An ecological purification device and method

Abstract

The application relates to the technical field of water purification treatment and ecological restoration. An ecological purification device and method are disclosed. The device comprises a main body, a water quality detection element, a driving assembly and a control module; the water quality detection element and the driving assembly are arranged on the main body; the water quality detection element and the driving assembly are electrically connected or wirelessly communicated with the control module; the water quality detection element is used for detecting water quality information; the control module is used for automatically planning a travel route in an original map model according to the water quality information fed back by the water quality detection element and controlling the driving assembly to drive the main body to run according to the planned travel route. The water quality detection element is used for detecting water quality information; the control module is used for automatically planning a travel route according to the water quality information fed back by the water quality detection element and controlling the driving assembly to drive the main body to run according to the travel route, so that automatic movement of the ecological purification device is realized.

Description

Technical Field

[0001] This application relates to the field of water purification and ecological restoration technology, and more specifically, to an ecological purification device and method. Background Technology

[0002] Overdevelopment of important ecological spaces such as watershed water conservation areas, river and lake waters and their buffer zones has led to a series of ecological problems, including severe decline in ecological functions, loss of biodiversity, and persistently high levels of cyanobacterial blooms in lakes.

[0003] Floating wetlands and ecological floating islands are commonly used methods for water purification. Currently, most floating wetlands or ecological floating islands have a large self-weight and require external force to move.

[0004] Therefore, there is a need to find an ecological purification device that can move automatically. Summary of the Invention

[0005] In view of the above situation, this application provides an ecological purification device and method, which aims to solve the above problems or at least partially solve the above problems.

[0006] In a first aspect, this application provides an ecological purification device, comprising:

[0007] Main body, water quality testing components, drive components, and control module;

[0008] Both the water quality testing device and the driving component are mounted on the main body.

[0009] The water quality testing device, the drive assembly, and the control module are electrically connected or wirelessly connected.

[0010] The water quality detection device is used to detect water quality information, and the control module is used to automatically plan a travel route in the original map model based on the water quality information fed back by the water quality detection device, and control the drive component to drive the main body to run according to the planned travel route.

[0011] Preferably, the ecological purification device further includes a camera and a lidar;

[0012] The camera and lidar are mounted on the main body, and the camera and lidar are respectively connected to the control module via qualitative or wireless communication.

[0013] The control module is used to adjust the original map model based on the feedback information from the camera and the lidar to generate a three-dimensional map model, and to automatically plan a travel route in the three-dimensional map model.

[0014] Preferably, the camera is connected to the main body via a first connecting rod, and the lidar is connected to the main body via a second connecting rod;

[0015] Both the first connecting rod and the second connecting rod are telescopic rods.

[0016] Preferably, the drive assembly includes a drive propeller and a drive motor;

[0017] The drive motor is mounted on the main body, the drive propeller is rotatably connected to the main body, the drive motor and the control module are electrically connected or wirelessly communicated, and the control module is used to control the drive motor to drive the drive propeller to rotate so that the main body moves.

[0018] Preferably, the drive assembly further includes a universal control axis and a universal controller;

[0019] The universal control axis and the universal controller are mounted on the main body. The universal control axis and the universal controller are electrically connected in the middle. The universal controller and the control module are electrically connected or wirelessly communicated with each other. The control module is used to control the universal control axis through the universal controller to drive the main body to rotate circumferentially around the axis of the main body.

[0020] Preferably, the ecological purification device includes a solar energy collection component and a storage battery;

[0021] The storage battery is mounted on the main body;

[0022] Multiple solar energy collection devices are provided, and the multiple solar energy collection devices are evenly distributed on the outer edge of the main body. The solar energy collection devices and the battery are electrically connected.

[0023] Preferably, the ecological purification device further includes a temperature detection element, a pressure detection element, an ultraviolet detection element, and a purification component;

[0024] The temperature detection element, the air pressure detection element, the ultraviolet detection element, and the purification component are disposed on the main body. The temperature detection element is used to detect the ambient temperature, the air pressure detection element is used to detect the ambient pressure, the ultraviolet detection element is used to detect the ultraviolet rays in the environment, and the purification component will be used to purify the water.

[0025] The temperature sensor, the air pressure sensor, and the ultraviolet sensor are electrically or wirelessly connected to the control module, respectively. The control module controls the working state of the purification component based on the feedback information from the temperature sensor, the air pressure sensor, the ultraviolet sensor, and the water quality sensor.

