Fully automatic river and lake water purification robot and method

Abstract

The present invention relates to a fully automatic river and lake water purification robot, comprising a carrying box, which is divided into a ballast water tank and an equipment compartment; a snorkeling device; a water purification device, which comprises a water pump, a replaceable filter element, a drainage panel, a first five-way joint, and a water purification pipe. The present invention also relates to a fully automatic river and lake water purification method, which comprises the steps of: deploying a water purification robot, and then calibrating the current GPS coordinates and water depth data; heading to a target hovering point; starting water purification work; collecting water depth data, dissolved oxygen data, conductivity data, and turbidity data; if the current hovering point is not the last hovering point in the cruise route, executing again; otherwise heading to the GPS coordinates and water depth data at the time of calibration. The present invention fundamentally solves the problem that the prior art cannot reach the deep waters for purification operations; it is accurate and efficient; it accurately filters various pollutants and brings air to where it is needed; it has first-hand water ecological data; and it does not require a special underwater navigation device.

Description

Technical Field

[0001] The present invention relates to the technical field of water treatment, and in particular to a fully automatic river and lake water purification robot and method. Background Art

[0002] The purification of river and lake water has always been a global problem. Due to the different geographical environments, seasons, ecological environments, climate environments and other conditions of different rivers and lakes, the actual situation is often very complicated.

[0003] When the water quality of rivers and lakes deteriorates, it is necessary to purify the water, which is one of the basic water environment management tasks;

[0004] The existing technology for river and lake water purification basically adopts three types of methods: chemical purification, biological purification and physical purification; among them:

[0005] Chemical purification is to add various purification agents to the water to be purified in order to achieve the purpose of purification; for example, algaecides are used to deal with algae blooms, or iron salts are used to precipitate phosphorus ions in the water to reduce eutrophication problems;

[0006] The advantages of chemical purification are strong targeting and rapid effectiveness, but the disadvantages are:

[0007] 1. Since the causes of water quality deterioration are very complex, it is not necessarily possible to achieve purification effects by using a few simple chemical agents;

[0008] 2. Since chemical agents themselves have certain environmental hazards, if the dosage is not properly controlled, it is easy to cause secondary hazards;

[0009] 3. Since the distribution of water quality deterioration is uneven, the use of chemical purification methods can easily lead to inaccurate placement, which increases the cost of treatment and further increases the risk of excessive local placement;

[0010] The principle of biological purification is to use various aquatic organisms, especially the roots of aquatic plants, to absorb pollutants and purify polluted waters.

[0011] The advantage of biological purification is that it is very environmentally friendly and uses biological organisms to manage the natural environment, but the disadvantages of biological purification are:

[0012] 1. Since the adsorption of plant roots is a relatively slow process, the purification speed of biological purification is much lower than that of the other two purification methods;

[0013] 2. Since plant roots have a certain length limit, biological purification methods can generally only be used in relatively shallow river and lake waters. For deeper river and lake pollution, the roots cannot reach in, thus failing to achieve the purpose of treatment;

[0014] 3. Due to the slow adsorption of plant roots, in order to achieve the same treatment effect as the other two purification methods, a large area of ​​aquatic plants needs to be planted, and the construction and maintenance costs are high;

[0015] 4. Since plants are prone to death, if there is a problem with the maintenance process or simply the plant life cycle ends, they will die and rot, further aggravating the deterioration of the water quality of the treated waters;

[0016] 5. Due to the diversity of the environment, the aquatic plants used need to be carefully selected, otherwise the plants used for pollution control will escape into the local ecosystem, causing biological invasion, with very serious consequences;

[0017] The principle of physical purification is to use various methods to salvage and filter pollutants in the water and aerate it to achieve the purpose of purification;

[0018] The advantage of physical purification is that it is relatively efficient and has no concerns about collateral damage; however, physical purification also has disadvantages:

[0019] There are many existing technologies for physical purification, including artificial salvage, engineering treatment, and aeration.

[0020] Artificial salvage is the most common method for dealing with algae and water surface plant outbreaks, represented by water hyacinth. The most common scenario is to manually drive a boat to clean up the water hyacinth outbreak on the lake surface.

[0021] The disadvantages of manual salvage are:

[0022] 1. Due to the limitation of the principle of manual salvage, the efficiency is low, the labor cost is high, and the probability of recurrence is high due to incomplete treatment;

[0023] 2. Since the artificial salvage method is highly targeted, it is just salvage without improving the eutrophication of the water body, thus failing to fundamentally solve the outbreak of algae and surface plants;

[0024] The principle of engineering treatment is to select suitable terrain where water flows, build water purification projects, and then install various filtering and sedimentation structures or devices in them, so that the sewage flowing through can be treated and turned into clean water that meets the standards, and then discharged into the natural water body of the next level;

[0025] The shortcomings of the engineering treatment method are:

[0026] 1. Since it is necessary to build various water purification projects at the water flow, the cost of treatment is very high;

[0027] 2. Since it involves engineering construction, each terrain and deteriorating water quality have their own particularities, so the construction of each water purification project requires targeted design and cannot be universally promoted;

[0028] 3. Since the water purification projects are permanent projects, the buildings will be retired after the purification task is completed. However, it is difficult to demolish them, and it involves demolition costs and secondary hazards;

[0029] The principle of aeration is to use various means to force natural air into the water body, thereby increasing the oxygen content of the water body while stirring the water body;

[0030] The defects of aeration are: aeration itself cannot be used as a single purification method, but needs to be used together with other purification methods; on the other hand, due to the limitation of the air outlet, aeration still has uneven air supply and cannot meet the oxygen supply demand of the entire water body;

[0031] Based on the above problems, there are also studies on robot purification in the prior art. The principle is to use the robot to navigate to the contaminated area and automatically perform purification operations after arriving until completion.

[0032] The advantage of robot purification is that it does not require the construction of purification buildings and equipment, is relatively flexible, and has high universality;

[0033] Typical robot purification technologies include the Chinese invention application with application number CN202210357065.6 and invention name “Mobile solidified flat membrane purification robot for pond water purification and restoration” (hereinafter referred to as “prior art 1”) and the Chinese invention application with application number CN201810841307.2 and invention name “Water purification robot” (hereinafter referred to as “prior art 2”);

[0034] The principle of the prior art 1 is to use a surface navigation robot, carrying an aeration purification device, and then sail to the surface of the water area that needs to be treated, and perform purification operations by aeration;

[0035] The defect of prior art 1 is:

[0036] 1. Since the main purification method of the prior art 1 is aeration, it is unable to treat other pollutants in the water, and its application scope is very narrow;

[0037] 2. Since the aeration purification device of the prior art 1 is installed near the water surface, it can only purify the water near the water surface, but cannot purify the water deep in the water body, and its effect is not great;

[0038] The principle of prior art 2 is similar to that of prior art 1, which also uses a robot sailing on the water surface and uses aeration for purification. The aeration device is also installed under the hull, very close to the water surface. Therefore, prior art 2 has all the problems of prior art 1.

[0039] In summary, the existing field of robotic water purification is still very new, and there is no technical solution that can simultaneously achieve the functions of pollutant filtration and oxygenation aeration in any underwater area. Summary of the invention

[0040] In view of the above problems, the present invention provides a fully automatic river and lake water purification robot and method, which aims to fundamentally solve the technical problem that the existing technology cannot reach deep waters to perform purification operations; make the purification area very precise and efficient; accurately filter various pollutants in the water body, and at the same time bring fresh air into the water body where it is needed, further improving the accuracy and efficiency of treatment; obtain precious first-hand water body ecological data during purification, providing valuable material for subsequent research work; there is no need to set up a special underwater navigation device, which not only simplifies the system structure but also greatly reduces the manufacturing cost of the robot.

[0041] To solve the above problems, the technical solution provided by the present invention is:

[0042] A fully automatic river and lake water purification robot, comprising the following parts:

[0043] The carrying box is used to carry and protect the internal structure and internal equipment of the water purification robot; the carrying box is a hollow rectangular box-shaped container, and the internal chamber is divided into an upper ballast water tank for holding water and air to enable the water purification robot to float or sink, and a lower equipment cabin for loading equipment; the ballast water tank is located directly above the equipment cabin and is separated from the equipment cabin by a partition;

[0044] A snorkeling device is used to control the water purification robot to float up or sink in the water;

[0045] A water purification device, used for purifying the water quality of the water body around the water purification robot; the water purification device comprises a water pump, a replaceable filter element, four drainage panels, a first five-way joint that is divided into four, four clean water pipes and four inner-to-outer joints respectively installed on the four side walls of the ballast water tank for connecting the ballast water tank with the natural water body; the water pump is fixedly installed inside the equipment cabin; the water inlet of the water pump is threadedly and sealedly connected with the water outlet of the replaceable filter element; the water inlet of the replaceable filter element is connected with the sewage inlet arranged at the lower end of the equipment cabin through a sewage pipe; the water outlet of the water pump is threadedly and sealedly connected with the water inlet of the first five-way joint; the signal receiving end of the water pump is electrically signal-coupled with the signal output end of the main control computer fixedly installed inside the equipment cabin; the first five-way joint is fixedly installed on the partition; the first five The water inlet of the through joint is arranged on one side of the equipment cabin, and the four water outlets are arranged on one side of the ballast water tank; the four water outlets of the first five-way joint are respectively connected to the threaded sealing connection of one end of the four internal-to-external joints arranged inside the ballast water tank through the four clean water pipes; the drainage panel is a square cavity structure, comprising a first side surface and a second side surface; wherein: the first side surface and the second side surface are parallel to the side wall of the ballast water tank; the water inlet of the drainage panel is arranged on the first side surface, and is threaded and sealed with one end of the internal-to-external joint arranged in the natural water body; the drainage panel is covered with a plurality of evenly arranged drainage tubes on the second side surface; an adjustable solenoid valve is arranged in the middle of each of the clean water pipes; the signal receiving end of the adjustable solenoid valve is electrically coupled to the signal output end of the main control computer, and the opening is adjusted under the control of the main control computer.

