Unmanned aerial vehicle-based cooperative algae control system and method with intelligent putting underwater robot

Abstract

The invention discloses an unmanned aerial vehicle-based cooperative algae control system and method with an intelligent putting underwater robot, and the system comprises an unmanned aerial vehicle, an underwater robot, and a cooperative control platform. The unmanned aerial vehicle is provided with a monitoring camera and a positioning module, the monitoring camera monitors algae on the water surface based on visible light and multispectral light, and the positioning module is used for positioning the unmanned aerial vehicle in real time. The underwater robot is internally provided with an algae removal module, the algae removal module comprises an algae control agent unit and a negative pressure adsorption unit, the algae control agent unit is used for releasing an algae removal agent, and the negative pressure adsorption unit is used for adsorbing an algae-rich water body to reduce the algae density. The cooperative control platform comprises a wireless communication module. According to the invention, the unmanned aerial vehicle and the underwater robot can be linked, and the unmanned aerial vehicle can provide a global visual field for the underwater robot, so that accurate launching of the underwater robot can be realized, an optimal algae removal effect is achieved, and the algae removal efficiency can be greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of aquatic ecological governance technology, specifically relating to a system and method for algae control based on unmanned aerial vehicles (UAVs) and intelligent underwater robots. Background Technology

[0002] Aquatic ecological restoration promotes the recovery of aquatic ecosystems through artificial restoration measures, building a healthy, complete, and stable ecosystem. Among these measures, algae control is a crucial aspect of aquatic ecological restoration. It utilizes biological, physical, or chemical methods to inhibit the excessive proliferation of algae in the water, thereby improving water quality, maintaining ecological balance, and reducing water pollution.

[0003] However, traditional algae control mainly relies on manual sampling and boat operations, which suffers from low efficiency, narrow coverage, and slow response. With the gradual development of technology, drones and underwater robots are being used for algae control. For example, Chinese patent CN107264800A discloses an intelligent drone for cleaning algae on river surfaces, which is equipped with a cleaning mechanism to clean algae from the river surface. Another example is Chinese patent CN116331430A, which discloses an amphibious underwater cleaning robot that can selectively remove stubborn and difficult-to-remove attachments such as algae, barnacles, shellfish, and aquaculture tanks through graded cleaning. However, the aforementioned drones can only remove surface algae, which is a temporary solution, while underwater robots lack a global field of view and still require manual guidance, failing to solve the problem of coordinated control and precise deployment of air and water equipment.

[0004] Therefore, in order to address the aforementioned technical issues, it is necessary to provide a system and method for algae control based on unmanned aerial vehicles (UAVs) and intelligent underwater robots.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a system and method for controlling algae in collaboration with an unmanned aerial vehicle (UAV) and an intelligent underwater robot, which can solve the problems mentioned in the background.

[0007] To achieve the above objectives, a specific embodiment of the present invention provides the following technical solution: A drone-based, intelligent underwater robot-assisted algae control system comprises a drone, an underwater robot, and a collaborative control platform. The drone is equipped with a monitoring camera and a positioning module. The monitoring camera uses visible light and multispectral light to monitor surface algae, and the positioning module is used to locate the drone's position in real time. The underwater robot contains an algae removal module, which includes an algaecide unit and a negative pressure adsorption unit. The algaecide unit releases algaecide, and the negative pressure adsorption unit adsorbs algae-rich water to reduce algae density. The collaborative control platform includes a wireless communication module, which interacts with the drone and the underwater robot via wireless communication.

[0008] In one or more embodiments of the present invention, the UAV is provided with a plurality of wind disturbance stabilizing fairings, the wind disturbance stabilizing fairings are located at the ends of the rotor arms of the UAV, and the surface of the wind disturbance stabilizing fairings is provided with aerodynamic guide grooves.

[0009] In one or more embodiments of the present invention, the algae control unit includes an algae control tank, a piezoelectric ceramic micropump, and a nozzle. The piezoelectric ceramic micropump is installed inside the algae control tank, and the nozzle is installed at the liquid outlet end of the piezoelectric ceramic micropump.

[0010] In one or more embodiments of the present invention, the negative pressure adsorption unit includes a coaxial two-stage impeller and a filter screen, wherein the filter screen has a pore size of less than 50 μm and the outer side of the filter screen is covered with an algae-reducing coating.

[0011] In one or more embodiments of the present invention, the collaborative control platform is further provided with an algae identification module, which establishes an algae species classification model based on multispectral features.

