An automated phosphorus removal underwater robot system and phosphorus removal method

Abstract

The present invention discloses an automated phosphorus removal underwater robot system, which includes a water treatment unit, a drive unit, and an automatic control unit; the water treatment unit includes a filter chamber, an impurity storage chamber, an adsorption chamber, and an electric pump chamber; the water inlet end of the filter chamber is connected to the lake, the filter chamber is connected to the impurity storage chamber through a slag discharge port, the filter chamber is connected to the adsorption chamber through a first water outlet, and the adsorption chamber is connected to the electric pump chamber through a second water outlet; the electric pump discharges the water in the electric pump chamber from the third water outlet on the electric pump chamber to the lake; the drive unit is controlled by the automatic control unit, and is used to make the entire system swim up and down, swim in translation, and move underwater; the automatic control unit includes a remote automatic control end, a water quality sensor, and an infrared ranging sensor. The present invention also discloses a method for dephosphorizing a lake using the above-mentioned automated phosphorus removal underwater robot system. The present invention can be applied to dephosphorization in lakes, and has high phosphorus removal efficiency and good phosphorus removal effect.

Description

Technical Field

[0001] The invention belongs to the field of lake water purification, and specifically relates to an automated phosphorus removal underwater robot system and a phosphorus removal method, which are used for removing phosphorus from lake water. Background Art

[0002] Due to the influence of human activities, a large amount of phosphorus nutrients flow into rivers and lakes, causing water quality deterioration and exacerbating the water resource crisis. At present, phosphorus removal agents are only used in centralized filtration and purification and sewage treatment, and have not been applied to lake purification. The existing water treatment phosphorus removal device requires manual addition of liquid medicine into the treatment box during use, which is time-consuming and labor-intensive; and the wastewater and liquid medicine are not mixed sufficiently, resulting in poor phosphorus removal effect. Therefore, we urgently need a new phosphorus removal device with high phosphorus removal efficiency, good phosphorus removal effect, and suitable for lake phosphorus removal. Summary of the invention

[0003] The purpose of the present invention is to provide an automated phosphorus removal underwater robot system and a phosphorus removal method, which can be applicable to the phosphorus removal in lakes and have high phosphorus removal efficiency and good phosphorus removal effect.

[0004] The technical solution adopted by the present invention is:

[0005] An automated phosphorus removal underwater robot system, comprising a water treatment unit, a drive unit, and an automatic control unit;

[0006] The water treatment unit is used to remove phosphorus from phosphorus-containing water in the lake, and comprises a filter chamber, an impurity storage chamber, an adsorption chamber, and an electric pump chamber; the water inlet end of the filter chamber is connected to the lake, the filter chamber is connected to the impurity storage chamber through a slag discharge port, the filter chamber is connected to the adsorption chamber through a first water outlet, and the adsorption chamber is connected to the electric pump chamber through a second water outlet; a filter screen is provided in the filter chamber, an adsorbent is evenly laid in the adsorption chamber, an electric pump is provided in the electric pump chamber, and the electric pump discharges the water in the electric pump chamber from the third water outlet on the electric pump chamber to the lake;

[0007] The driving unit is controlled by an automatic control unit to enable the entire system to swim up and down, swim in translation and move underwater;

[0008] The automatic control unit includes a remote automatic control terminal, a water quality sensor for measuring phosphorus concentration, and an infrared distance sensor for measuring system distance. The water quality sensor and the infrared distance sensor transmit the collected signals to the remote automatic control terminal, and the remote automatic control terminal controls the operation of the driving unit according to the above data;

[0009] The water treatment unit and the remote automatic control terminal are placed in the shell, and the driving unit, the water quality sensor and the infrared distance measuring sensor are placed on the shell.

[0010] A further solution is that the automated phosphorus removal underwater robot system also includes an energy storage unit installed in the shell, and the energy storage unit supplies power to the water treatment unit, the drive unit, and the automatic control unit.

[0011] A further solution is that the energy storage unit includes a solar battery, and the use of the solar battery can save energy.

