Enteromorpha cleaning robot with intelligent identification and solar resource utilization

Abstract

The application discloses a green algae cleaning robot with intelligent identification and solar energy resource utilization, which comprises a control module, a movement module, a salvage module, a processing module and a photovoltaic driving module; the movement module is provided with the salvage module, the processing module and the photovoltaic driving module; the control module comprises a main control machine and a visual identification sensor; the main control machine receives image data collected by the visual identification sensor, analyzes and processes the image data, and sends control instructions to the movement module, the salvage module, the processing module and the photovoltaic driving module. After the green algae is identified by the control module, a control signal is sent to the salvage module to collect and salvage the green algae, and then the collected green algae is transmitted to the processing module; the visual identification sensor can be used to enable the robot to autonomously plan a path for green algae salvage, so that the robot has high automation and can effectively realize whole-process green algae processing.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of resources and environment, and relates to a green algae cleaning robot with intelligent identification and solar energy resource utilization. BACKGROUND

[0002] The current green algae treatment usually adopts a manual salvage operation method, lacks special cleaning technology and devices, leads to incomplete cleaning of the green algae, low efficiency, and many problems such as high labor intensity. At present, some designs of water surface cleaning robots have appeared on the market. However, the existing products have the following problems:

[0003] 1) Low degree of automation;

[0004] 2) Single treatment of the green algae, mainly collection;

[0005] 3) High energy consumption, and great use limitation. SUMMARY

[0006] The application aims to solve the problems of incomplete cleaning of the green algae, low efficiency, and only collection of the green algae without subsequent treatment in the prior art, and provides a green algae cleaning robot with intelligent identification and solar energy resource utilization.

[0007] To achieve the above-mentioned purpose, the application adopts the following technical solutions:

[0008] A green algae cleaning robot with intelligent identification and solar energy resource utilization comprises a control module, a motion module, a salvage module, a processing module and a photovoltaic driving module.

[0009] The salvage module is fixed at the end of the motion module, the processing module is arranged on the motion module, receives the collected green algae of the salvage module and processes the green algae, the photovoltaic driving module is installed at the top end of a support rod, and the support rod is fixed on the motion module.

[0010] Further improvement of the application is as follows:

[0011] The salvage module comprises two salvage struts and two forward struts, the two ends of the two salvage struts are fixed on the movement module, the top ends of the two salvage struts are connected by a first supporting rod, a salvage gear is installed on the first supporting rod, the salvage gear is engaged with one end of the first-level conveying belt, and the salvage gear is driven to rotate by a motor connected with the salvage gear; the two ends of the two forward struts are fixed on the movement module, the other ends of the two forward struts extend out of the movement module and are connected by a second supporting rod, the other end of the first-level conveying belt is arranged on the second supporting rod, a forward mechanical arm, a motor, a worm and a steering gear are respectively installed on the forward struts, the worm is driven to rotate by the motor, the steering gear is driven to rotate by the worm, and the forward mechanical arm is driven to swing by the steering gear.

[0012] A plurality of stoppers are uniformly arranged on the first-level conveying belt.

[0013] The processing module comprises a second-level conveying belt, a compression mechanism, a drying chamber, a crushing chamber and a storage chamber, the second-level conveying belt is horizontally arranged on the movement module by a supporting rod, the compression mechanism is installed on the movement module by a lead screw, the lead screw is arranged on both sides of the second-level conveying belt, the compression mechanism is driven to move up and down by the rotation of the lead screw driven by a motor, so that the compression mechanism is dehydrated, the second-level conveying belt transmits the dehydrated enteromorpha to a turnover mechanism, the turnover mechanism is engaged with a turnover gear, the drying chamber is arranged above the turnover mechanism by a lead screw, both sides of the enteromorpha entering the turnover mechanism are dried, the dried enteromorpha enters a bottom plate chute, the bottom plate chute is installed on the movement module by a guide rail, the bottom plate chute is driven to move by a motor driven speed reducer gear box, the crushing chamber is arranged on the movement module by a guide rail, after the bottom plate chute moves to the lower side of the crushing chamber, the guide rail drives the crushing chamber to move downward, the enteromorpha is crushed, the bottom plate chute continues to move, the enteromorpha is transmitted to the storage chamber, and the storage chamber is arranged on the movement module away from the salvage module.

[0014] A fan and a 70W PTC heating sheet are arranged in the drying chamber to heat and dehydrate the collected enteromorpha.