[0012] In one or more embodiments of the present invention, the algae identification module can combine the monitoring data from the surveillance camera with historical hydrological data to generate a heat map predicting the spread of algae blooms.

[0013] In one or more embodiments of the present invention, a laser ranging module is installed on the bottom of the drone, and the laser ranging module is used to calibrate the starting coordinates of the underwater robot's operation.

[0014] In one or more embodiments of the present invention, the underwater robot is further provided with an obstacle avoidance module and an energy efficiency management module, wherein the energy efficiency management module dynamically adjusts the travel speed according to the remaining power of the underwater robot.

[0015] In one or more embodiments of the present invention, the collaborative control platform employs a dynamic grid partitioning algorithm to divide the water area into priority-differentiated operation grids.

[0016] An algae control method, applied to the aforementioned UAV-based collaborative algae control system with an intelligent underwater robot, includes the following steps: S1. The drone scans the waters using a monitoring camera and transmits multispectral images back in real time. S2. The collaborative control platform uses the algae identification module to identify algal bloom areas and generate dynamic work grids. S3. The drone hovers above the target grid and marks the work point using the laser ranging module; S4. The underwater robot receives the coordinates and initiates a dual-mode treatment process of algae control agent and negative pressure adsorption through the algae control agent unit and the negative pressure adsorption unit. S5. The effectiveness of the governance is verified by drones, and the feedback is sent to the collaborative control platform to iteratively optimize the strategy.

[0017] Compared with existing technologies, the UAV-based collaborative algae control system and method with intelligent underwater robot deployment of the present invention can link UAVs and underwater robots together. The UAV can provide the underwater robot with a global view, thereby enabling the underwater robot to be deployed accurately and achieve the best algae removal effect, thus greatly improving the algae removal efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a system block diagram of an algae control system based on a drone and an intelligent underwater robot, according to one embodiment of the present invention. Figure 2 This is a flowchart of a method for controlling algae based on unmanned aerial vehicles and intelligent underwater robots in one embodiment of the present invention; Figure 3 This is a schematic diagram of a collaborative algae control operation based on a drone and an intelligent underwater robot in one embodiment of the present invention; Figure 4 This is a first-angle perspective view of a drone in one embodiment of the present invention; Figure 5 for Figure 4 Schematic diagram of the structure at point A in the middle; Figure 6 This is a second-angle perspective view of a drone in one embodiment of the present invention; Figure 7 This is a cross-sectional view of a portion of the structure of a drone in one embodiment of the present invention; Figure 8 for Figure 7 Schematic diagram of the structure at point B.

[0020] Explanation of key figure labels: 1-UAV body, 101-Monitoring camera, 2-Wind-resistant fairing, 201-Pneumatic guide channel, 3-Laser rangefinder, 4-Anti-rollover mechanism, 401-Counterweight tank, 402-Counterweight liquid, 403-Liquid pump, 404-Distribution pipe, 405-Connecting pipe, 406-Discharge pipe. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0022] like Figures 1 to 3 As shown, an embodiment of the present invention discloses a drone-based collaborative algae control system with an intelligent underwater robot, comprising a drone, an underwater robot, and a collaborative control platform. The drone is equipped with a monitoring camera 101 and a positioning module. The monitoring camera 101 monitors surface algae using visible and multispectral light, and the positioning module is used to locate the drone's position in real time. The underwater robot contains an algae removal module, which includes an algaecide unit and a negative pressure adsorption unit. The algaecide unit releases algaecide, and the negative pressure adsorption unit adsorbs algae-rich water to reduce algae density. The collaborative control platform includes a wireless communication module, which interacts with the drone and the underwater robot via the wireless communication module.

[0023] like Figure 3 As shown, this invention utilizes a collaborative approach of "drone identification and underwater robot execution." On the drone side, a monitoring camera 101 based on visible and multispectral light is used to identify algae on the water surface, and the relevant data is transmitted to a collaborative control platform via a wireless communication module. On the underwater robot side, the data transmitted from the collaborative control platform is received, and algae removal is achieved through the cooperation of an algae control unit and a negative pressure adsorption unit. Specifically, the algae control unit sprays algae-removing agents, and the negative pressure adsorption unit adsorbs algae-rich water to reduce algae density.

[0024] In this implementation, the monitoring camera 101 monitors a wavelength range of 450-900nm, ensuring monitoring accuracy. The underwater robot adopts a flat, streamlined hull to reduce drag during underwater operation. The collaborative control platform forms a star network with the drone and underwater robot via a LoRa+5G dual-mode communication module.