[0012] A further solution is that the filter chamber is provided with multiple layers of filter screens with different apertures, and an electric brush installed on the filter screen for removing impurities. The electric brush can move from left to right at a fixed time to sweep the impurities adsorbed on the filter screen into the impurity storage chamber through the slag discharge port, thereby preventing blockage.

[0013] A further solution is that the filter has three layers, and the aperture of the filter gradually increases from the water inlet end to the first water outlet end, so as to filter impurities in the lake water.

[0014] A further solution is that the pore size of the first layer of filter is 2.5-3.5mm, the pore size of the second layer of filter is 0.65-0.75mm, and the pore size of the third layer of filter is 0.0005-0.002mm, so as to better remove phosphorus.

[0015] A further solution is that the adsorbent is FERROLOX; the adsorbent FERROLOX is a granular iron hydroxide with high adsorption capacity, complete adsorption time of less than 3 minutes, which can reduce the phosphorus concentration to less than 0.05ppm, and is regenerable and recyclable, economical, efficient, energy-saving and environmentally friendly.

[0016] A further solution is that the driving unit includes an up-and-down swimming driving mechanism, a translation swimming driving mechanism and an underwater moving driving mechanism;

[0017] The up-and-down swimming driving mechanism comprises a first propeller and a first motor for driving the first propeller to rotate; the first propeller is installed on the top of the housing and connected to the first motor through a first coupling and a first rotating shaft; the automatic control unit controls the operation of the first motor, thereby controlling the rotation of the first propeller, and then controlling the up-and-down swimming of the system (the first motor rotates forward to achieve floating, and the first motor rotates reversely to achieve sinking);

[0018] The translational swimming driving mechanism comprises a second propeller and a second motor for driving the second propeller to rotate; there are two second propellers, which are respectively arranged on the left and right sides of the housing, and the two second propellers are respectively connected to the second motor through a second coupling and a second rotating shaft; the automatic control unit controls the operation of the second motor, thereby controlling the rotation of the second propeller, and then controlling the translational swimming of the system;

[0019] The underwater mobile driving mechanism includes a telescopic rod, wheels and a third motor, one end of the telescopic rod is fixed to the shell, and the other end is connected to the wheel; the third motor controls the movement of the wheel; the automatic control unit controls the extension and retraction of the telescopic rod; the control unit controls the operation of the third motor, and then controls the movement of the wheel.

[0020] A further solution is that there are four telescopic rods arranged symmetrically at the bottom of the shell. By adjusting the height of the telescopic rods, the height of the system can be controlled, thereby controlling the height of the water inlet end.

[0021] A further solution is that the automatic control unit also includes a first speed sensor for measuring the speed of the first propeller and a second speed sensor for measuring the speed of the second propeller, the first speed sensor is installed on the first rotating shaft, and the second speed sensor is installed on the second rotating shaft; the first speed sensor and the second speed sensor transmit the collected data to the remote automatic control end, and the remote automatic control end controls the speeds of the first propeller and the second propeller according to the data, thereby controlling the up and down swimming speed and the translational swimming speed of the system.

[0022] A further solution is that the remote automatic control terminal uses GPRS / CDMA to communicate with the water quality sensor.

[0023] A further solution is that there are three infrared ranging sensors, two of which are installed on both sides of the shell (propeller mounting ports on the left and right sides), and the other is installed at the bottom of the shell; so as to detect the distance between the system and the lake bottom and lake wall, ensure the safety of the system, and better achieve the phosphorus removal effect.