[0046] Preferably, the snorkeling device comprises a surface air intake float, a first air intake hose, an air suction pump, an electrically controlled cabin door and a one-way drainage check valve; the surface air intake float is made of lightweight material and is provided with a first air intake port penetrating the upper and lower end surfaces; the air suction pump is fixedly installed inside the equipment cabin; the air intake port of the first air intake hose is threadedly and sealedly connected to the opening of the first air intake port on the lower end surface of the surface air intake float; the air outlet of the first air intake hose is threadedly and sealedly connected to the air intake port of the air suction pump through the partition; the air outlet of the air suction pump is connected through an air inlet port penetrating the partition The air pipe is connected with the interior of the ballast water tank; the air outlet of the air supply pipe is arranged below the upper end surface of the interior of the ballast water tank; the signal receiving end of the vacuum pump is electrically coupled with the signal output end of the main control computer; the electric control cabin door is installed at the upper end of the ballast water tank; the signal receiving end of the electric control cabin door is electrically coupled with the signal output end of the main control computer, and is opened and closed under the control of the main control computer; the one-way drainage check valve is respectively provided on the four side walls of the ballast water tank, and the direction is one-way conduction from the interior of the ballast water tank to the outside.

[0047] Preferably, it also comprises an aeration device; the aeration device comprises a second air inlet hose, four air supply pipes and a second one-to-four five-way joint; wherein:

[0048] The water surface air intake floating block is also provided with a second air intake port penetrating the upper and lower end surfaces;

[0049] The second five-way joint is installed on the top of the carrying box, the air inlet is arranged on one side of the natural water body, and the four air outlets are arranged on one side of the ballast water tank; the air inlet of the second five-way joint is threadedly sealed with the opening of the second air inlet on the lower end surface of the air inlet float on the water surface through a second air inlet hose; the four air outlets of the second five-way joint are threadedly sealed with the air inlet ends of the four air supply pipes respectively; the air outlet ends of the four air supply pipes are respectively connected with the clean water pipes from the four water outlets of the first five-way joint to the corresponding adjustable solenoid valves.

[0050] Preferably, a first automatic hose reel for storing excess length of the first air intake hose is fixedly mounted on the upper end surface of the bearing box;

[0051] A second automatic hose reel for storing excess length of the second air intake hose is also fixedly mounted on the upper end surface of the bearing box.

[0052] Preferably, it also comprises a habitat data monitoring sensor group for detecting water quality and a motion radar group for detecting surrounding terrain;

[0053] The habitat data monitoring sensor group includes a water depth sensor for collecting water depth data, a dissolved oxygen sensor for collecting dissolved oxygen data, a water quality conductivity sensor for collecting conductivity data, a turbidity sensor for collecting turbidity data, a fish finding sonar for collecting fish sonar data, and an underwater camera for collecting video data;

[0054] The habitat data monitoring sensor group arranges the collected water depth data, dissolved oxygen data, conductivity data, turbidity data, fish sonar data and video data in ascending order with the collection time as the timestamp according to the manually preset collection frequency, and then transmits them to the main control computer;

[0055] The motion radar group includes five motion radars, wherein: four of the motion radars are respectively installed at the geometric center points of the lower end surfaces of the four drainage panels, and the transmitting axis is perpendicular to the first side surface of the drainage panel; the fifth motion radar is installed at the geometric center point of the lower end surface of the bearing box, and the transmitting axis is perpendicular to the lower end surface of the bearing box;

[0056] The motion radar group arranges the collected underwater terrain data in ascending order with the collection time as the timestamp according to the collection frequency, and then transmits it to the main control computer; the underwater terrain data is a 3D model of the underwater terrain within the radar detectable distance around the location of the water purification robot at the current moment, which is established by the motion radar based on the reflected sound wave signal.

[0057] Preferably, the main control computer also has a built-in habitat database, a pollution determination module, a robot history database and a main control module;

[0058] The habitat database stores the collected water depth data, dissolved oxygen data, conductivity data, turbidity data, fish sonar data and video data according to the time axis;

[0059] The pollution determination module determines whether there is pollution at the current location of the water purification robot according to the collected dissolved oxygen data, conductivity data, and turbidity data, and outputs the pollution determination result to the main control computer; the pollution determination result includes the character strings "Polluted" and "Clear";

[0060] The robot history database stores the robot history route map and the underwater terrain data; the robot history route map consists of a plurality of footprint points arranged in ascending order with the acquisition time as the timestamp; each of the footprint points contains the GPS coordinates when it was collected, the water depth data and the remaining power;

[0061] The main control module includes a manually preset cruising route, a motion control submodule for controlling the motion trajectory of the water purification robot, a purification operation control submodule for controlling the water purification work of the water purification robot, and a posture fine-tuning submodule for adjusting the underwater posture of the water purification robot;

[0062] The cruise route includes hovering points arranged in a manually preset path-finding order and a connecting line connecting two adjacent hovering points; wherein:

[0063] The hovering points include a current hovering point used to represent the starting point of the current movement of the water purification robot, a target hovering point used to represent the end point of the current movement of the water purification robot, and remaining hovering points used to represent the hovering points other than the current hovering point and the target hovering point; the current hovering point and the target hovering point are respectively located at two ends of the same connecting line;

[0064] The length of each connecting line is equal and preset manually; the spatial relationship between two adjacent connecting lines is collinear or mutually perpendicular; the relationship between the plane where the two adjacent connecting lines perpendicular to each other are located and the gravity acceleration is mutually perpendicular or coplanar;

[0065] The current hovering point includes manually preset GPS coordinates and the water depth data;

[0066] The target hovering point includes manually preset GPS coordinates and the water depth data;

[0067] The remaining hovering points include manually preset GPS coordinates and the water depth data.

[0068] Preferably, it also includes an emergency airbag for emergency buoyancy; the emergency airbag is fixedly mounted on the upper end surface of the exterior of the carrying box by fasteners, and includes a gas generator, a folded airbag, and a trigger chip for controlling the detonation of the gas generator;

[0069] The gas outlet of the gas generator is sealed and fixedly connected to the gas inlet of the air bag; the signal receiving end of the trigger chip is electrically signal coupled to the signal output end of the main control computer.

[0070] A fully automatic river and lake water purification method using a fully automatic river and lake water purification robot comprises the following steps:

[0071] S100. The water purification robot is deployed in the water body to be cleaned, and then the GPS coordinates and the water depth data of the water purification robot at the current moment are calibrated as the current hovering point; then the water purification robot automatically adjusts its posture in the water: the central axis of the water purification robot in the vertical direction coincides with the direction of gravity acceleration, and the positive direction in the horizontal direction is from the current hovering point to the target hovering point; the positive direction in the horizontal direction is perpendicular to the two parallel drainage panels in front and behind;

[0072] S200. The motion control submodule in the main control module directs the water purification robot to head to the target hovering point according to the cruise route; after reaching the target hovering point, the target hovering point is replaced by the current hovering point; then, the remaining hovering points that share a connecting line with the current hovering point are found from the remaining hovering points, and replaced with the target hovering point; then, the water purification robot is directed to remain in the hovering state; then, the water purification device is turned on to start the water purification operation;

[0073] S300. The habitat data monitoring sensor group collects the water depth data, the dissolved oxygen data, the conductivity data, and the turbidity data at the collection frequency, and transmits them to the main control computer in real time;

[0074] S400. The pollution determination module determines whether there is pollution at the current location of the water purification robot based on the collected dissolved oxygen data, conductivity data, and turbidity data, and outputs the pollution determination result to the main control computer;

[0075] S500. The main control computer performs the following operations according to the pollution determination result:

[0076] If the pollution determination result is the character string "Polluted", the current hovering state is maintained unchanged, and the water purification device is kept running; then the process returns to and executes S300 again;

[0077] If the pollution determination result is the character string "Clear", shutting down the water purification device;

[0078] S600. Check whether the current hovering point is the last hovering point in the cruise route; then perform the following operations according to the result of the check:

[0079] If the current hovering point is not the last hovering point in the cruise route, return to and execute S200 again;

[0080] If the current hovering point is the last hovering point in the cruise route, the motion control submodule directs the water purification robot to head to the GPS coordinates and the water depth data at the time of calibrating the water purification robot in S100.

[0081] Preferably, the motion control submodule in the main control module in S200 directs the water purification robot to navigate to the target hovering point according to the cruising route, which specifically includes the following steps:

[0082] S210. Determine the positional relationship between the target hovering point and the current hovering point according to the cruise route;

[0083] S211. According to the result of the determination, perform the following operations:

[0084] If the target hovering point is at the same horizontal height as the current hovering point, performing a translation operation;

[0085] If the target hovering point is below the current hovering point, a diving operation is performed;

[0086] If the target hovering point is above the current hovering point, performing a floating operation;

[0087] The translation operation specifically includes the following steps:

[0088] S211a. Turn off the water purification device; turn off all four adjustable solenoid valves;

[0089] S211b. The direction of the current hovering point pointing to the target hovering point is the temporary heading; from the two drainage panels perpendicular to the temporary heading, the drainage panel facing away from the temporary heading is selected as the temporary thrust panel;

[0090] S211c. Open the adjustable solenoid valve on the water purification pipe connected to the temporary thrust panel; then open the water purification device again; then the reaction force generated by the injection of the temporary thrust panel is thrust, pushing the water purification robot toward the target hovering point;

[0091] S211d. When the water purification robot reaches the target hovering point, turn off the water purification device; then open all four of the adjustable solenoid valves;

[0092] S211e. The hovering point that the current water purification robot has reached in the cruise route is marked as the current hovering point; and then the target hovering point is read out in the cruise route for standby;

[0093] The diving operation specifically comprises the following steps:

[0094] S211f. Open the electrically controlled door;

[0095] S211g. When the water purification robot reaches the target hovering point, close the electrically controlled door;

[0096] S211h. Turn on the vacuum pump to draw air until the water purification robot remains in a hovering state and no longer sinks or floats;

[0097] S211i. The hovering point that the current water purification robot has reached in the cruise route is marked as the current hovering point; then the target hovering point is read out in the cruise route for standby;

[0098] The floating operation specifically comprises the following steps:

[0099] S211j. Turn on the vacuum pump to draw air;

[0100] S211k. When the water purification robot reaches the target hovering point, turn off the vacuum pump;

[0101] S211l open the electrically controlled door until the water purification robot remains in a hovering state and no longer sinks or floats;

[0102] S211m. Mark the hovering point that the current water purification robot has reached in the cruise route as the current hovering point; and then read out the target hovering point in the cruise route for standby use.

