基于树莓派小型水域智能垃圾清理机器人系统设计与实现

清理小型水域漂浮垃圾对改善水域生态环境意义重大。目前，针对人工打捞存在费时费力、安全系数低等问题。同时，市场上已有的水面垃圾清理装置存在结构复杂、体型庞大、难以应用于小型水域且无法脱离人工等问题。为此，本文设计了一款基于树莓派的小型水域漂浮垃圾清理机器人，基于Raspain操作系统和Tensorflow深度学习框架对机器人进行开发，同时也开发了基于Android操作系统下的远程监控APP，最终实现远程监控、垃圾检测和自动巡航的三种模式下的清洁功能。经测试表明，机器人通过三种工作模式相互配合，实现了对小型水域漂浮垃圾的大面积清理。

Design and Implementation of Small Waters Intelligent Garbage Cleaning Robot System Based on Raspberry Pi

Cleaning up small areas of floating debris is of great significance to improving the ecological environment of the waters. At present, there are problems such as time-consuming and labor-saving and low safety factor for manual salvage. At the same time, the existing surface garbage cleaning devices on the market have problems such as complicated structure, large size, difficulty in application to small waters, and inability to be separated from labor. To this end, this paper designs a small water-based floating garbage cleaning robot based on the Raspberry Pi. Based on the Raspain operating system and the Tensorflow deep learning framework, the robot is developed. At the same time, the remote monitoring APP based on the Android operating system is developed. Cleaning in three modes of remote monitoring, garbage detection and auto-cruise. Tests have shown that the robot cooperates with the three working modes to achieve large-area cleaning of floating garbage in small waters.