[0015] A brush is arranged at the connection end of the movement module and the storage chamber, the brush is driven to rotate by a motor, and the enteromorpha in the bottom plate chute is sent into the storage chamber for collection and storage.

[0016] The photovoltaic driving module comprises a single crystal silicon photovoltaic panel, a lithium ion battery pack and an MPPT controller, electricity is generated by the single crystal silicon photovoltaic panel during the day, the lithium ion battery is charged after maximum power point tracking is realized by the MPPT controller, and the lithium ion battery is used for power supply at night.

[0017] The lithium ion battery pack includes four lithium ion batteries, wherein the first lithium ion battery is used for supplying power to the motors in the movement module and the salvage module; the second lithium ion battery is used for supplying power to the motors in the processing module; the third lithium ion battery is used for supplying power to the heating sheet; and the fourth lithium ion battery is used for supplying power to the control module.

[0018] The movement module includes a foam plate, two waterwheel propellers and motors are arranged on the two sides of the foam plate respectively, and the forward and reverse rotation of the waterwheel propellers is realized through the control module.

[0019] The control module further includes a communication unit, which transmits the water quality, temperature and conductivity signals collected by the sensor to the cloud platform through 5G or WIFI.

[0020] Compared with the prior art, the present application has the following beneficial effects:

[0021] The present application provides a green algae cleaning robot with intelligent identification and solar energy utilization. After the green algae is identified by the control module, a control signal is sent to the salvage module to collect and salvage the green algae, and then the collected green algae is transmitted to the processing module. The use of visual recognition sensors enables the robot to autonomously plan a path for green algae salvage, resulting in high automation. The robot can collect green algae within its range and send it to a conveyor belt, thereby achieving green algae cleaning and collection. This effectively realizes the entire process of green algae processing.

[0022] Further, the application uses solar energy and lithium ion batteries to supply power jointly. When the light condition is sufficient, the monocrystalline silicon photovoltaic panel charges the lithium ion battery, and when the light condition is insufficient, the lithium ion battery supplies power, so that the cleaning robot can work normally during the day and at night.

[0023] Further, the water quality parameters are transmitted to the cloud platform through wireless network transmission, enabling the staff to remotely monitor the operation of the robot and the water quality. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0025] Figure 1 The figure is a structural schematic diagram of the present application;

[0026] Figure 2 The figure is a side view of the present application;

[0027] Wherein, 1-fore extension mechanical arm; 2-DC motor; 3-worm; 4-steering gear; 5-first stage conveying belt; 6-stop block; 7-waterwheel propeller; 8-screw; 9-fishing gear; 10-second stage conveying belt; 11-compression mechanism; 12-drying chamber; 13-guide rail; 14-crushing chamber; 15-brush; 16-storage chamber; 17-photovoltaic panel; 18-aluminum support rod; 19-camera and main control machine; 20-battery; 21-foam board; 22-fishing support column; 23-fore extension support column; 24-overturning mechanism; 25-overturning gear; 26-reduction gear box; 27-bottom plate sliding groove. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0030] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the embodiments of the present application, it should be noted that, if the orientation or position relationship indicated by the terms "upper", "lower", "horizontal", "inner" and the like is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship when the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only used for differentiation, and cannot be understood as indicating or implying relative importance.

[0032] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0033] In the description of the embodiments of the present application, it also needs to be explained that, unless otherwise explicitly specified and limited, if the terms "arrange", "install", "connect", "connect" appear, they should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0034] The present application will be further described in detail below with reference to the accompanying drawings:

[0035] Referring to Figure 1 and Figure 2 , respectively, are the perspective view and side view of the Enteromorpha cleaning robot with intelligent identification and solar resource utilization in the present application, the robot comprises a control module, a motion module, a fishing module, a processing module and a photovoltaic driving module; the fishing module is fixed at the end of the motion module, the processing module is placed on the motion module, receives the Enteromorpha collected by the fishing module and processes it, the photovoltaic driving module is installed at the top of the support rod, the support rod is fixed on the motion module, the control module comprises a host computer and a visual identification sensor, the host computer receives the image data collected by the visual identification sensor, analyzes and processes it, and sends control instructions to the motion module, the fishing module, the processing module and the photovoltaic driving module.