[0025] like Figures 4 to 8 As shown, the drone includes a drone body 1, and a monitoring camera 101 is mounted on the side wall of the drone body 1. This application uses the monitoring camera 101 based on visible light and multispectral light to identify algae on the water surface, which has the advantages of high recognition rate and high accuracy.

[0026] The drone body 1 is equipped with multiple wind-damping fairings 2, which are located at the ends of the rotor arms of the drone body 1. Figure 4 As shown, the surface of the wind-resistant and flow-stabilizing fairing 2 is provided with aerodynamic guide grooves 201. The wind-resistant and flow-stabilizing fairing 2 can improve the stability of the UAV body 1 when hovering on the water surface, so as to ensure the accuracy of image acquisition. At the same time, by setting the aerodynamic guide grooves 201, the wind-resistant and flow-stabilizing fairing 2 can further increase the wind protection effect of the UAV body 1 rotor, ensuring the stability of the UAV body 1 in use.

[0027] In this embodiment, the cover of the wind-resistant and flow-stabilizing fairing 2 adopts a carbon fiber honeycomb structure, which can ensure the overall strength of the wind-resistant and flow-stabilizing fairing 2, and also ensure its service life.

[0028] In addition, the depth-to-width ratio of the pneumatic guide channel 201 is 1.5:1.

[0029] like Figures 4 to 8 As shown, a gyroscope is also installed on the main body 1 of the drone to monitor the flight attitude of the main body 1 of the drone.

[0030] Meanwhile, in order to prevent the drone body 1 from tipping over, an anti-tipping mechanism 4 is also installed on the drone body 1 in this embodiment.

[0031] The anti-rollover mechanism 4 includes multiple counterweight tanks 401, counterweight liquid 402, a liquid pump 403, and multiple connecting pipes 405. The multiple counterweight tanks 401 are respectively fixedly installed on the underside of the rotor of the UAV body 1. Figure 4 The location is shown. Under the action of the pump 403, the counterweight liquid 402 can enter one or more counterweight tanks 401 through multiple connecting pipes 405 to increase the counterweight of the rotor of the drone body 1 and prevent the drone body 1 from tipping over.

[0032] When the gyroscope detects that the drone body 1 has a tendency to tip over or that the tilt angle is too large, the liquid pump 403 runs quickly and extracts the counterweight liquid 402. The extracted counterweight liquid 402 enters one or more counterweight tanks 401 on the underside of the tilted drone body 1 rotor through the connecting pipe 405. This is used to increase the counterweight of the corresponding counterweight tank 401, preventing the drone body 1 from tilting further. This effectively prevents the drone body 1 from tipping over and ensures the stability of the drone body 1 when hovering on the water surface, thereby ensuring the accuracy and safety of image acquisition.

[0033] In addition, the main body 1 of the drone is equipped with a storage cavity, and the counterweight liquid 402 and the pump 403 are both located in the storage cavity.

[0034] Specifically, a fluid replacement pipe is provided on the side wall of the main body 1 of the drone, and the fluid replacement pipe is connected to the storage cavity to facilitate the replacement of the counterweight fluid 402.

[0035] In this embodiment, the connecting pipe 405 is made of metal and its surface is coated with an anti-corrosion coating. The metal material of the connecting pipe 405 prevents it from swaying in strong winds, thus ensuring the stability and safety of the drone body 1 during flight. The anti-corrosion coating effectively prevents the connecting pipe 405 from being corroded by moisture when the drone body 1 hovers over water, thereby significantly extending its service life.

[0036] like Figures 4 to 8 As shown, a distribution pipe 404 is installed at the outlet end of the pump 403. The distribution pipe 404 is located inside the storage cavity. One end of the connecting pipe 405 is connected to the distribution pipe 404, and a control valve is installed on the connecting pipe 405.

[0037] When the pump 403 operates, it draws counterweight liquid 402 from the storage chamber, which then enters the distribution pipe 404. When the gyroscope detects that the UAV body 1 is tilted to one side, the control valve on the corresponding connecting pipe 405 opens, while the other control valves close. The counterweight liquid 402 in the distribution pipe 404 enters the counterweight tank 401 under the tilted rotor of the UAV body 1 through the connecting pipe 405, increasing the counterweight of the corresponding tank 401 and preventing further tilting of the UAV body 1. This effectively prevents the UAV body 1 from tipping over, ensuring its stability when hovering on the water surface and guaranteeing image acquisition accuracy and safety.