[0026] Preferably, the main body includes a first support plate, a second support plate, and a planting substrate;

[0027] The planting substrate, the first support plate, and the second support plate are coaxially arranged and connected sequentially along the axial extension direction of the main body.

[0028] The water quality testing device is mounted on the first support plate, and the driving component is mounted on the second support plate.

[0029] Secondly, an ecological purification method is provided, employing an ecological purification device as described in the first aspect, the method comprising:

[0030] Obtain water quality testing information from water quality testing samples;

[0031] The travel route is automatically planned in the original map model based on the water quality information fed back by the water quality test equipment.

[0032] The control drive component drives the main body to run along the planned route.

[0033] Preferably, the method further includes:

[0034] Obtain feedback information from the camera and LiDAR;

[0035] The original map model is adjusted based on feedback information from the camera and lidar to generate a 3D map model, and the travel route is automatically planned in the 3D map model.

[0036] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0037] The water quality testing device provided in this application is used to detect water quality information. The control module is used to automatically plan the travel route based on the water quality information fed back by the water quality testing device, and control the drive component to drive the main body to run along the travel route, thereby realizing the automatic movement of the ecological purification device. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a schematic diagram of the structure of the first support plate in one embodiment of the present invention;

[0040] Figure 2 This is another structural schematic diagram of the first support plate in one embodiment of the present invention;

[0041] Figure 3This is a schematic diagram of the structure of the second support plate in one embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of the planting substrate in one embodiment of the present invention.

[0043] The reference numerals in the figure are respectively:

[0044] 1-First support plate; 2-Water quality testing device; 3-Bacterial inoculum box; 4-Fixing rod; 5-Aeration device; 6-Suspended packing material; 7-Temperature sensor; 8-Pressure sensor; 9-Ultraviolet sensor; 10-Camera; 11-Universal controller; 12-LiDAR; 13-Solar panel; 14-Drive propeller; 15-Drive motor; 16-Battery; 17-Second support plate; 18-Planting substrate; 19-Plant.

[0045] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the term "comprising" and its variations should be interpreted as open-ended terms meaning "including but not limited to."

[0048] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0049] As mentioned above, most floating wetlands or ecological floating islands currently have a large self-weight and require external force to move. In order to solve the above problems, this application proposes an ecological purification device.

[0050] Specifically, such as Figure 1 and Figure 2As shown, an ecological purification device includes: a main body, a water quality detection component 2, a drive assembly, and a control module. The water quality detection component 2 and the drive assembly are both mounted on the main body; the water quality detection component 2 and the drive assembly are electrically or wirelessly connected to the control module; the water quality detection component 2 is used to detect water quality information, and the control module is used to automatically plan a travel route in the original map model based on the water quality information fed back by the water quality detection component 2, and control the drive assembly to drive the main body to run along the planned travel route.

[0051] Specifically, in one embodiment, the water quality detection device 2 is used to collect water samples at fixed times and locations for monitoring, such as dissolved oxygen (DO), oxidation-reduction potential (ORP), transparency, and ammonia nitrogen, to monitor changes in water quality.

[0052] Specifically, in one embodiment, the original map model may be a pre-set offline map model.

[0053] Specifically, in one embodiment, the original travel route can be preset in the original map model. The original travel route sets water indicators for multiple areas. Based on the preset water indicators and feedback information from the water quality monitoring device 2, the original travel route is automatically corrected to generate the planned travel route.

[0054] Specifically, in one embodiment, the control module is used to control the drive component to drive the main body to run according to the original travel route, and to obtain feedback information from the water quality detection device 2 to automatically correct the original travel route and generate a planned travel route, and then control the drive component to drive the main body to run according to the planned travel route.

[0055] Preferably, the ecological purification device also includes a camera 10 and a lidar 12. The camera 10 and lidar 12 are mounted on the main body, and are qualitatively or wirelessly connected to the control module. The control module is used to adjust the original map model based on the feedback information from the camera 10 and lidar 12 to generate a three-dimensional map model, and automatically plan the travel route in the three-dimensional map model.