[0103] Preferably, it also includes an obstacle avoidance branch line strategy and an emergency floating branch line strategy; wherein:

[0104] The obstacle avoidance branch line strategy is started at the same time from the beginning of S100 until S600 when the water purification robot returns to the GPS coordinates and the water depth data at the time of calibration of the water purification robot in S100; specifically, it includes the following steps:

[0105] A100. The motion radar group arranges the underwater terrain data in ascending order according to the acquisition frequency with the acquisition time as the timestamp, and then transmits it to the main control computer;

[0106] A200. Each time a new frame of underwater terrain data is received, it is determined whether the distances from the four motion radars to obstacles in the positive direction in the horizontal direction, the left side in the positive direction in the horizontal direction, the right side in the positive direction in the horizontal direction, and the vertical direction are less than the manually preset safety distance threshold, and whether the replaceable filter element is fully loaded; and then the following operations are performed according to the determination results:

[0107] If the distance from the motion radar in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar on the left side in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar on the right side in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar in the vertical direction to the obstacle is not less than the safety distance threshold, and the replaceable filter element is not fully loaded, then return to and execute A100 again;

[0108] Otherwise, execute A300;

[0109] A300. Determine whether the water purification robot is currently performing a translation operation, a diving operation, or a floating operation; and then perform the following operations according to the determination result:

[0110] If the water purification robot currently performs the translation operation, execute A310;

[0111] If the water purification robot is currently performing the diving operation, execute A320;

[0112] If the water purification robot is currently performing the floating operation, execute A330;

[0113] A310. Turn off the water purification device; turn off all four adjustable solenoid valves;

[0114] A311. Reverse the direction of the temporary heading and modify it to the current temporary heading; from the two drainage panels perpendicular to the modified temporary heading, select the drainage panel facing away from the temporary heading as the temporary thrust panel;

[0115] A312. Open the adjustable solenoid valve on the water purification pipe connected to the temporary thrust panel; then open the water purification device again; then use the reaction force generated by the spraying of the temporary thrust panel as thrust to push the water purification robot back to the current hovering point;

[0116] A313. When the water purification robot returns to the current hovering point, the water purification device is turned off; then all four of the adjustable solenoid valves are opened;

[0117] A314.Execute A340;

[0118] A320. Turn off the water purification device; turn off all four adjustable solenoid valves;

[0119] A321. Execute the floating operation;

[0120] A322. When the water purification robot returns to the current hovering point, the water purification device is turned off; then all four of the adjustable solenoid valves are opened;

[0121] A323.Execute A340;

[0122] A330. Turn off the water purification device; turn off all four adjustable solenoid valves;

[0123] A331. Execute the diving operation;

[0124] A332. When the water purification robot returns to the current hovering point, the water purification device is turned off; then all four adjustable solenoid valves are opened;

[0125] A333.Execute A340;

[0126] A340. Mark the hovering point that the current water purification robot has reached in the cruise route as the current hovering point; then mark the target hovering point in the cruise route as "unreachable"; then mark the remaining hovering points that share the connecting line with the target hovering point as the target hovering points for standby;

[0127] A341. Enumerate all paths that can reach the target hovering point from the current hovering point while navigating along the connecting line; then select the path that contains the least connecting lines; then randomly select a path from all the paths that contain the least connecting lines;

[0128] A342. Set the points between two adjacent connecting lines in the selected path as the hovering points;

[0129] A343. Remove the hovering point marked as "unreachable" in the cruise route, and the two connecting lines connected to the hovering point;

[0130] A344. Replace the hovering point and the connecting line removed in A344 with the path selected in A342 and A343; then set the hovering point that shares the connecting line with the current hovering point as the target hovering point;

[0131] A345. Return and execute A100 again;

[0132] The emergency floating branch line strategy starts at the same time from the beginning of S100 until S600 when the water purification robot returns to the GPS coordinates and the water depth data of the water purification robot at the time of calibration in S100; specifically includes the following steps:

[0133] E100. The signal receiving end of the trigger chip receives the emergency floating instruction and the remaining power from the main control computer according to the acquisition frequency; the emergency floating instruction includes the string "Emergency Evacuating" and "Stand By";

[0134] E200. Perform the following operations according to the emergency floating instruction and the remaining power:

[0135] If the emergency floating instruction is "Stand By" and the remaining power is greater than the manually preset safety power threshold, return and execute E100 again;

[0136] If the emergency floating instruction is "Emergency Evacuating", or the remaining power is less than the safety power threshold, execute E300;

[0137] E300. Turn off the water purification device; turn off all four adjustable solenoid valves;

[0138] E400. The trigger chip controls the gas generator to detonate, so that the gas fills the air bag and uses buoyancy to drive the water purification robot to the surface;

[0139] E500. When the water purification robot surfaces, an emergency evacuation completion signal is sent to the main control computer; the emergency evacuation completion signal includes the character string "Emergency Evacuating Completed", the GPS coordinates of the current location of the water purification robot, the water depth data and the remaining power.

[0140] Compared with the prior art, the present invention has the following advantages:

[0141] 1. Since the water purification robot of the present invention can freely float, dive and move in the water, and further has an obstacle avoidance strategy on this basis, it can safely reach any place in the water body to be purified for purification operations, thereby fundamentally solving the technical problem that the existing technology cannot reach deep waters for purification operations;

[0142] 2. Since the water purification robot of the present invention can navigate in the water body to be purified according to the manually set cruising route and perform purification operations one by one at the hovering points, the purification area can be very precise, and only the places that need to be purified can be purified, and the places that do not need to be purified will not stop, which is accurate and highly efficient;

[0143] 3. Since the water purification robot of the present invention adopts a dual purification method of filtration and aeration, and can penetrate into any area to be purified, it can accurately filter various pollutants in the water body and bring fresh air into the required places of the water body, further improving the accuracy and efficiency of treatment;

[0144] 4. Since the water purification robot of the present invention stores various data collected and objectively generated during navigation and purification in time, it can obtain precious first-hand water ecological data while purifying, providing valuable materials for subsequent research work;

[0145] 5. Since the water purification robot of the present invention combines the two functions of water spraying and propulsion driving in one device, and does not need to be equipped with an underwater navigation device, the system structure is simplified, the reliability of the overall system is greatly improved, and the manufacturing cost of the robot is greatly reduced, thus killing two birds with one stone;

[0146] 6. Since the filter element of the water purification robot of the present invention can be loaded and equipped with different filter materials as needed, the type of corresponding filter material can be adjusted in time according to different pollution conditions, further improving the universality of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0147] Figure 1 A schematic diagram of the internal structure of a water purification robot according to a specific embodiment of the present invention;

[0148] Figure 2 It is a schematic diagram of the sinking principle of the water purification robot according to a specific embodiment of the present invention;

[0149] Figure 3 A schematic diagram of the floating principle of a water purification robot according to a specific embodiment of the present invention;

[0150] Figure 4 A schematic diagram of a cruise route according to a specific embodiment of the present invention;

[0151] Figure 5 A schematic diagram of the water purification principle of a water purification robot according to a specific embodiment of the present invention;

[0152] Figure 6 for Figure 1 An enlarged schematic diagram of point A;

[0153] Figure 7 It is a schematic diagram of the translation principle of the water purification robot according to a specific embodiment of the present invention;

[0154] Figure 8 It is a schematic flow chart of a water purification method according to a specific embodiment of the present invention;

[0155] Fig. 9 It is a schematic diagram of reselecting a path according to a specific embodiment of the present invention.

[0156] Among them: 100. Carrying box, 110. Ballast tank, 120. Equipment compartment, 130. Bulkhead, 200. Surface air intake float, 210. First air inlet, 211. First air intake hose, 212. Air pump, 213. Electric control door, 214. One-way drainage check valve, 215. Air supply pipe, 216. Valve disc, 217. First automatic hose reel, 220. Second air inlet, 221. Second air intake hose, 222. Second five-way joint, 223. Air supply pipe, 224. Second automatic hose reel, 300. Water pump, 310. Replaceable filter element, 311. Primary filter material, 312. Secondary filter material, 313. Tertiary filter material, 320. Drainage surface board, 321. first side, 322. second side, 323. drainage tube, 330. first five-way joint, 331. clean water pipe, 332. internal and external adapter, 333. sewage pipe, 334. sewage inlet, 335. adjustable solenoid valve, 336. water inlet mask net, 400. cruise route, 410. connecting line, 411. current hovering point, 412. target hovering point, 413. remaining hovering points, 414. temporary heading, 500. habitat data monitoring sensor group, 510. main control computer, 520. motion radar, 600. emergency airbag, 610. gas generator, 620. airbag, 630. trigger chip, 640. battery pack. DETAILED DESCRIPTION

[0157] The present invention is further explained below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0158] It should be noted in advance that since this specific embodiment involves many components and assemblies, for the convenience of reading and understanding, the following table 1 summarizes the reference numerals and corresponding contents:

[0159] Table 1. Summary of figure numbers and content correspondence

[0160] 100 Carrying box 110 Ballast water tank 120 Equipment compartment 130 Partition 200 Surface air intake buoy 210 First air inlet 211 First air intake hose 212 Vacuum pump 213 Electric door 214 One-way drain check valve 215 Gas Pipe 216 Valve disc 217 The first automatic hose reel 220 Second air inlet 221 Second air intake hose 222 Second five-way joint 223 Gas supply pipe 224 Second automatic hose reel 300 Water pump 310 Replaceable filter element 311 Primary filter media 312 Secondary filter material 313 Three-stage filter media 320 Drainage Panel 321 First side 322 Second side 323 Drainage capillary 330 First five-way joint 331 Water purification pipe 332 Internal and external adapter 333 Sewage pipe 334 Sewage Inlet 335 Adjustable solenoid valve 336 Water inlet mask net 400 Cruise route 410 Connection lines 411 Current hover point 412 Target hover point 413 Remaining hover points 414 Temporary heading 500 Habitat Data Monitoring Sensor Group 510 Host computer 520 Sports Radar 600 Emergency airbag 610 Gas generator 620 Airbags 630 Trigger chip 640 Battery Pack

[0161] like Figure 1 As shown, a fully automatic river and lake water purification robot includes the following parts:

[0162] The carrying box 100 is used to load and protect the internal structure and internal equipment of the water purification robot; the carrying box 100 is a hollow rectangular box-type container, and the internal chamber is divided into an upper ballast water tank 110 for containing water and air to enable the water purification robot to float or sink, and a lower equipment cabin 120 for loading equipment; the ballast water tank 110 is located directly above the equipment cabin 120, and is separated from the equipment cabin 120 by a partition 130.

[0163] In this specific embodiment, the dimensions of the carrying box 100 are: 2.8 m in height, a square bottom, and a side length of 2.5 m.