[0024] The present invention also provides a method for removing phosphorus from lakes using the above-mentioned automated phosphorus removal underwater robot system, which comprises the following steps:

[0025] 1) Start the up-and-down swimming drive mechanism and the translation swimming drive mechanism to move the entire system underwater;

[0026] 2) The infrared ranging sensor is used to measure the distance from the system to the underwater. The remote automatic control end controls the system to the appropriate distance according to the data sent by the infrared ranging sensor, and adjusts the height of the telescopic rod; the water quality sensor is used to monitor the ion concentration in the water, and the detection results are sent to the remote automatic control end;

[0027] 3) The remote automatic control end controls the driving unit to work, so that the entire system moves to the area where the phosphorus concentration exceeds the standard; the water inlet end is opened, and the lake water to be treated enters the filter chamber from the water inlet end;

[0028] 4) After the lake water is filtered by the multi-layer filter screen, it enters the adsorption chamber through the first water outlet. The filtered impurities remain on the surface of the filter screen and are sent to the impurity storage chamber through the electric brush on the surface of the filter screen;

[0029] 5) Adsorbing the filtered phosphate by an adsorbent;

[0030] 6) The water treated by the adsorbent is discharged into the lake through the third outlet under the action of the electric pump.

[0031] The beneficial effects of the present invention are:

[0032] It has a simple structure and a high degree of automation. When in use, it can collect water with high phosphorus content at the bottom of the lake, and reduce the phosphorus concentration in the water to less than 0.05ppm through multi-layer filtration and adsorption, which meets the requirements of Class I surface water in the Surface Water Environmental Quality Standard GB3838-2002.

[0033] By setting the up-and-down swimming drive mechanism, the translation swimming drive mechanism, and the underwater moving drive mechanism, the system can be easily and conveniently made to reach the phosphorus concentration exceeding the standard area, and the operation is very simple;

[0034] The water quality sensor monitors the ion concentration in the water and sends the ion concentration to the automatic control room (remote automatic control terminal). The system moves to the area where the phosphorus concentration exceeds the standard, effectively removing phosphorus while achieving automated phosphorus removal, which is environmentally friendly and efficient.

[0035] The infrared ranging sensor detects the distance between the system and the lake bottom and lake wall, thereby achieving the effect of controlling the water inlet height, protecting the system and increasing the service life of the entire system;

[0036] By controlling the rotation speed of the first motor, the speed at which the system floats up and down can be controlled, which can meet the needs of various situations and is more humane;

[0037] The invention has low cost, good underwater phosphorus removal effect, high efficiency, can be applied to lakes of various sizes at the same time, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0039] Figure 1 This is a schematic diagram of the explosion structure of the automated phosphorus removal underwater robot system;

[0040] Figure 2 It is a schematic diagram of the structure of the filter and the electric brush;

[0041] Figure 3 This is a schematic diagram of the slag discharge port;

[0042] Figure 4 It is a schematic diagram of the three-dimensional structure of the automated phosphorus removal underwater robot system;

[0043] Figure 5 This is a schematic diagram of the main structure of the automated phosphorus removal underwater robot system;

[0044] Figure 6 It is a schematic diagram of the top view of the structure of the automated phosphorus removal underwater robot system;

[0045] Figure 7 This is a schematic structural diagram of the automated phosphorus removal underwater robot system from another perspective.

[0046] In the figure: 1. first propeller; 2. automatic control room; 3. right infrared distance sensor; 4. left infrared distance sensor; 5. filter room; 6. water inlet; 7. first filter screen; 8. second filter screen; 9. third filter screen; 10. electric brush; 11. adsorption room; 12. first water outlet; 13. adsorbent; 14. second water outlet; 15. electric pump room; 16. electric pump; 17. third water outlet; 18. impurity storage room; 19. second propeller on the left; 20. second propeller on the right; 21. bottom of the shell; 22. solar battery; 23. wheels; 24. top infrared distance sensor; 25. slag discharge port. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] Example 1

[0049] See also Figure 1-Figure 7 , an automated phosphorus removal underwater robot system, which includes a shell, a water treatment unit, a drive unit, an automatic control unit, and an energy storage unit.