[0036] Among them, the fishing module comprises fishing struts 22 and front struts 23, two fishing struts 22 are respectively fixed on the motion module, the top of the fishing struts 22 is connected through a first support rod, a fishing gear 9 is installed on the first support rod, the fishing gear 9 is engaged with one end of the first-level conveyor belt 5, and is driven to rotate by the motor connected with the fishing gear 9; the ends of two front struts 23 are respectively fixed on the motion module, the other ends are extended out of the motion module and connected through a second support rod, the other end of the first-level conveyor belt 5 is arranged on the second support rod, a plurality of stop blocks 6 are uniformly arranged on the first-level conveyor belt 5, which can facilitate the collection of the Enteromorpha gathered in pieces, a front mechanical arm 1, a motor 2, a worm 3 and a steering gear 4 are respectively installed on the front struts 23, the worm 3 is driven to rotate by the motor 2, the steering gear 4 is driven to rotate by the worm 3, and the front mechanical arm 1 is driven to swing left and right by the steering gear 4, so as to realize the gathering of Enteromorpha on the water surface, the gathered Enteromorpha is collected into the robot body through the first-level conveyor belt 5, the stop blocks 6 arranged on the first-level conveyor belt 5 facilitate the collection of the Enteromorpha gathered in pieces, and the conveyor belt body is mainly made of recycled fishing nets to filter out the water in the Enteromorpha, the first-level conveyor belt 5 is driven to rotate by the motor and the gear meshing to collect the Enteromorpha, the bottom of the first-level conveyor belt 5 can be extended below the water surface, so as to ensure that the algae adhesion with large scale and thickness can be fished ashore.

[0037] The processing module includes a secondary conveying belt 10, a compression mechanism 11, a drying chamber 12, a crushing chamber 14 and a storage chamber 16. The secondary conveying belt 10 is horizontally arranged on the movement module through a support rod. The compression mechanism 11 is installed on the movement module through a lead screw 8 located on both sides of the secondary conveying belt 10. The rotation of the lead screw 8 driven by a motor makes the compression mechanism 11 move up and down to realize compression and dehydration. The secondary conveying belt 10 transmits the Enteromorpha after compression and dehydration to the turnover mechanism 24. The turnover mechanism 24 is engaged with the turnover gear 25. The drying chamber 12 is arranged above the turnover mechanism 24 through a lead screw. The two sides of the Enteromorpha entering the turnover mechanism 25 are respectively subjected to drying treatment. The drying chamber 12 is provided with a fan and a 70W PTC heating sheet. The collected Enteromorpha is subjected to heating and dehydration treatment. The dried Enteromorpha enters the bottom plate sliding groove 27. The bottom plate sliding groove 27 is installed on the movement module through a guide rail. The bottom plate sliding groove 27 is moved by a motor-driven speed reducer gear box 26. The crushing chamber 14 is arranged on the movement module through a guide rail 13. After the bottom plate sliding groove 27 moves to the lower part of the crushing chamber 14, the guide rail 13 drives the crushing chamber 14 to descend. After the crushing treatment of the Enteromorpha, the bottom plate sliding groove 27 continues to move to transmit the Enteromorpha to the storage chamber 16. The storage chamber 16 is arranged on the movement module away from the fishing module. The processed Enteromorpha is collected. The movement module is provided with a brush 15 at the connection end of the storage chamber 16. The brush 15 is rotated by a motor to send the Enteromorpha in the bottom plate sliding groove 27 into the storage chamber 16 for collection and storage. The processing module is responsible for processing and processing the Enteromorpha fished up. First, the first conveying belt 5 transmits the fished Enteromorpha to the secondary conveying belt 10 inside. The lead screw structure installed on both sides of the robot is used. The motor provides power. The compression mechanism 11 is built with steel to realize its up and down movement. The water in the Enteromorpha is squeezed out on the lower pad to be preliminarily dried. After compression, the secondary conveying belt 10 continues to move to send the preliminarily processed Enteromorpha to the turnover mechanism. In the drying chamber, a 70W PTC heating sheet is arranged. The Enteromorpha can be heated to 70℃ to remove more than 95% of the water. The turnover mechanism realizes the positive and negative pouring of the Enteromorpha to realize double-side dehydration. Then, the guide rail sliding groove mechanism sends the Enteromorpha into the crushing chamber 14 directly below. At this time, the crushing chamber 14 descends to the predetermined position. The motor starts to work. The high-speed rotation drives the metal fan blade to crush the Enteromorpha. After the work is completed, the crushing chamber 14 is lifted as a whole to ensure that it does not interfere with other mechanical structures. The finally processed Enteromorpha is rotated by the brush into the storage chamber 16 for storage. The whole process is a flow line operation to realize the mechatronics of Enteromorpha fishing and processing.