[0164] It should be noted that the volume of the ballast water tank 110 is not less than 3 times that of the equipment compartment 120, so as to provide sufficient buoyancy; the ballast water tank 110 dynamically adjusts the average density of the entire water purification robot by filling or draining water, thereby realizing the floating or sinking of the water purification robot according to Archimedes' theorem.

[0165] It should be further explained that the function of the partition 130 is to protect the various electrical equipment in the equipment compartment 120; this is because water will constantly flow in and out of the ballast water tank 110, which is very dangerous for the electrical equipment, so it needs to be separated; and the electrical equipment itself occupies a very small space, so the volume of the ballast water tank 110 can be much higher than the volume of the equipment compartment 120, so as to achieve more flexible buoyancy adjustment.

[0166] It should be further explained that arranging the equipment cabin 120 below the carrying box 100 has another advantage: the various pumps and batteries in the equipment cabin 120 are large-mass, high-density devices, which will make the center of gravity of the entire water purification robot very low, so that the entire water purification robot can always maintain a vertical posture in the water body similar to the principle of a tumbler, and can maintain a stable and reliable posture without a more complicated posture adjustment system, which also saves considerable cost.

[0167] The snorkeling device is used to control the floating or sinking movement of the water purification robot in the water body.

[0168] In this specific embodiment, the snorkeling device includes a water surface air intake buoy 200, a first air intake hose 211, an air pump 212, an electrically controlled hatch 213 and a one-way drainage check valve 214; the water surface air intake buoy 200 is made of a lightweight material and is provided with a first air intake port 210 that passes through the upper and lower end surfaces; the air pump 212 is fixedly installed inside the equipment cabin 120; the air intake port of the first air intake hose 211 is threadedly sealed with the opening of the first air intake port 210 on the lower end surface of the water surface air intake buoy 200; the air outlet of the first air intake hose 211 passes through the partition 130 and is threadedly sealed with the air intake port of the air pump 212; the air outlet of the air pump 212 passes through a threaded seal that passes through the partition 130 The air supply pipe 215 of the partition 130 is connected to the interior of the ballast water tank 110; the air outlet of the air supply pipe 215 is arranged below the upper end surface of the interior of the ballast water tank 110; the signal receiving end of the vacuum pump 212 is electrically coupled with the signal output end of the main control computer 510; the electric control cabin door 213 is installed at the upper end of the ballast water tank 110; the signal receiving end of the electric control cabin door 213 is electrically coupled with the signal output end of the main control computer 510, and is opened and closed under the control of the main control computer 510; a one-way drainage check valve 214 is provided on each of the four side walls of the ballast water tank 110, and the direction is one-way conduction from the interior of the ballast water tank 110 to the outside.

[0169] It should be noted that the function of the snorkeling device is to control the water purification robot to float up or sink, and its working principle is as follows:

[0170] like Figure 2 As shown, when it is necessary to dive, the main control computer 510 controls the electric control door 213 to open; at this time, the water in the water body enters the ballast water tank 110 through the electric control door 213; and the air in the ballast water tank 110 can be directly discharged into the water body through the electric control door 213 because the electric control door 213 is set at the upper end of the ballast water tank 110; thus, the average density of the entire water purification robot begins to increase; and because the average density of the equipment in the equipment compartment 120 is much greater than the average density of water, when the water in the ballast water tank 110 reaches a certain volume, the entire water purification machine The average density of a human being will be higher than the density of water; therefore, according to Archimedes' theorem, the water purification robot will begin to sink at this time; then when the water purification robot reaches the target hovering point 412, the electric control door 213 needs to be closed immediately; at this time, the average density of the entire water purification robot is still higher than the density of water, and hovering cannot be achieved by simply closing the electric control door 213, but the robot will continue to sink; therefore, while closing the electric control door 213, the vacuum pump 212 needs to be turned on to draw in air until the average density of the water purification robot is equal to the density of water, so that the robot can maintain a hovering state and no longer sink.

[0171] like Figure 3As shown, when it is necessary to float, the main control computer 510 controls the air pump 212 to start and draw air into the ballast water tank 110; at this time, the air enters the ballast water tank 110 through the first air inlet 210 and the first air inlet hose 211 in sequence, and the original ballast water tank 110 begins to be squeezed due to the effect of air pressure; when the water pressure exceeds the maximum closing force of the valve flap 216 of the one-way drainage check valve 214, the one-way drainage check valve 214 is opened and conducted, and water is continuously pressed into the water body; when the air in the ballast water tank 110 reaches a certain volume, the average density of the entire water purification robot will be lower than the water. density; therefore, according to Archimedes' theorem, the water purification robot will begin to float at this time; then when the water purification robot reaches the target hovering point 412, it is necessary to immediately turn off the air pump 212; at this time, the average density of the entire water purification robot is still lower than the density of water, and it is impossible to achieve hovering by simply turning off the air pump 212, but it will continue to float; therefore, while turning off the air pump 212, the electric control cabin door 213 should be opened to allow part of the water to enter the ballast water tank 110, and to exhaust part of the air, until the average density of the water purification robot is equal to the density of water, so that the hovering state can be maintained and no longer float.

[0172] It should be further explained that the reason why a one-way drainage check valve 214 is provided on each of the four side walls of the ballast water tank 110 is to discharge water evenly in four horizontal directions to offset the reaction forces, thereby keeping the posture of the water purification robot unchanged and achieving posture stability.

[0173] In this specific embodiment, the main control computer 510 also has a built-in habitat database, a pollution determination module, a robot history database and a main control module;

[0174] The habitat database stores the collected water depth data, dissolved oxygen data, conductivity data, turbidity data, fish sonar data and video data by time axis.

[0175] It should be noted that, although the purpose of the water purification robot of the present invention is to use the robot to automatically clean polluted waters, during the movement of the robot, it actually conducts a real-life survey of the water body and obtains precious first-hand habitat data; therefore, in line with the principle of fully improving resource utilization, the obtained habitat data is stored in the habitat database and arranged on a timeline, which can provide valuable data for future scientific research work; further, the water purification robot of the present invention can even manually set a cruise route 400 in the absence of pollution, specifically to perform habitat data collection tasks.

[0176] The pollution determination module determines whether there is pollution at the current location of the water purification robot according to the collected dissolved oxygen data, conductivity data, and turbidity data, and outputs the pollution determination result to the main control computer 510; the pollution determination result includes the character strings "Polluted" and "Clear".

[0177] The robot history database stores the robot's historical route map and underwater terrain data; the robot's historical route map consists of multiple footprint points arranged in ascending order with the collection time as the timestamp; each footprint point contains the GPS coordinates, water depth data and remaining power when it was collected.

[0178] It should be noted that the robot's historical route map is equivalent to a navigation log, and is important data for tracing problems when the robot malfunctions or encounters unforeseen problems.

[0179] It should be noted that underwater terrain data is precious hydrological information; since the robot of the present invention is very small and the cruising route 400 is very precise, the underwater terrain data collected is also very accurate, which can help scientific researchers quickly establish a 3D model of underwater terrain.

[0180] The main control module includes an artificially preset cruising route 400, a motion control submodule for controlling the motion trajectory of the water purification robot, a purification operation control submodule for controlling the water purification work of the water purification robot, and a posture fine-tuning submodule for adjusting the underwater posture of the water purification robot.

[0181] like Figure 4 As shown, the cruise route 400 includes hovering points arranged in a manually preset path-finding order and a connecting line 410 connecting two adjacent hovering points; wherein:

[0182] The hovering points include a current hovering point 411 for representing the starting point of the water purification robot's current movement, a target hovering point 412 for representing the end point of the water purification robot's current movement, and remaining hovering points 413 for representing hovering points other than the current hovering point 411 and the target hovering point 412; the current hovering point 411 and the target hovering point 412 are respectively located at the two ends of the same connecting line 410.

[0183] The length of each connecting line 410 is equal and preset manually; the spatial relationship between two adjacent connecting lines 410 is colinear, or perpendicular to each other; the relationship between the plane where the two adjacent perpendicular connecting lines 410 are located and the gravity acceleration is perpendicular or coplanar.

[0184] The current hovering point 411 includes manually preset GPS coordinates and water depth data.

[0185] The target hovering point 412 includes manually preset GPS coordinates and water depth data.

[0186] The remaining hovering points 413 include manually preset GPS coordinates and water depth data.

[0187] It should be noted that, in this specific embodiment, the hovering points and the connecting lines 410 together constitute the cruising route 400; and the cruising route 400 is actually equivalent to being in a rectangular contaminated area, with the volume of the rectangular block divided by a unit cube grid; and the edge of each unit cube is the connecting line 410, and the vertex is the hovering point; on this basis, all the connecting lines 410 and hovering points that the robot is going to pass by are drawn to form the cruising route 400.

[0188] It should be further explained that the setting of the cruising route 400 is manually preset before each robot is launched into the water, and different cruising routes 400 are suitable for different cleaning tasks; for example

[0189] If the robot is required to clean a certain contaminated zone precisely and intensively, the cruising route 400 can be set to cover the entire contaminated zone after the accurate location and volume of the contaminated zone in the water are ascertained by the detector in advance.

[0190] If the entire water body is polluted, the entire water body can be used as a pollution zone, and a conventional cruise route 400 can be set. The route setting forms include but are not limited to spiral and U-shaped.

[0191] It should be noted that there is no technical difference between the current hovering point 411, the target hovering point 412, and the remaining hovering point 413, all of which are hovering points; however, they need to be distinguished in the cruising route 400 to clarify the current position of the water purification robot and the next position to be visited.

