Poster Abstract: Shallowly Buried Trash Detection in Sandy Land Based on IR-UWB Radar

Fast and accurate sand trash detection and localization is extremely important for trash cleaning, and at present, it still mainly depends on sanitation workers to carry out manual detection. Existing computer vision-based methods cannot detect the shallowly-buried trash. Besides, it is difficult and costly to use ground penetrating radar to detect. To overcome these limitations, we design and implement a novel detection system for shallowly buried trash in sandy land, which integrates the commercial IR-UWB radar into the intelligent unmanned vehicle. By controlling the movement of the vehicle, the radar scans the targeted sandy land and synthesizes the signal into the radar heat-map to detect and locate the shallowly buried trash. Experimental results show that the detection accuracy of the system reaches 92.3% with the radar is 75cm from the ground and the angle perpendicular to the ground is 20°. In the direction parallel to the ground, the farthest trash can be detected is 4.2m away from the radar. Within the range of 4.5m
²
, it can detect and locate up to 9 trash at the same time.