To solve the problem of low efficiency of artificial salvage of surface garbage, a surface garbage collection device based on Raspberry PI was proposed. The YOLOv7 object detection model and binocular camera were used to recognize and locate surface garbage, and the brushless motor and steering gear were used to drive the garbage to the garbage location to collect garbage. In addition, GPS module and ultrasonic module are added to realize global path planning function based on ant colony algorithm and obstacle avoidance function of artificial potential field. The test proves that the device can realize the functions of garbage identification, garbage location, garbage collection and automatic cruise.
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Yuan et al. (2024) studied this question.
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