[0192] like Figure 5As shown, the water purification device is used to purify the water quality of the water body around the water purification robot; the water purification device includes a water pump 300, a replaceable filter element 310, four drainage panels 320, a first five-way joint 330 that divides one into four, four clean water pipes 331, and four inner-to-outer joints 332 respectively installed on the four side walls of the ballast water tank 110 for connecting the ballast water tank 110 with the natural water body; the water pump 300 is fixedly installed inside the equipment cabin 120; the water inlet of the water pump 300 The outlet of the replaceable filter element 310 is threadedly and sealedly connected; the water inlet of the replaceable filter element 310 is connected to the sewage inlet 334 arranged at the lower end of the equipment cabin 120 through a sewage pipe 333; the outlet of the water pump 300 is threadedly and sealedly connected to the water inlet of the first five-way joint 330; the signal receiving end of the water pump 300 is electrically coupled to the signal output end of the main control computer 510 fixedly installed inside the equipment cabin 120; the first five-way joint 330 is fixedly installed on the partition 130; The water inlet of the first five-way joint 330 is arranged on one side of the equipment cabin 120, and the four water outlets are arranged on one side of the ballast water tank 110; the four water outlets of the first five-way joint 330 are respectively connected to the threaded sealing of one end of the four internal-to-external joints 332 arranged inside the ballast water tank 110 through four clean water pipes 331; the drainage panel 320 is a square cavity structure, including a first side surface 321 and a second side surface 322; wherein: the first side surface 321 and the second side surface 322 are parallel to the side wall of the ballast water tank 110 ; The water inlet of the drainage panel 320 is arranged on the first side surface 321, and is threadedly sealed with one end of the internal-to-external joint 332 arranged in the natural water body; the drainage panel 320 is covered with a plurality of evenly arranged drainage tubes 323 on the second side surface 322; an adjustable solenoid valve 335 is provided in the middle of each clean water pipe 331; the signal receiving end of the adjustable solenoid valve 335 is electrically coupled with the signal output end of the main control computer 510, and the opening degree can be adjusted under the control of the main control computer 510.

[0193] It should be noted that the replaceable filter element 310 includes a primary filter material 311, a secondary filter material 312 and a tertiary filter material 313 in sequence according to the flow direction of the water; in this specific embodiment, the primary filter material 311 is gravel, which is used to filter various block-shaped suspended matter, such as water plants, garbage blocks, etc.; the secondary filter material 312 is activated carbon, which is used to absorb fine impurities remaining in the water; and the tertiary filter material 313 is biochemical cotton, and has been treated with nitrifying bacteria to decompose organic matter and ammonia in the water, reduce the toxicity of the water, so that the purified water quality is more suitable for fish survival.

[0194] It should be further explained that the replaceable filter element 310 is designed as a disposable product, mainly to save cleaning time and improve work efficiency.

[0195] It should be further explained that the water purification robot can also be equipped with different replaceable filter cartridges 310; the filter material of the replaceable filter cartridge 310 can be selected according to the requirements of water quality treatment, and can be suitable for treating various water qualities.

[0196] It should be further explained that although the replaceable filter element 310 is disposable, its filter material can be cleaned and reused, and can be filled according to actual needs. It has the advantages of strong processing flexibility, good processing effect, and economy and environmental protection.

[0197] For example: when it is necessary to effectively remove harmful substances such as odor, chlorine, cyanide and various heavy metal ions and decolorize, you can choose a filter element with activated carbon as the main filter material. Activated carbon has the advantages of large specific surface area, strong adsorption performance, low cost, and easy regeneration. It is suitable for purification and decolorization of water contaminated by organic pollutants.

[0198] For another example: when the phosphorus concentration in the water body is high, high-performance fiber ball filter media can be mixed with PAC dry powder. When it comes into contact with water, PAC dissolves and effectively precipitates phosphorus impurities. The high-performance fiber balls adsorb them. After the filter media is saturated with adsorption, it can be taken out for washing. After reloading PAC powder, it can be put into the water body again for purification. Not only is the dosage accurate and the dosage controllable, it can also be reused to reduce costs.

[0199] For example: when the ammonia nitrogen content in the water exceeds the standard, biofilm filter material can be installed and mature biological treatment technology can be used. It can be sent to different depths of the water body by a robot, and the robot's air intake and exhaust system can be used to achieve an alternating anaerobic and aerobic environment to achieve the denitrification function.

[0200] like Figure 6 As shown, it needs to be further explained that, since the throughput of the water purification robot is relatively large, in order to prevent large pieces of garbage from entering the sewage pipe 333 and causing blockage, a water inlet mask net 336 is provided on the sewage inlet 334.

[0201] It should be further explained that the water inlet of the first five-way joint 330 is arranged on one side of the equipment compartment 120, and the four water outlets are arranged on one side of the ballast water tank 110. The purpose is still to isolate the space between the equipment compartment 120 and the ballast water tank 110 to prevent water from entering the equipment compartment 120 and damaging the electrical equipment therein.

[0202] It should be noted that if Figure 7As shown, the water purification robot of the present invention does not have a special motion mechanism, but uses the reaction force generated by the four drainage panels 320 during the drainage process to push the water purification robot to achieve translation in the water; if it is necessary to hover, the water pump 300 can be turned off, or the water pump 300 can be turned on, and the four adjustable solenoid valves 335 can be fully opened at the same time to achieve mutual offset of the reaction forces, so as to achieve hovering while purifying water.

[0203] In this specific embodiment, the water purification robot further includes an aeration device.

[0204] The aeration device comprises a second air inlet hose 221, four air supply pipes 223 and a second five-way joint 222 which is divided into four parts; wherein:

[0205] The water surface air intake buoy 200 is also provided with a second air intake port 220 penetrating the upper and lower end surfaces.

[0206] The second five-way joint 222 is installed on the top of the carrying box 100, the air inlet is arranged on one side of the natural water body, and the four air outlets are arranged on one side of the ballast water tank 110; the air inlet of the second five-way joint 222 is threadedly sealedly connected to the opening of the second air inlet 220 on the lower end face of the water surface air inlet floating block 200 through a second air inlet hose 221; the four air outlets of the second five-way joint 222 are threadedly sealedly connected to the air inlet ends of the four air supply pipes 223 respectively; the air outlet ends of the four air supply pipes 223 are respectively connected to the clean water pipe 331 from the four water outlets of the first five-way joint 330 to the corresponding adjustable solenoid valves 335.

[0207] It should be noted that the principle of the aeration device is: when water flows in the clean water pipe 331, the water flow will generate a negative pressure, so that the air enters the air supply pipe 223 through the second air inlet 220, the second air inlet hose 221, and the second five-way joint 222, and then is discharged from the drainage panel 320 along with the water flow and enters the water body, thereby realizing the aeration function.

[0208] In this specific embodiment, a first automatic hose reel 217 for storing excess length of the first air intake hose 211 is fixedly mounted on the upper end surface of the carrying box 100 .

[0209] A second automatic hose reel 224 for storing excess length of the second air intake hose 221 is also fixedly mounted on the upper end surface of the carrying box 100 .

[0210] In this specific embodiment, the water purification robot further comprises a habitat data monitoring sensor group 500 for detecting water quality and a motion radar group for detecting surrounding terrain; wherein:

[0211] The habitat data monitoring sensor group 500 includes a water depth sensor for collecting water depth data, a dissolved oxygen sensor for collecting dissolved oxygen data, a water quality conductivity sensor for collecting conductivity data, a turbidity sensor for collecting turbidity data, a fish finding sonar for collecting fish sonar data, and an underwater camera for collecting video data.

[0212] The habitat data monitoring sensor group 500 arranges the collected water depth data, dissolved oxygen data, conductivity data, turbidity data, fish sonar data and video data in ascending order with the collection time as the timestamp according to the manually preset collection frequency, and then transmits them to the main control computer 510.

[0213] The motion radar group includes five motion radars 520, wherein: four motion radars 520 are respectively installed at the geometric center point of the lower end surface of the four drainage panels 320, and the transmitting axis is perpendicular to the first side surface 321 of the drainage panel 320; the fifth motion radar 520 is installed at the geometric center point of the lower end surface of the carrying box 100, and the transmitting axis is perpendicular to the lower end surface of the carrying box 100.

[0214] The motion radar group arranges the collected underwater terrain data in ascending order with the collection time as the timestamp according to the collection frequency, and then transmits it to the main control computer 510; the underwater terrain data is a 3D model of the underwater terrain within the radar detectable distance around the water purification robot at the current moment, which is established by the motion radar 520 based on the reflected sound wave signal.

[0215] In this specific embodiment, the water purification robot also includes an emergency airbag 600 for emergency buoyancy; the emergency airbag 600 is fixedly installed on the upper end surface of the outside of the supporting box 100 by fasteners, and includes a gas generator 610, a folded airbag 620 and a trigger chip 630 for controlling the detonation of the gas generator 610.

[0216] The gas outlet of the gas generator 610 is sealed and fixedly connected to the gas inlet of the air bag 620; the signal receiving end of the trigger chip 630 is electrically coupled to the signal output end of the main control computer 510.

[0217] It should be further explained that all power sources of the water purification robot of the present invention are the built-in battery pack 640 .

[0218] It should be further explained that, for safety reasons, the battery pack 640 is provided with a dedicated BMS.

[0219] It should be further explained that, in order to ensure the endurance, this specific embodiment uses 8 groups of vehicle lithium battery packs connected in parallel to provide power.

[0220] It should be further explained that the water purification robot of the present invention is also provided with a network communication module for remote communication.

[0221] In this specific embodiment, the network communication module adopts an industrial-grade Internet of Things module to improve stability and reduce costs.

[0222] like Figure 8 As shown, a fully automatic river and lake water purification method using a fully automatic river and lake water purification robot comprises the following steps:

[0223] S100. The water purification robot is deployed in the water body to be cleaned, and then the GPS coordinates and water depth data of the water purification robot at the current moment are calibrated as the current hovering point 411; then the water purification robot automatically adjusts its posture in the water: the central axis of the water purification robot in the vertical direction coincides with the direction of gravity acceleration, and the positive direction in the horizontal direction is from the current hovering point 411 to the target hovering point 412; the positive direction in the horizontal direction is perpendicular to the two parallel drainage panels 320 in front and behind;

[0224] It should be noted that, at the beginning of using the water purification robot of the present invention, it is necessary to manually deploy the water purification robot in the water; and before deployment, the cruising route 400 has been preset; then turn on the power switch, and the water purification robot starts to initialize. One of the most important links is to use the current position as the current hovering point 411; because only in this way can it be connected to the target hovering point 412, so that the water purification robot has the first walking direction.

[0225] It should be further explained that the cruise route 400 can be obtained based on 3D modeling of the pollution belt that has been detected; and for relatively large and uniformly polluted water bodies, the cruise route 400 can also be set to various different traversal paths.

[0226] It should be further explained that if the water body to be purified is very large, multiple water purification robots of the present invention can be deployed at the same time to improve the cleaning efficiency.

[0227] It should be further explained that, in order to facilitate subsequent recovery, the return point of the water purification robot is the starting point of this time, so it is generally calculated from the shore or the side of the ship where the water purification robot is deployed.