[0038] The photovoltaic driving module comprises a 200W monocrystalline silicon photovoltaic panel, a lithium ion battery pack and an MPPT controller, electricity is generated by the monocrystalline silicon photovoltaic panel during the day, the lithium ion battery is charged after maximum power point tracking is realized by the MPPT controller, and the lithium ion battery is used for power supply at night. The lithium ion battery pack comprises four lithium ion batteries, wherein the first lithium ion battery is used for power supply of motors in the movement module and the salvage module; the second lithium ion battery is used for power supply of motors in the processing module; the third lithium ion battery is used for power supply of heating fins; and the fourth lithium ion battery is used for power supply of the control module. When the light condition is sufficient, the electricity generated by the photovoltaic panel is used for charging the four main lithium ion batteries after maximum power point tracking is realized by the MPPT controller, and the power demand of each device is met; and when the light condition is insufficient, the lithium ion battery is used for power supply.

[0039] The automatic control module comprises a host computer, a visual identification sensor and a communication unit, the host computer is connected with all the motors through wires to send movement and stop instructions, and collects almost all the sensor information including the visual part, and sends the information to the communication part after processing. The visual part is composed of a camera arranged at the front part of the robot, which can locate the position of Enteromorpha by color recognition algorithm, and then autonomously plan a path to go to salvage; and the communication unit uploads the information of water quality, temperature, conductivity and the like collected by the sensor to the cloud platform through 5G or WIFI technology, so as to facilitate the staff to evaluate and check the local water quality and the running state of the robot.

[0040] The floating part of the movement module is composed of a foam plate, the power part is composed of four waterwheel propellers and motors, which are distributed on both sides of the cleaning robot, the clockwise and counterclockwise rotation of each waterwheel propeller can realize multi-directional movement of the robot, and each power motor is connected to the control module through wires.

[0041] The specific working process of the present application is as follows:

[0042] The front extension mechanical arm 1 in the salvage module is controlled to swing left and right by a motor driving a worm 3 to rotate, so that the enteromorpha is gathered, and the gathered enteromorpha is transmitted on the secondary transmission belt 10 through the first-level transmission belt 5; the motor drives the screw rod 8 to rotate, so that the compression mechanism 11 moves downward, and after moving to the bottom, the motor rotates in the opposite direction to make the compression mechanism 11 lift to realize compression and dehydration, and preliminary drying is carried out; after compression, the secondary transmission belt 10 continues to move, and the enteromorpha is transmitted to the turnover mechanism 24; after the enteromorpha enters the turnover mechanism 24, the drying chamber 12 descends, the electric heating sheet and the fan in the drying chamber 12 operate to dry the enteromorpha, the drying chamber 12 is lifted after drying is completed, the turnover gear 25 drives the turnover mechanism 24 to turn over, and the other side of the enteromorpha is dried again; after drying is completed, the turnover mechanism 24 pours the enteromorpha into the bottom plate sliding groove 27, the motor drives the reduction gear box 26 to move the bottom plate sliding groove 27 to below the crushing chamber 14, the guide rail 13 drives the crushing chamber 14 to descend, the metal blades in the crushing chamber 14 are driven by the motor to rotate rapidly to crush the enteromorpha, and the guide rail 13 drives the crushing chamber 14 to ascend after crushing is completed; the bottom plate sliding groove 27 continues to move to the end of the movement module, the motor drives the brush 15 to rotate to convey the enteromorpha to the storage chamber 16 for collection and storage.

[0043] The enteromorpha cleaning robot with intelligent identification and solar resource utilization in the application has high automation degree because the enteromorpha is gathered by the mechanical arm and then enters the first-level transmission belt for salvage, and subsequent compression and dehydration, preliminary drying and crushing operations are automatically completed after salvage. The main energy of the robot comes from the photovoltaic cell, and the transmission belt and the floating part are made of recycled materials, so that energy saving and environmental protection are achieved. In addition, the visual recognition technology can be used to enable the robot to plan a path for enteromorpha salvage, so that the robot does not wander aimlessly. Meanwhile, based on the wireless network transmission technology, remote monitoring of the robot operation and water quality can be realized, and the structure is simple, the operation is convenient, and the practicality is extremely strong.