[0038] When the main body of the drone 1 no longer tilts or gradually becomes horizontal, the liquid pump 403 stops operating and no longer delivers counterweight liquid 402 to the counterweight tank 401, so as to avoid excessive tilt correction of the main body of the drone 1.

[0039] The distribution pipe 404 is equipped with a liquid outlet pipe 406, which is connected to the storage cavity. A check valve is installed on the liquid outlet pipe 406, so that the counterweight liquid 402 in the distribution pipe 404 can only flow to the storage cavity in one direction through the liquid outlet pipe 406.

[0040] When it is necessary to drain the counterweight liquid 402 in the counterweight tank 401, the control valve is opened. Since the height of the counterweight tank 401 is higher than that of the distribution pipe 404, the counterweight liquid 402 in the counterweight tank 401 will enter the distribution pipe 404 through the connecting pipe 405 under the action of gravity, and enter the storage chamber through the outlet pipe 406 for subsequent reuse.

[0041] like Figure 1 As shown, the algae control unit includes an algae control tank, a piezoelectric ceramic micropump, and a nozzle. The piezoelectric ceramic micropump is installed inside the algae control tank, and the nozzle is installed at the outlet end of the piezoelectric ceramic micropump. The piezoelectric ceramic micropump draws the algae control agent from the tank and discharges it through the nozzle to achieve algae removal. Simultaneously, the nozzle allows for precise, targeted spraying of the agent, preventing water diffusion and waste.

[0042] Among them, the pulse frequency (f) of the piezoelectric ceramic micropump is correlated with the algae density (ρ) to satisfy: f = 50 + 0.2ρ (Hz) to ensure that the agent concentration in the high algae area is constant.

[0043] In this embodiment, the algae control agent chamber includes a slow-release agent chamber and a fast-acting agent chamber. The release of different types of agents can be selected based on the monitoring results of the camera 101, thus avoiding waste of agents.

[0044] In addition, the nozzle of this application is a conical focusing nozzle controlled by an electromagnetic switch, with a diffusion angle ≤15°, which can greatly improve the accuracy of agent spraying and avoid agent waste.

[0045] like Figure 1 As shown, the negative pressure adsorption unit includes a coaxial two-stage impeller and a filter screen. The impeller speed is ≥3000rpm, the filter screen pore size is less than 50μm, and the outer side of the filter screen is covered with an algae-reducing coating.

[0046] Preferably, the filter screen in this application is a microporous ceramic filter screen with a pore size of 20μm and a porosity of 85%, which can significantly improve the adsorption efficiency of algal cells while avoiding filter screen clogging.

[0047] like Figure 1 As shown, the collaborative control platform also includes an algae identification module. This module establishes an algae classification model based on multispectral features, which can automatically identify algae types, such as (cyanobacteria / green algae / diatoms), to guide differentiated management.

[0048] Among them, the algal species classification model uses ResNet-18 as the backbone network. The input includes the normalized algal index and fluorescence excitation features, which can improve the accuracy of algal species identification and is used to distinguish harmful algae such as Microcystis and Oscillatoria.

[0049] In addition, the algae identification module can combine monitoring data from the 101 surveillance camera with historical hydrological data to generate a heat map predicting the spread of algae blooms, thereby predicting the trend of algae blooms and optimizing the deployment path of underwater robots.

[0050] like Figures 1 to 8As shown, a laser ranging module is installed at the bottom of the UAV body 1. The laser ranging module includes a laser ranging probe 3. The laser ranging probe 3 is used to calibrate the starting coordinates of the underwater robot's operation. That is, the UAV's laser ranging probe 3 and the underwater robot perform Kalman filter fusion positioning, which can generate a three-dimensional point cloud map of the water area and mark the coordinates of high-risk operation areas.

[0051] like Figure 1 As shown, the underwater robot is also equipped with an obstacle avoidance module based on sonar technology and an energy efficiency management module. The energy efficiency management module dynamically adjusts the underwater robot's speed according to its remaining battery power. That is, the energy efficiency management module dynamically adjusts the propulsion power P (W) according to the water flow velocity v (m / s): P = 10v² + 50.

[0052] The collaborative control platform employs a dynamic grid partitioning algorithm to divide the water area into priority-differentiated operational grids. Specifically, the dynamic grid partitioning algorithm establishes a Markov decision process model with a reward function R = αρ - βE - γS (α, β, γ are weighting coefficients), where ρ (cells / mL) is the algae density, E (%) is the remaining power of the equipment, and S (m²) is the area of ​​the region. This improves the efficiency of overall governance and avoids redundant coverage.