[0228] S200. The motion control submodule in the main control module directs the water purification robot to head towards the target hovering point 412 according to the cruise route 400; after reaching the target hovering point 412, the target hovering point 412 is replaced with the current hovering point 411; then, the remaining hovering points 413 that share a connecting line 410 with the current hovering point 411 are found from the remaining hovering points 413, and replaced with the target hovering point 412; then, the water purification robot is directed to maintain the hovering state without moving; then, the water purification device is turned on to start the water purification operation.

[0229] In this specific embodiment, the motion control submodule in the main control module directs the water purification robot to the target hovering point 412 according to the cruise route 400, which specifically includes the following steps:

[0230] S210 . Determine the positional relationship between the target hovering point 412 and the current hovering point 411 according to the cruise route 400 .

[0231] S211. According to the result of the determination, perform the following operations:

[0232] If the target hovering point 412 is at the same horizontal height as the current hovering point 411 , a translation operation is performed.

[0233] If the target hovering point 412 is below the current hovering point 411 , a diving operation is performed.

[0234] If the target hovering point 412 is above the current hovering point 411 , a floating operation is performed.

[0235] The translation operation specifically includes the following steps:

[0236] S211a. Turn off the water purification device; close all four adjustable solenoid valves 335.

[0237] S211b. The direction from the current hovering point 411 to the target hovering point 412 is the temporary heading 414; from the two drainage panels 320 perpendicular to the temporary heading 414, the drainage panel 320 facing away from the temporary heading 414 is selected as the temporary thrust panel.

[0238] S211c. Open the adjustable solenoid valve 335 on the water purification pipe 331 connected to the temporary thrust panel; then open the water purification device again; then use the reaction force generated by the injection of the temporary thrust panel as thrust to push the water purification robot toward the target hovering point 412.

[0239] S211d. When the water purification robot reaches the target hovering point 412, the water purification device is turned off; then all four adjustable solenoid valves 335 are opened.

[0240] S211e. Mark the hovering point that the current water purification robot has reached in the cruise route 400 as the current hovering point 411; then read out the target hovering point 412 in the cruise route 400 for standby use.

[0241] The diving operation specifically includes the following steps:

[0242] S211f. Open the electric control door 213. At this time, since the electric control door 213 is at the top of the water purification robot, the air is directly discharged through the electric control door 213, and the water enters the inside of the water purification robot through the electric control door 213, and the average density of the water purification robot begins to increase; when the average density of the water purification robot is greater than the density of water, the water purification robot begins to dive;

[0243] S211g. When the water purification robot dives and reaches the target hovering point 412, the electric control cabin door 213 is closed.

[0244] S211h. Turn on the air pump 212 to draw in air until the water purification robot remains in a suspended state and no longer sinks or floats up. At this time, water is squeezed by the drawn-in air and discharged from the one-way drainage check valve 214, and the average density of the water purification robot begins to decrease; when the average density of the water purification robot is equal to the density of water, the water purification robot remains in a suspended state and no longer sinks or floats up.

[0245] S211i. Mark the hovering point that the current water purification robot has reached in the cruise route 400 as the current hovering point 411; then read out the target hovering point 412 in the cruise route 400 for standby use.

[0246] The floating operation specifically includes the following steps:

[0247] S211j. Turn on the air pump 212 to draw in air. At this time, the water is squeezed by the drawn-in air and discharged from the one-way drainage check valve 214, and the average density of the water purification robot begins to decrease; when the average density of the water purification robot is less than the density of water, the water purification robot begins to float;

[0248] S211k. When the water purification robot reaches the target hovering point 412, the vacuum pump 212 is turned off.

[0249] S2111. Open the electric control door 213 until the water purification robot remains in a hovering state and no longer sinks or floats. At this time, since the electric control door 213 is at the top of the water purification robot, the air is directly discharged through the electric control door 213, and the water enters the inside of the water purification robot through the electric control door 213, and the average density of the water purification robot begins to increase; when the average density of the water purification robot is equal to the density of water, the water purification robot remains in a hovering state and no longer sinks or floats.

[0250] S211m. Mark the hovering point that the current water purification robot has reached in the cruise route 400 as the current hovering point 411; then read out the target hovering point 412 in the cruise route 400 for standby use.

[0251] It should be noted that the principles of the water purification robot's translation, floating and sinking have been described in detail in the previous part of this specific embodiment and will not be repeated here; but it should be noted that once the water purification robot starts to hover and perform purification operations, the four drainage panels 320 are started at the same time, and the openings of the four adjustable solenoid valves 335 are all 100% to ensure that the forces on the four sides of the water purification robot are balanced so as to maintain a hovering posture.

[0252] S300. The habitat data monitoring sensor group 500 collects water depth data, dissolved oxygen data, conductivity data, and turbidity data according to the collection frequency, and transmits them to the main control computer 510 in real time.

[0253] S400. The pollution determination module determines whether there is pollution at the current location of the water purification robot based on the collected dissolved oxygen data, conductivity data, and turbidity data, and outputs the pollution determination result to the main control computer 510.

[0254] S500. The main control computer 510 performs the following operations according to the pollution determination result:

[0255] If the pollution determination result is the character string "Polluted", the current hovering state is maintained unchanged, and the water purification device is kept running; then the process returns to and executes S300 again.

[0256] If the pollution judgment result is the string "Clear", the water purification device is turned off.

[0257] S600. Check whether the current hovering point 411 is the last hovering point in the cruise route 400; then perform the following operations according to the result of the check:

[0258] If the current hovering point 411 is not the last hovering point in the cruise route 400 , the process returns to and executes S200 again.

[0259] If the current hovering point 411 is the last hovering point in the cruise route 400 , the motion control submodule directs the water purification robot to head to S100 to calibrate the GPS coordinates and water depth data of the water purification robot at the time.

[0260] In this specific embodiment, the water purification method further includes an obstacle avoidance branch line strategy and an emergency floating branch line strategy; wherein:

[0261] The obstacle avoidance branch strategy starts at the same time when S100 starts, and ends when the water purification robot S600 returns to S100 to calibrate the GPS coordinates and water depth data of the water purification robot at that time; specifically, it includes the following steps:

[0262] A100. The motion radar group arranges the underwater terrain data in ascending order according to the acquisition frequency and the acquisition time as the timestamp, and then transmits it to the main control computer 510.

[0263] A200. Each time a new frame of underwater terrain data is received, it is determined whether the distances from the four motion radars 520 to the obstacle in the positive direction in the horizontal direction, the left side in the positive direction in the horizontal direction, the right side in the positive direction in the horizontal direction, and the vertical direction are less than the manually preset safety distance threshold, and whether the replaceable filter element 310 is fully loaded; then the following operations are performed according to the determination results:

[0264] If the distance from the motion radar 520 in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar 520 in the left positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar 520 in the right positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar 520 in the vertical direction to the obstacle is not the safety distance threshold, and the replaceable filter element 310 is not fully loaded, then return to and execute A100 again;

[0265] Otherwise, execute A300.

[0266] A300. Determine whether the water purification robot is currently performing a translation operation, a diving operation, or a floating operation; and then perform the following operations according to the determination result:

[0267] If the water purification robot is currently performing a translation operation, execute A310.

[0268] If the water purification robot is currently performing a diving operation, execute A320.

[0269] If the water purification robot is currently performing a floating operation, execute A330.

[0270] A310. Turn off the water purification device; close all four adjustable solenoid valves 335.

[0271] A311. Reverse the direction of the temporary heading 414 and modify it to the current temporary heading 414; from the two drainage panels 320 perpendicular to the modified temporary heading 414, select the drainage panel 320 facing away from the temporary heading 414 as the temporary thrust panel.

[0272] A312. Open the adjustable solenoid valve 335 on the clean water pipe 331 connected to the temporary thrust panel; then open the water purification device again; then use the reaction force generated by the spraying of the temporary thrust panel as thrust to push the water purification robot back to the current hovering point 411.

[0273] A313. When the water purification robot returns to the current hovering point 411, the water purification device is turned off; then all four adjustable solenoid valves 335 are opened.

[0274] A314. Execute A340.

[0275] A320. Turn off the water purification device; close all four adjustable solenoid valves 335.

[0276] A321. Perform ascent operation.

[0277] A322. When the water purification robot returns to the current hovering point 411, the water purification device is turned off; then all four adjustable solenoid valves 335 are opened.

[0278] A323. Execute A340.

[0279] A330. Turn off the water purification device; close all four adjustable solenoid valves 335.

[0280] A331.Perform dive operations.

[0281] A332. When the water purification robot returns to the current hovering point 411, the water purification device is turned off; then all four adjustable solenoid valves 335 are opened.

[0282] A333. Execute A340.

[0283] A340. Mark the hovering point that the current water purification robot has reached in the cruise route 400 as the current hovering point 411; then mark the target hovering point 412 as "unreachable" in the cruise route 400; then mark the remaining hovering points 413 connected to the line 410 with the target hovering point 412 as the target hovering point 412 for standby.

[0284] A341. Enumerate all paths that can reach the target hovering point 412 from the current hovering point 411 while navigating along the connecting line 410; then select the path that contains the least connecting line 410; then randomly select a path from all the paths that contain the least connecting line 410.

[0285] A342. Set the points between two adjacent connecting lines 410 in the selected path as hovering points.

[0286] A343. Remove the hovering point marked as “unreachable” in the cruise route 400, as well as the two connecting lines 410 connected to this hovering point.

[0287] A344. Replace the hovering point and connecting line 410 removed in A344 with the path selected in A342 and A343; then set the hovering point that shares a connecting line 410 with the current hovering point 411 as the target hovering point 412.

[0288] A345. Return and execute A100 again.

[0289] like Fig. 9 As shown, this is a schematic diagram of the A340's re-path selection, which is applicable in any direction.

[0290] It should be noted that the entire invention idea of ​​the obstacle avoidance branch line strategy from A100 to A245 is centered around two points:

[0291] First, if the motion radar 520 detects an obstacle, it returns to the starting point of this movement, that is, this movement cannot be completed, and returns to the current hovering point 411.

[0292] Second, the target hovering point 412 of this movement is eliminated, and the target hovering point 412 is replaced by the next hovering point of the target hovering point 412, and then the pre-planned route is replaced by a path containing the least connecting lines 410; if there are several paths containing the least connecting lines 410, one is randomly selected.