[0044] The above is only a preferred embodiment of the application and is not used to limit the application. For those skilled in the art, the application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A Enteromorpha prolifera cleaning robot with intelligent identification and solar resource utilization, characterized in that, Control module, movement module, salvage module, processing module and photovoltaic driving module are included. The salvage module is fixed at the end of the movement module, the processing module is placed on the movement module to receive and process the Enteromorpha collected by the salvage module, the photovoltaic driving module is installed at the top of the support rod which is fixed on the movement module, the control module includes a host computer and a visual recognition sensor, the host computer receives the image data collected by the visual recognition sensor, analyzes and processes the data and sends control instructions to the movement module, the salvage module, the processing module and the photovoltaic driving module. The processing module includes a secondary conveyor belt (10), a compression mechanism (11), a drying chamber (12), a crushing chamber (14) and a storage chamber (16), the secondary conveyor belt (10) is horizontally arranged on the movement module through a support rod, the compression mechanism (11) is installed on the movement module through a lead screw (8), the lead screw (8) is located on both sides of the secondary conveyor belt (10), the rotation of the lead screw (8) driven by a motor makes the compression mechanism (11) move up and down to realize compression and dehydration, the Enteromorpha after compression and dehydration is transmitted to the turnover mechanism (24) by the secondary conveyor belt (10), the turnover mechanism (24) is engaged with the turnover gear (25), the drying chamber (12) is arranged above the turnover mechanism (24) through a lead screw, the two sides of the Enteromorpha entering the turnover mechanism (24) are dried respectively, the dried Enteromorpha enters the bottom slide (27), the bottom slide (27) is installed on the movement module through a guide rail, the movement of the bottom slide (27) is driven by a motor and a reduction gear box (26), the crushing chamber (14) is arranged on the movement module through a guide rail (13), after the bottom slide (27) moves below the crushing chamber (14), the guide rail (13) drives the crushing chamber (14) to descend, after the crushing treatment of the Enteromorpha, the bottom slide (27) continues to move to transmit the Enteromorpha to the storage chamber (16), the storage chamber (16) is arranged on the movement module away from the salvage module, to collect the processed Enteromorpha. The photovoltaic driving module includes a single crystal silicon photovoltaic panel, a lithium ion battery pack and an MPPT controller, the single crystal silicon photovoltaic panel generates electricity during the day, the lithium ion battery is charged after the maximum power point tracking by the MPPT controller, and the lithium ion battery supplies power at night.

2. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 1, wherein, The fishing module comprises fishing struts (22) and forward struts (23), two fishing struts (22) are respectively fixed on the movement module, the top ends of the fishing struts (22) are connected through a first support rod, a fishing gear (9) is installed on the first support rod, the fishing gear (9) is engaged with one end of the first-level conveying belt (5), and the fishing gear (9) is driven to rotate by a motor connected with the fishing gear (9); the ends of two forward struts (23) are respectively fixed on the movement module, the other ends of the forward struts (23) extend out of the movement module and are connected through a second support rod, the other end of the first-level conveying belt (5) is arranged on the second support rod, a forward mechanical arm (1), a motor (2), a worm (3) and a steering gear (4) are respectively installed on the forward struts (23), the worm (3) is driven to drive the steering gear (4) by rotating the motor (2), and the steering gear (4) drives the forward mechanical arm (1) to swing.

3. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 2, wherein, The first-level conveying belt (5) is uniformly provided with a plurality of stop blocks.

4. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 1, wherein, The drying chamber (12) is provided with a fan and a 70W PTC heating sheet, and the collected enteromorpha is heated and dehydrated.

5. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 1, wherein, The movement module is provided with a brush (15) at the connecting end of the storage chamber (16), the brush (15) is driven to rotate by a motor, and the enteromorpha in the bottom plate sliding groove (27) is sent into the storage chamber (16) for collection and storage.

6. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 1, wherein, The lithium ion battery pack comprises four lithium ion batteries, wherein the first lithium ion battery is used for power supply of motors in the movement module and the fishing module; the second lithium ion battery is used for power supply of motors in the processing module; the third lithium ion battery is used for power supply of heating sheets; and the fourth lithium ion battery is used for power supply of the control module.

7. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 1, wherein, The movement module comprises a foam plate, two waterwheel propellers and motors are respectively arranged on the two sides of the foam plate, and the waterwheel propellers are realized to rotate forward and backward through the control module.

8. The Enteromorpha cleaning robot with intelligent identification and solar resource utilization of claim 1, wherein, The control module further comprises a communication unit, and the communication unit transmits water quality, temperature and conductivity signals collected by the sensor to a cloud platform through 5G or WIFI.

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