[0050] The water treatment unit is installed in the shell and is used to remove phosphorus from the phosphorus-containing water in the lake. It includes a filter chamber 5, an impurity storage chamber 18, an adsorption chamber 11, and an electric pump chamber 15. The water inlet 6 of the filter chamber 5 is connected to the lake, the filter chamber 5 is connected to the impurity storage chamber 18 through the slag discharge port 25, the filter chamber 5 is connected to the adsorption chamber 11 through the first water outlet 12, and the adsorption chamber 11 is connected to the electric pump chamber 15 through the second water outlet 14. A filter screen is provided in the filter chamber 5, an adsorbent 13 is evenly laid in the adsorption chamber 11, and an electric pump 16 is provided in the electric pump chamber 15. The electric pump 16 discharges the water in the electric pump chamber 15 from the third water outlet 17 on the electric pump chamber 15 to the lake. In a preferred embodiment, in order to achieve better filtration, the filter screen has three layers, and the aperture of the filter screen gradually increases from the water inlet end to the first water outlet end, specifically: the aperture of the first layer of filter screen 7 is 3mm, the aperture of the second layer of filter screen 8 is 0.7mm, and the aperture of the third layer of filter screen 9 is 0.001mm. In order to facilitate the discharge of impurities in the adsorption chamber, an electric brush 10 for removing impurities can be set on each layer of the filter screen. The electric brush 10 can move from left to right at a fixed time. At this time, the slag discharge port 25 is opened, so that the impurities adsorbed on the filter screen are swept into the impurity storage chamber 18 by the electric brush 10, thereby preventing blockage. When the impurities accumulate to a certain extent, the impurity storage chamber 18 needs to be removed and cleaned. Adsorbent 13 uses FERROLOX, a granular iron hydroxide with high adsorption capacity. It is an economical and efficient material for removing phosphate from water. Its unique adsorption performance can reduce the phosphorus concentration to less than 0.05ppm, which meets the surface water Class I in the "Surface Water Environmental Quality Standard" GB3838-2002. At the same time, FERROLOX is reusable, energy-saving, environmentally friendly, economical and efficient. The adsorption range of adsorbent 13 is pH<9, and the optimal adsorption pH is 6-7, which can meet the pH range of lakes.

[0051] The driving unit is controlled by an automatic control unit and is used to make the entire system swim up and down, swim in translation and move underwater; it includes an up and down swimming driving mechanism, a translation swimming driving mechanism and an underwater movement driving mechanism. The up and down swimming driving mechanism includes a first propeller 1 and a first motor for driving the first propeller 1 to rotate; the first propeller 1 is installed on the top of the shell and is connected to the first motor through a first coupling and a first rotating shaft; the automatic control unit controls the operation of the first motor to control the rotation of the first propeller 1, thereby controlling the system to swim up and down (the first motor rotates forward to achieve floating, and the first motor rotates backward to achieve sinking). The translation swimming driving mechanism includes a second propeller (a second propeller 19 on the left and a second propeller 20 on the right) and a second motor for driving the second propeller to rotate; the second propeller 19 on the left and the second propeller 20 on the right) are respectively installed on the left and right sides of the shell, and are respectively connected to the second motor through a second coupling and a second rotating shaft; the automatic control unit controls the operation of the second motor to control the rotation of the second propeller, thereby controlling the translation swimming of the system. The direction of the power generated by the second propeller when rotating is perpendicular to the direction of the power generated by the first propeller 1. The underwater mobile driving mechanism includes a telescopic rod, a wheel 23 and a third motor. The telescopic rod is 10 to 15 cm long, one end of which is fixed to the bottom 21 of the housing, and the other end is connected to the wheel 23; in a preferred embodiment, there are four telescopic rods, which are symmetrically arranged at the bottom 21 of the housing, and the height of the system can be controlled by adjusting the height of the telescopic rod, thereby controlling the height of the water inlet end 6; the third motor controls the wheel 23 to move; the automatic control unit controls the telescopic rod to extend and retract; the automatic control unit controls the third motor to work, thereby controlling the wheel to move.