[0293] It should be further explained that, since the motion radar 520 emits sound waves forward with the emission axis as the central axis, the propagation direction of the sound waves is evenly spread all around. Therefore, if a fish passes by at this time, it will not cause misjudgment and cause the water purification robot to return incorrectly.

[0294] The emergency floating branch line strategy starts at the same time when S100 starts, and ends when the water purification robot S600 returns to S100 to calibrate the GPS coordinates and water depth data of the water purification robot at that time; specifically, it includes the following steps:

[0295] E100. The signal receiving end of the trigger chip 630 receives the emergency floating instruction and the remaining power from the main control computer 510 according to the acquisition frequency; the emergency floating instruction includes the character strings "Emergency Evacuating" and "Stand By".

[0296] E200. Perform the following operations according to the emergency ascent instruction and remaining power:

[0297] If the emergency floating instruction is "Stand By" and the remaining power is greater than the manually preset safety power threshold, return and execute E100 again.

[0298] If the emergency ascent instruction is "Emergency Evacuating" or the remaining power is less than the safety power threshold, E300 is executed.

[0299] E300. Turn off the water purification device; close all four adjustable solenoid valves 335.

[0300] E400. The trigger chip 630 controls the gas generator 610 to detonate, so that the gas fills the air bag 620, and uses the buoyancy to drive the water purification robot to float to the surface.

[0301] E500. When the water purification robot surfaces, it sends an emergency evacuation completion signal to the main control computer 510; the emergency evacuation completion signal includes the string "Emergency Evacuating Completed", the GPS coordinates of the current location of the water purification robot, water depth data and remaining power.

[0302] It should be noted that the emergency floating branch line strategy only applies to two situations: when the power is about to run out, and when encountering insurmountable difficulties. If the robot does not float, it will become silent and lose contact, resulting in property loss. This situation is extremely rare, so the gas generator 610 and the air bag 620 are disposable and the recycling issue is not considered.

[0303] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0304] The disclosed embodiments are described above to enable any person skilled in the art to implement or use the present invention. Various modifications of these embodiments are obvious to those skilled in the art, and the general principles defined herein may also be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments given herein, but is consistent with the broadest scope of the principles and novel features disclosed in this application.

[0305] The above description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

[0306] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fully automatic river and lake water purification method, characterized in that: A fully automatic river and lake water purification robot is used; the fully automatic river and lake water purification robot comprises a carrying box (100), a snorkeling device, and a water purification device; wherein: A carrying box (100) is used to carry and protect the internal structure and internal equipment of the water purification robot; the carrying box (100) is a hollow rectangular box-shaped container, and the internal chamber is divided into an upper ballast water tank (110) for holding water and air to enable the water purification robot to float or sink, and a lower equipment cabin (120) for carrying equipment; the ballast water tank (110) is located directly above the equipment cabin (120) and is separated from the equipment cabin (120) by a partition (130); A snorkeling device is used to control the water purification robot to float up or sink in the water; A water purification device, used for purifying the water quality of the water body around the water purification robot; the water purification device comprises a water pump (300), a replaceable filter element (310), four drainage panels (320), a first five-way joint (330) that is divided into four parts, four clean water pipes (331), and four inner-to-outer joints (332) respectively installed on the four side walls of the ballast water tank (110) for connecting the ballast water tank (110) with the natural water body; the water pump (300) is fixedly installed inside the equipment cabin (120); the water inlet of the water pump (300) is connected to the replaceable filter element ( The water outlet of the replaceable filter element (310) is threadedly and sealedly connected; the water inlet of the replaceable filter element (310) is connected to the sewage inlet (334) arranged at the lower end of the equipment cabin (120) through a sewage pipe (333); the water outlet of the water pump (300) is threadedly and sealedly connected to the water inlet of the first five-way joint (330); the signal receiving end of the water pump (300) is electrically coupled to the signal output end of the main control computer (510) fixedly installed inside the equipment cabin (120); the first five-way joint (330) is fixedly installed on the partition (130); the first five-way joint The water inlet of the first five-way joint (330) is arranged on one side of the equipment cabin (120), and the four water outlets are arranged on one side of the ballast water tank (110); the four water outlets of the first five-way joint (330) are respectively connected to the four inner-outer joints (332) arranged inside the ballast water tank (110) through the four clean water pipes (331) and the threaded sealing connection at one end; the drainage panel (320) is a square cavity structure, including a first side surface (321) and a second side surface (322); wherein: the first side surface (321) and the second side surface (322) are parallel to the side wall of the ballast water tank (110) ; The water inlet of the drainage panel (320) is arranged on the first side surface (321) and is threadedly sealed with one end of the internal-external joint (332) arranged on the natural water body; the drainage panel (320) is provided with a plurality of evenly arranged drainage tubes (323) on the second side surface (322); an adjustable solenoid valve (335) is provided in the middle of each of the clean water pipes (331); the signal receiving end of the adjustable solenoid valve (335) is electrically signal-coupled with the signal output end of the main control computer (510), and the opening degree is adjusted under the control of the main control computer (510); The snorkeling device comprises a water surface air intake buoy (200), a first air intake hose (211), an air pump (212), an electrically controlled cabin door (213) and a one-way drainage check valve (214); the water surface air intake buoy (200) is made of a lightweight material and is provided with a first air intake port (210) penetrating the upper and lower end surfaces; the air pump (212) is fixedly installed inside the equipment cabin (120); the air intake port of the first air intake hose (211) is threadedly sealed to the opening of the first air intake port (210) on the lower end surface of the water surface air intake buoy (200); the air outlet of the first air intake hose (211) is threadedly sealed to the air intake port of the air pump (212) through the partition (130); the air outlet of the air pump (212) is connected to the air outlet of the air pump (212) through a threadedly sealed connection passing through the partition (130); The air supply pipe (215) of the ballast water tank (110) is connected to the interior of the ballast water tank (110); the air outlet of the air supply pipe (215) is arranged below the upper end surface of the interior of the ballast water tank (110); the signal receiving end of the air pump (212) is electrically coupled to the signal output end of the main control computer (510); the electric control cabin door (213) is installed at the upper end of the ballast water tank (110); the signal receiving end of the electric control cabin door (213) is electrically coupled to the signal output end of the main control computer (510), and is opened and closed under the control of the main control computer (510); the one-way drainage check valve (214) is provided on each of the four side walls of the ballast water tank (110), and the direction is one-way conduction from the interior of the ballast water tank (110) to the outside; It also comprises an oxygen enrichment device; the oxygen enrichment device comprises a second air intake hose (221), four air supply pipes (223) and a second five-way connector (222) that is divided into four parts; wherein: The water surface air intake buoy (200) is also provided with a second air intake port (220) penetrating the upper and lower end surfaces; The second five-way joint (222) is installed on the top of the carrying box (100), the air inlet is arranged on one side of the natural water body, and the four air outlets are arranged on one side of the ballast water tank (110); the air inlet of the second five-way joint (222) is threadedly sealed connected to the opening of the second air inlet (220) on the lower end surface of the water surface air inlet float (200) through a second air inlet hose (221); the four air outlets of the second five-way joint (222) are threadedly sealed connected to the air inlet ends of the four air supply pipes (223); the air outlet ends of the four air supply pipes (223) are respectively connected to the clean water pipe (331) from the four water outlets of the first five-way joint (330) to the corresponding adjustable solenoid valves (335); A first automatic hose reel (217) for storing excess length of the first air intake hose (211) is fixedly mounted on the upper end surface of the bearing box (100); A second automatic hose reel (224) for storing the excess length of the second air intake hose (221) is also fixedly mounted on the upper end surface of the bearing box (100); It also includes a habitat data monitoring sensor group (500) for detecting water quality and a motion radar group for detecting surrounding terrain; The habitat data monitoring sensor group (500) comprises a water depth sensor for collecting water depth data, a dissolved oxygen sensor for collecting dissolved oxygen data, a water quality conductivity sensor for collecting conductivity data, a turbidity sensor for collecting turbidity data, a fish finding sonar for collecting fish sonar data, and an underwater camera for collecting video data; The habitat data monitoring sensor group (500) arranges the collected water depth data, dissolved oxygen data, conductivity data, turbidity data, fish sonar data and video data in ascending order with the collection time as the timestamp according to the manually preset collection frequency, and then transmits them to the main control computer (510); The motion radar group comprises five motion radars (520), wherein: four of the motion radars (520) are respectively installed at the geometric center points of the lower end surfaces of the four drainage panels (320), and the transmission axes are perpendicular to the first side surfaces (321) of the drainage panels (320); the fifth motion radar (520) is installed at the geometric center point of the lower end surface of the carrying box (100), and the transmission axis is perpendicular to the lower end surface of the carrying box (100); The motion radar group arranges the collected underwater terrain data in ascending order with the collection time as the timestamp according to the collection frequency, and then transmits it to the main control computer (510); the underwater terrain data is a 3D model of the underwater terrain within the radar detectable distance around the location of the water purification robot at the current moment, which is established by the motion radar (520) based on the reflected sound wave signal; The main control computer (510) also has a built-in habitat database, a pollution determination module, a robot history database and a main control module; The habitat database stores the collected water depth data, dissolved oxygen data, conductivity data, turbidity data, fish sonar data and video data according to the time axis; The pollution determination module determines whether there is pollution at the current location of the water purification robot according to the collected dissolved oxygen data, conductivity data, and turbidity data, and outputs the pollution determination result to the main control computer (510); the pollution determination result includes the character strings "Polluted" and "Clear"; The robot history database stores the robot history route map and the underwater terrain data; the robot history route map consists of a plurality of footprint points arranged in ascending order with the acquisition time as the timestamp; each of the footprint points contains the GPS coordinates when it was collected, the water depth data and the remaining power; The main control module comprises a manually preset cruising route (400), a motion control submodule for controlling the motion trajectory of the water purification robot, a purification operation control submodule for controlling the water purification work of the water purification robot, and a posture fine-tuning submodule for adjusting the underwater posture of the water purification robot; The cruise route (400) comprises hovering points arranged in a manually preset path-finding order and a connecting line (410) connecting two adjacent hovering points; wherein: The hovering points include a current hovering point (411) for representing the starting point of the current movement of the water purification robot, a target hovering point (412) for representing the end point of the current movement of the water purification robot, and remaining hovering points (413) for representing the hovering points other than the current hovering point (411) and the target hovering point (412); the current hovering point (411) and the target hovering point (412) are respectively located at two ends of the same connecting line (410); The length of each of the connecting lines (410) is equal and preset manually; the spatial relationship between two adjacent connecting lines (410) is collinear or mutually perpendicular; the relationship between the planes where the two mutually perpendicular adjacent connecting lines (410) are located and the gravity acceleration is mutually perpendicular or coplanar; The current hovering point (411) includes manually preset GPS coordinates and the water depth data; The target hovering point (412) includes manually preset GPS coordinates and the water depth data; The remaining hovering points (413) include manually preset GPS coordinates and the water depth data; It also includes an emergency airbag (600) for emergency buoyancy; the emergency airbag (600) is fixedly mounted on the upper end surface of the exterior of the carrying box (100) by means of fasteners, and includes a gas generator (610), a folded airbag (620), and a trigger chip (630) for controlling the detonation of the gas generator (610); The gas outlet of the gas generator (610) is sealed and fixedly connected to the gas inlet of the air bag (620); the signal receiving end of the trigger chip (630) is electrically signal-coupled to the signal output end of the main control computer (510); The fully automatic river and lake water purification method comprises the following steps: S100. The water purification robot is deployed in the water body to be cleaned, and then the GPS coordinates and the water depth data of the water purification robot at the current moment are calibrated as the current hovering point (411); then the water purification robot automatically adjusts its posture in the water: the central axis of the water purification robot in the vertical direction coincides with the direction of gravity acceleration, and the positive direction in the horizontal direction is from the current hovering point (411) to the target hovering point (412); the positive direction in the horizontal direction is perpendicular to the two parallel drainage panels (320) at the front and rear; S200. The motion control submodule in the main control module directs the water purification robot to head toward the target hovering point (412) according to the cruise route (400); after reaching the target hovering point (412), the target hovering point (412) is replaced by the current hovering point (411); then, the remaining hovering points (413) that share a connecting line (410) with the current hovering point (411) are found from the remaining hovering points (413), and replaced with the target hovering point (412); then, the water purification robot is directed to remain in the hovering state; then, the water purification device is turned on to start the water purification operation; S300. The habitat data monitoring sensor group (500) collects the water depth data, the dissolved oxygen data, the conductivity data, and the turbidity data at the collection frequency, and transmits the data to the main control computer (510) in real time; S400. The pollution determination module determines whether there is pollution at the current location of the water purification robot based on the collected dissolved oxygen data, conductivity data, and turbidity data, and outputs the pollution determination result to the main control computer (510); S500. The main control computer (510) performs the following operations according to the pollution determination result: If the pollution determination result is the character string "Polluted", the current hovering state is maintained unchanged, and the water purification device is kept running; then the process returns to and executes S300 again; If the pollution determination result is the string "Clear", the water purification device is turned off; S600. Check whether the current hovering point (411) is the last hovering point in the cruise route (400); then perform the following operations according to the result of the check: If the current hovering point (411) is not the last hovering point in the cruise route (400), return to and execute S200 again; If the current hovering point (411) is the last hovering point in the cruise route (400), the motion control submodule directs the water purification robot to head to the GPS coordinates and the water depth data at the time of calibrating the water purification robot in S100.