[0053] like Figure 2 As shown, an algae control method according to one embodiment of the present invention, applied to the above-mentioned algae control system based on unmanned aerial vehicles and intelligent underwater robots, includes the following steps: S1. The drone cruises along a zigzag path at an altitude of 30m, scans the water area through the monitoring camera 101, and transmits multispectral images back to the collaborative control platform in real time. The algae identification module calculates the normalized algae index. S2. When the normalized algal index is >0.25, the collaborative control platform divides the grid into dynamic variable grids, and the grid size is negatively correlated with the algal density. S3. The drone hovers at the center of the high-risk grid, and the laser rangefinder 3 calibrates the underwater robot's operating base point. At the same time, the gyroscope monitors the drone's flight attitude. S4. If the drone tends to tip over or tilts significantly, the pump 403 will operate and extract the counterweight liquid 402 from the storage chamber. The extracted counterweight liquid 402 will then enter the distribution pipe 404. S5. The control valve on the corresponding side connecting pipe 405 is opened, while the other control valves are closed. The counterweight liquid 402 in the distribution pipe 404 enters the counterweight tank 401 on the underside of the rotor of the tilted UAV body 1 through the connecting pipe 405. This is used to increase the counterweight of the corresponding counterweight tank 401, preventing the UAV body 1 from tilting further to the side. This can effectively prevent the UAV body 1 from overturning and ensure the stability of the UAV body 1 when hovering on the water surface, so as to ensure the image acquisition accuracy and safety.

[0054] S6. The underwater robot receives instructions from the collaborative control platform and intelligently deploys them to the high-risk grid center. It selects the appropriate agent mode for algae removal based on the type of algae, such as activating the slow-release chamber for blue-green algae and the fast-acting chamber for green algae. S7. After the underwater robot completes the treatment, the drone scans the water area a second time, evaluates the effect by the chlorophyll fluorescence attenuation rate, and iterates the grid parameters.

[0055] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A drone-based collaborative algae control system with an intelligent underwater robot, characterized in that, include: The drone is equipped with a monitoring camera and a positioning module. The monitoring camera monitors algae on the water surface based on visible light and multispectral light, and the positioning module is used to locate the drone's position in real time. An underwater robot is equipped with an algae removal module, which includes an algae control agent unit and a negative pressure adsorption unit. The algae control agent unit is used to release algae removal agent, and the negative pressure adsorption unit is used to adsorb algae-rich water to reduce algae density. The collaborative control platform includes a wireless communication module, which interacts with the UAV and the underwater robot via the wireless communication module.

2. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The drone is equipped with multiple wind-damping and flow-stabilizing fairings, which are located at the ends of the drone's rotor arms. The surface of the fairing is provided with aerodynamic flow guide grooves.

3. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The algae control agent unit includes an algae control agent tank, a piezoelectric ceramic micropump, and a nozzle. The piezoelectric ceramic micropump is installed inside the algae control agent tank, and the nozzle is installed at the liquid outlet end of the piezoelectric ceramic micropump.

4. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The negative pressure adsorption unit includes a coaxial two-stage impeller and a filter screen. The filter screen has a pore size of less than 50 μm and is covered with an algae-reducing coating on its outer side.

5. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The collaborative control platform is also equipped with an algae identification module, which establishes an algae species classification model based on multispectral features.

6. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 5, characterized in that, The algae identification module can combine the monitoring data from the surveillance camera with historical hydrological data to generate a heat map predicting the spread of algae blooms.

7. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The drone is equipped with a laser ranging module on its bottom, which is used to calibrate the starting coordinates of the underwater robot's operation.

8. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The underwater robot is also equipped with an obstacle avoidance module and an energy efficiency management module. The energy efficiency management module dynamically adjusts the movement speed based on the remaining power of the underwater robot.

9. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that, The collaborative control platform employs a dynamic grid partitioning algorithm to divide the water area into priority-differentiated operational grids.

10. A method for controlling algae, applied to the algae control system based on unmanned aerial vehicles and intelligent underwater robots as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The drone scans the waters using a monitoring camera and transmits multispectral images back in real time. S2. The collaborative control platform uses the algae identification module to identify algal bloom areas and generate dynamic work grids. S3. The drone hovers above the target grid and marks the work point using the laser ranging module; S4. The underwater robot receives the coordinates and initiates a dual-mode treatment process of algae control agent and negative pressure adsorption through the algae control agent unit and the negative pressure adsorption unit. S5. The effectiveness of the governance is verified by drones, and the feedback is sent to the collaborative control platform to iteratively optimize the strategy.

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