[0052] The automatic control unit includes a remote automatic control terminal, a water quality sensor for measuring phosphorus concentration, an infrared distance sensor for measuring system distance, a first speed sensor for measuring the speed of the first propeller, and a second speed sensor for measuring the speed of the second propeller. The remote automatic control terminal is installed in the automatic control room 2 in the shell. The water quality sensor is installed on the shell. There are three infrared distance sensors (right infrared distance sensor 3, left infrared distance sensor 4, top infrared distance sensor 24), the right infrared distance sensor 3 and the left infrared distance sensor 4 are respectively installed on the left and right propeller installation ports on both sides of the shell, and the top infrared distance sensor 24 is installed on the bottom 21 of the shell; so as to detect the distance between the system and the lake bottom and the lake wall. The water quality sensor, the infrared distance sensor, and the speed sensor transmit the collected signals to the remote automatic control terminal, and the remote automatic control terminal controls the operation of the drive unit according to the above data.

[0053] The energy storage unit is installed in the shell to supply power to the water treatment unit, the drive unit, and the automatic control unit. In a preferred embodiment, the energy storage unit includes a solar battery 22. The use of a solar battery can save energy. In order to reduce the overall weight of the system, only one solar battery 22 is arranged in the shell. The working time of this solar battery 22 is 20 to 24 hours. It can supply power to the first motor, the second motor, the electric brush 10, and the electric pump 16 at the same time. When the power is insufficient, it can be taken out and charged. The solar battery 22 is electrically connected to each mechanism through a conductive probe, and a wire connection method is not used. This makes the internal structure of the system relatively simple and has good conductivity, which improves the stability of the system operation and avoids the situation in which multiple groups of wires are entangled with each other during the rotation process, resulting in unstable power supply or even motor burning, thereby affecting the continuous operation of the system.

[0054] Example 2

[0055] A method for removing phosphorus from lakes using the above-mentioned automated phosphorus removal underwater robot system comprises the following steps:

[0056] 1) Start the up-and-down swimming drive mechanism and the translation swimming drive mechanism to move the entire system underwater;

[0057] 2) The infrared ranging sensor is used to measure the distance from the system to the underwater. The remote automatic control end controls the system to the appropriate distance according to the data sent by the infrared ranging sensor, and adjusts the height of the telescopic rod; the water quality sensor is used to monitor the ion concentration in the water, and the detection results are sent to the remote automatic control end;

[0058] 3) The remote automatic control end controls the driving unit to work, so that the entire system moves to the area where the phosphorus concentration exceeds the standard; the water inlet end is opened, and the lake water to be treated enters the filter chamber from the water inlet end;

[0059] 4) After the lake water is filtered by the multi-layer filter screen, it enters the adsorption chamber through the first water outlet. The filtered impurities remain on the surface of the filter screen and are sent to the impurity storage chamber through the electric brush on the surface of the filter screen;

[0060] 5) Adsorbing the filtered phosphate by an adsorbent;

[0061] 6) The water treated by the adsorbent is discharged into the lake through the third outlet under the action of the electric pump;

[0062] 7) Repeat the above steps.

[0063] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An automated phosphorus removal underwater robot system, characterized in that: It includes water treatment unit, driving unit, automatic control unit and energy storage unit; The water treatment unit is used to remove phosphorus from phosphorus-containing water in the lake, and includes a filter chamber, an impurity storage chamber, an adsorption chamber, and an electric pump chamber; the water inlet end of the filter chamber is connected to the lake, the filter chamber is connected to the impurity storage chamber through a slag discharge port, the filter chamber is connected to the adsorption chamber through a first water outlet, and the adsorption chamber is connected to the electric pump chamber through a second water outlet; the filter chamber is provided with multiple layers of filter screens with different apertures, and an electric brush installed on the filter screen for removing impurities; the adsorbent is evenly laid in the adsorption chamber, and the electric pump is provided in the electric pump chamber, and the electric pump discharges the water in the electric pump chamber from the third water outlet on the electric pump chamber to the lake; The driving unit is controlled by an automatic control unit to enable the entire system to swim up and down, swim in translation and move underwater; The automatic control unit includes a remote automatic control terminal, a water quality sensor for measuring phosphorus concentration, and an infrared distance sensor for measuring system distance. The water quality sensor and the infrared distance sensor transmit the collected signals to the remote automatic control terminal, and the remote automatic control terminal controls the operation of the driving unit according to the above data; The water treatment unit, the remote automatic control terminal, and the energy storage unit are placed in the shell, and the drive unit, the water quality sensor, and the infrared ranging sensor are placed on the shell; the energy storage unit supplies power to the water treatment unit, the drive unit, and the automatic control unit.