2. The fully automatic river and lake water purification method according to claim 1 is characterized in that: The motion control submodule in the main control module in S200 directs the water purification robot to navigate to the target hovering point (412) according to the cruising route (400), which specifically includes the following steps: S210. Determine the positional relationship between the target hovering point (412) and the current hovering point (411) according to the cruise route (400); S211. According to the result of the determination, perform the following operations: If the target hovering point (412) is at the same horizontal height as the current hovering point (411), a translation operation is performed; If the target hovering point (412) is below the current hovering point (411), a diving operation is performed; If the target hovering point (412) is above the current hovering point (411), performing a floating operation; The translation operation specifically includes the following steps: S211a. Turn off the water purification device; turn off all four adjustable solenoid valves (335); S211b. The direction from the current hovering point (411) to the target hovering point (412) is used as a temporary heading (414); from the two drainage panels (320) perpendicular to the temporary heading (414), the drainage panel (320) facing away from the temporary heading (414) is selected as a temporary thrust panel; S211c. Open the adjustable solenoid valve (335) on the water purification pipe (331) connected to the temporary thrust panel; then open the water purification device again; then use the reaction force generated by the injection of the temporary thrust panel as thrust to push the water purification robot toward the target hovering point (412); S211d. When the water purification robot reaches the target hovering point (412), the water purification device is turned off; then all four of the adjustable solenoid valves (335) are opened; S211e. In the cruise route (400), the hovering point that the current water purification robot has reached is marked as the current hovering point (411); and then the target hovering point (412) is read out from the cruise route (400) for standby; The diving operation specifically comprises the following steps: S211f. Open the electrically controlled door (213); S211g. When the water purification robot reaches the target hovering point (412), the electrically controlled door (213) is closed; S211h. Turn on the air pump (212) to draw air in until the water purification robot remains in a hovering state and no longer sinks or floats; S211i. In the cruise route (400), the hovering point that the current water purification robot has reached is marked as the current hovering point (411); and then the target hovering point (412) is read out of the cruise route (400) for standby; The floating operation specifically comprises the following steps: S211j. Turn on the vacuum pump (212) to draw in air; S211k. When the water purification robot reaches the target hovering point (412), the air pump (212) is turned off; S211l open the electrically controlled door (213) until the water purification robot remains in a hovering state and no longer sinks or floats; S211m. Mark the hovering point that the current water purification robot has reached in the cruise route (400) as the current hovering point (411); then read out the target hovering point (412) in the cruise route (400) for standby use.

3. The fully automatic river and lake water purification method according to claim 2 is characterized in that: It also includes obstacle avoidance branch line strategy and emergency floating branch line strategy; among them: The obstacle avoidance branch line strategy is started at the same time from the beginning of S100 until S600 when the water purification robot returns to the GPS coordinates and the water depth data at the time of calibration of the water purification robot in S100; specifically, it includes the following steps: A100. The motion radar group arranges the underwater terrain data in ascending order according to the acquisition frequency with the acquisition time as the timestamp, and then transmits it to the main control computer (510); A200. Each time a new frame of underwater terrain data is received, it is determined whether the distances from the four motion radars (520) to obstacles in the positive direction in the horizontal direction, the left side in the positive direction in the horizontal direction, the right side in the positive direction in the horizontal direction, and the vertical direction are less than a manually preset safety distance threshold, and whether the replaceable filter element (310) is fully loaded; and then the following operations are performed according to the determination results: If the distance from the motion radar (520) in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar (520) in the left side in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar (520) in the right side in the positive direction in the horizontal direction to the obstacle is not less than the safety distance threshold, and the distance from the motion radar (520) in the vertical direction to the obstacle is not less than the safety distance threshold, and the replaceable filter element (310) is not yet fully loaded, then return to and execute A100 again; Otherwise, execute A300; A300. Determine whether the water purification robot is currently performing a translation operation, a diving operation, or a floating operation; and then perform the following operations according to the determination result: If the water purification robot currently performs the translation operation, execute A310; If the water purification robot is currently performing the diving operation, execute A320; If the water purification robot is currently performing the floating operation, execute A330; A310. Turn off the water purification device; turn off all four adjustable solenoid valves (335); A311. Reverse the direction of the temporary heading (414) and modify it to the current temporary heading (414); select the drainage panel (320) facing away from the temporary heading (414) from the two drainage panels (320) perpendicular to the modified temporary heading (414) as a temporary thrust panel; A312. Open the adjustable solenoid valve (335) on the water purification pipe (331) connected to the temporary thrust panel; then open the water purification device again; then use the reaction force generated by the spraying of the temporary thrust panel as thrust to push the water purification robot back to the current hovering point (411); A313. When the water purification robot returns to the current hovering point (411), the water purification device is turned off; then all four of the adjustable solenoid valves (335) are opened; A314.Execute A340; A320. Turn off the water purification device; turn off all four adjustable solenoid valves (335); A321. Execute the floating operation; A322. When the water purification robot returns to the current hovering point (411), the water purification device is turned off; then all four of the adjustable solenoid valves (335) are opened; A323.Execute A340; A330. Turn off the water purification device; turn off all four adjustable solenoid valves (335); A331. Execute the diving operation; A332. When the water purification robot returns to the current hovering point (411), the water purification device is turned off; then all four of the adjustable solenoid valves (335) are opened; A333.Execute A340; A340. In the cruise route (400), the hovering point that the current water purification robot has reached is marked as the current hovering point (411); then, in the cruise route (400), the target hovering point (412) is marked as "unreachable"; then, the remaining hovering points (413) that share the connecting line (410) with the target hovering point (412) are marked as the target hovering points (412) for standby; A341. Enumerate all paths that can reach the target hovering point (412) by navigating along the connecting line (410) from the current hovering point (411); then select the path that contains the least connecting line (410); then randomly select a path from all the paths that contain the least connecting line (410); A342. Set the points between two adjacent connecting lines (410) in the selected path as the hovering points; A343. Remove the hovering point marked as "unreachable" in the cruise route (400), and the two connecting lines (410) connected to the hovering point; A344. Replace the hovering point and the connecting line (410) removed in A344 with the path selected in A342 and A343; then set the hovering point that shares the same connecting line (410) with the current hovering point (411) as the target hovering point (412); A345. Return and execute A100 again; The emergency floating branch line strategy starts at the same time from the beginning of S100 until S600 when the water purification robot returns to the GPS coordinates and the water depth data of the water purification robot at the time of calibration in S100; specifically includes the following steps: E100. The signal receiving end of the trigger chip (630) receives the emergency floating instruction and the remaining power from the main control computer (510) according to the acquisition frequency; the emergency floating instruction includes the character strings "EmergencyEvacuating" and "Stand By"; E200. Perform the following operations according to the emergency floating instruction and the remaining power: If the emergency floating instruction is "Stand By" and the remaining power is greater than the manually preset safety power threshold, return and execute E100 again; If the emergency floating instruction is "Emergency Evacuating", or the remaining power is less than the safety power threshold, execute E300; E300. Turn off the water purification device; turn off all four adjustable solenoid valves (335); E400. The trigger chip (630) controls the gas generator (610) to detonate, so that the gas fills the air bag (620), and uses buoyancy to drive the water purification robot to the surface; E500. When the water purification robot surfaces, it sends an emergency evacuation completion signal to the main control computer (510); the emergency evacuation completion signal includes the string "Emergency Evacuating Completed", the GPS coordinates of the current location of the water purification robot, the water depth data and the remaining power.

Images