Sand shallow-buried garbage detection method and system based on intelligent trolley and IR-UWB radar

• Main Authors: WANG XIAOCHENG, FAN GUIYUN, ZHANG YONGKUI, JIN HAIMING
• Format: Patent
• Language: Chinese; English
• Published: 10.11.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention provides a sand shallow-buried garbage detection method and system based on an intelligent trolley and an IR-UWB radar, and the method comprises the steps: S1, carrying out the detection of a sand through the IR-UWB radar carried by the intelligent trolley, and collecting radar data which can be used for garbage detection and positioning; s2, preprocessing the collected radar data which can be used for garbage detection and positioning; s3, based on the preprocessed radar data, an improved algorithm based on Canny edge detection is utilized to adaptively detect edge features corresponding to multiple pieces of garbage; s4, extracting garbage features of the corresponding areas, and constructing the garbage features into feature vectors; and S5, distinguishing garbage and noise based on the constructed feature vector. 本发明提供了一种基于智能小车和IR-UWB雷达的沙地浅埋垃圾检测方法及系统，包括：步骤S1：利用智能小车搭载的IR-UWB雷达对沙地进行探测，收集可用于垃圾检测与定位的雷达数据；步骤S2：对收集到的可用于垃圾检测与定位的雷达数据进行预处理；步骤S3：基于预处理后的雷达数据，利用基于Canny边缘检测的改进算法自适应地检测多个垃圾对应的边缘特征；步骤S4：提取对