The invention relates to a cooperative control-based intelligent float cleaning child-mother ship, which at least comprises a separable mother ship body and at least one child ship body, and is characterized in that the mother ship body is at least provided with a first data processing module and a first visual auxiliary module; the first visual auxiliary module sends collected attribute information of at least two moments of target garbage to the first data processing module, and the first data processing module is configured to at least extract position offset information and environment information of the target garbage based on the attribute information of the target garbage, and at least one target position where the distance between the sub-ship body and the target garbage is smaller than a salvage distance threshold value is predicted based on the position offset information, the environment information and first position information of the sub-ship body, and at least one moving path and/or moving speed from the first position to the target position is set. By means of the cooperative control method of the mother ship body and the son ship body, the garbage salvage efficiency is improved under the condition that the data processing amount and the computing power of the mother ship are reduced.
本发明涉及一种基于协同控制的智能清漂子母船,至少包括可分离的母船本体和至少一个子船本体,母船本体至少设置有第一数据处理模块和第一视觉辅助模块,第一视觉辅助模块将所采集的目标垃圾的至少两个时刻的属性信息发送至第一数据处理模块,第一数据处理模块被配置为:基于目标垃圾的属性信息至少提取目标垃圾的位置偏移信息和环境信息,基于位置偏移信息、环境信息和子船本体的第一位置信息预测子船本体与目标垃圾之间的距离小于打捞距离阈值的至少一个目标位置,并且设置从第一位置到达目标位置的至少一条移动路径和/或移动速率。本发明通过母船本体与子船本体的协同控制方法,在减少母船的数据处理量、运算力的情况下提高垃圾打捞的效率。
Intelligent float-cleaning mother-son ship based on cooperative control
一种基于协同控制的智能清漂子母船
2023-12-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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