. At the same time, the automatic control mode can reduce the impact of communication delay on system performance and improve the autonomous operation efficiency of the cleaning ship. Data visualization performance is also a highlight of the cleaning ship. Through the function of viewing real-time images through the Web interface, users can intuitively and conveniently monitor the working status of the cleaning ship and the water surface garbage situation. This helps the operator to understand the progress of the work in a timely manner and make reasonable decisions, thereby improving the overall performance of the system and the user experience.

[0059] The above describes the present application and its embodiments, which are not limited, and the drawings shown are only one of the embodiments of the present application, and the actual structure is not limited thereto. In summary, if a person skilled in the art is inspired thereby, without departing from the purpose of the present application, without creative design, similar structure and embodiments to the technical solution can be designed, which shall belong to the protection scope of the present application.

Claims

1. A surface garbage cleaning ship control system based on ESP32, characterized by: Includes ESP32 microcontroller, ultrasonic sensor, camera, wireless transmission module, control terminal, motor drive module and power module; The ESP32 microcontroller is used to control the automatic cruising and obstacle avoidance of the cleaning boat; the servo controls the collection device to collect the garbage; The ultrasonic sensor detects the distance of the obstacle in front in real time and sends it to the ESP32 microcontroller; The camera captures water surface images in real time and quickly identifies garbage targets through image processing algorithms; The wireless transmission module is connected to the control terminal by wireless signal, and the wireless transmission module is electrically connected to the ESP32 microcontroller; The motor drive module is used to drive the underwater propulsion motor of the cleaning ship; The power module supplies power to the system.

2. The ESP32-based surface garbage cleaning ship control system according to claim 1, characterized in that: The camera uses the OV2640 camera module, and the camera and the edge computing board jointly process complex image recognition tasks.

3. The ESP32-based surface garbage cleaning vessel control system according to claim 2, characterized in that: The collecting device is a mechanical flap or a net bag.

4. The ESP32-based surface garbage cleaning vessel control system according to claim 3, characterized in that: The wireless transmission module includes a Bluetooth module and a WIFI module.

5. The ESP32-based surface garbage cleaning vessel control system according to claim 4, characterized in that: The control terminal includes a Bluetooth handle and a mobile client.

6. The ESP32-based surface garbage cleaning vessel control system according to claim 5, characterized in that: The motor drive module adopts L298N motor drive module, and accurately adjusts the speed of the underwater propulsion motor through PWM control, thereby achieving precise speed control and steering control.

7. The ESP32-based surface garbage cleaning vessel control system according to claim 6, characterized in that: The servo model is MG996R, which is used to control the lifting or flipping action of the garbage collection device.

8. A garbage cleaning ship, characterized by: The garbage cleaning ship is equipped with the ESP32-based surface garbage cleaning ship control system according to any one of claims 1 to 7.

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