2. The automated phosphorus removal underwater robot system according to claim 1, characterized in that: The filter screen has three layers, and the aperture of the filter screen gradually decreases from the water inlet end to the first water outlet end.

3. The automated phosphorus removal underwater robot system according to claim 2, characterized in that: The pore size of the first layer of filter is 2.5-3.5mm, the pore size of the second layer of filter is 0.65-0.75mm, and the pore size of the third layer of filter is 0.0005-0.002mm.

4. The automated phosphorus removal underwater robot system according to claim 1, characterized in that: The adsorbent is FERROLOX.

5. The automated phosphorus removal underwater robot system according to claim 1, characterized in that: The driving unit includes an up-and-down swimming driving mechanism, a translation swimming driving mechanism and an underwater moving driving mechanism; The up-and-down swimming driving mechanism comprises a first propeller and a first motor; the first propeller is installed on the top of the housing and connected to the first motor through a first coupling and a first rotating shaft; the automatic control unit controls the operation of the first motor, thereby controlling the rotation of the first propeller, and then controlling the up-and-down swimming of the system; The translational swimming drive mechanism comprises a second propeller and a second motor; there are two second propellers, which are respectively arranged on the left and right sides of the housing, and the two second propellers are respectively connected to the second motor through a second coupling and a second rotating shaft; the automatic control unit controls the operation of the second motor, thereby controlling the rotation of the second propeller, and further controlling the translational swimming of the system; The underwater mobile driving mechanism includes a telescopic rod, wheels and a third motor, one end of the telescopic rod is fixed to the shell, and the other end is connected to the wheel; the third motor controls the movement of the wheel; the automatic control unit controls the extension and retraction of the telescopic rod; the control unit controls the operation of the third motor, and then controls the movement of the wheel.

6. The automated phosphorus removal underwater robot system according to claim 5, characterized in that: The automatic control unit also includes a first speed sensor for measuring the speed of the first propeller and a second speed sensor for measuring the speed of the second propeller, the first speed sensor is installed on the first rotating shaft, and the second speed sensor is installed on the second rotating shaft; the first speed sensor and the second speed sensor transmit the collected data to the remote automatic control end, and the remote automatic control end controls the speeds of the first propeller and the second propeller according to the data, thereby controlling the up and down swimming speed and the translational swimming speed of the system.

7. The automated phosphorus removal underwater robot system according to claim 1, characterized in that: There are three infrared distance measuring sensors, two of which are respectively arranged on both sides of the shell, and the other is arranged at the bottom of the shell.

8. A method for dephosphorizing a lake using the automated dephosphorization underwater robot system according to any one of claims 1 to 7, characterized in that: The steps include: 1) Start the up-and-down swimming drive mechanism and the translation swimming drive mechanism to move the entire system underwater; 2) The infrared ranging sensor is used to measure the distance from the system to the underwater. The remote automatic control end controls the system to the appropriate distance according to the data sent by the infrared ranging sensor, and adjusts the height of the telescopic rod; the water quality sensor is used to monitor the ion concentration in the water, and the detection results are sent to the remote automatic control end; 3) The remote automatic control end controls the driving unit to work, so that the entire system moves to the area where the phosphorus concentration exceeds the standard; the water inlet end is opened, and the lake water to be treated enters the filter chamber from the water inlet end; 4) After the lake water is filtered by the multi-layer filter screen, it enters the adsorption chamber through the first water outlet. The filtered impurities remain on the surface of the filter screen and are sent to the impurity storage chamber through the electric brush on the surface of the filter screen; 5) Adsorbing the filtered phosphate by an adsorbent; 6) The water treated by the adsorbent is discharged into the lake through the third outlet under the action of the electric pump.

Images