[0056] Specifically, in one embodiment, the lidar 12 can detect the overall boundary of the water body, and the camera 10 can rotate 360° to collect images of the water body's surroundings so that the control module can identify the environment around the water body. The control module receives feedback information from the lidar 12, acquires each distance from itself to the water body boundary, generates a digital map, and constructs a map of the environment where the ecological purification device is located based on algorithms within the control module. The control module also receives feedback information from the camera 10 and constructs an environmental map based on mathematical operations, geometry, and trigonometric methods. This application combines the lidar 12 and the camera 10 to generate a three-dimensional map model of the environment where the ecological purification device is located, which improves the accuracy of the ecological purification device's path planning and enhances its obstacle avoidance and travel efficiency.

[0057] Furthermore, in one embodiment, the original map model pre-sets water body topography-related information and pre-sets a patrol and purification mode based on the characteristics of the water body, such as patrol time, fixed location, and key area purification mode at the discharge outlet. The configuration of camera 10 and lidar 12 serves to verify and adjust the implanted information, providing supporting data for adjusting the original map model in the control module. The pre-set water body topography-related information is existing underwater shoreline topography measurement data.

[0058] Specifically, in one embodiment, the control module is used to control the drive component to drive the main body to run according to the original travel route, and to automatically correct the original map model after obtaining feedback information from the camera 10 and the lidar 12 to generate a three-dimensional map model.

[0059] Specifically, in one embodiment, the camera 10 can rotate 360° to acquire image information of the surrounding water body.

[0060] Preferred, such as Figure 1 , Figure 3 and Figure 4 As shown, the main body includes a first support plate 1, a second support plate 17, and a planting substrate 18. The planting substrate 18, the first support plate 1, and the second support plate 17 are coaxially arranged and connected sequentially along the axial direction of the main body. The water quality testing component 2 is disposed on the first support plate 1, and the driving assembly is disposed on the second support plate 17.

[0061] Specifically, in one embodiment, a plant 19 is provided on the planting substrate 18. The planting substrate 18 can be common HDPE plastic or composite fiber material, etc. The plant 19 can be selected from cold-resistant or heat-resistant native aquatic or terrestrial plants with well-developed root systems, good purification effects, and strong adaptability, according to the purification needs and landscape effect. The root system of the plant 19 can not only release dissolved oxygen and absorb nutrients, but also adsorb and precipitate organic matter, SS (suspended solids), etc., providing a living environment for aerobic denitrifying microorganisms, thereby purifying the water quality.

[0062] Specifically, in one embodiment, the planting substrate 18 is disposed at the top, the second support plate 17 is disposed at the bottom, and the first support plate 1 is disposed between the planting substrate 18 and the second support plate 17. The planting substrate 18 and the first support plate 1 are connected by a first connecting structure, and the first support plate 1 and the second support plate 17 are connected by a second connecting structure, so that the planting substrate 18, the first support plate 1, and the second support plate 17 form a whole. Both the first connecting structure and the second connecting structure can be connecting rods to connect the planting substrate 18, the first support plate 1, and the second support plate 17 together. The specific structure of the first connecting structure and the second connecting structure is not specifically limited here.

[0063] Preferred, such as Figure 1 and Figure 2 As shown, the camera 10 is connected to the main body via a first connecting rod, and the lidar 12 is connected to the main body via a second connecting rod. Both the first and second connecting rods are telescopic rods.

[0064] Specifically, in one embodiment, the first connecting rod and the second connecting rod are vertically arranged on the first support plate 1, extending through the planting substrate 18 to above the water surface. Combined with... Figure 4 As shown, the ecological purification device also includes a planting substrate 18 and plants 19 placed on the planting substrate 18. In order to avoid the plants 19 from obstructing the lidar 12 and the camera 10, the first connecting rod and the second connecting rod are set as telescopic rods, and the height of the first connecting rod and the second connecting rod can be adjusted as needed.

[0065] Specifically, in one embodiment, the first connecting rod and the second connecting rod are driven to extend and retract by a driving component, and the driving component and the control device are electrically connected or wirelessly communicated. The control device adjusts the height of the first connecting rod according to the feedback information from the camera 10 and adjusts the height of the second connecting rod according to the feedback information from the lidar 12.

[0066] Specifically, in one embodiment, the first connecting rod and the second connecting rod are vertically arranged on the second support plate 17 and extend below the water surface. The camera 10 and the lidar 12 are arranged underwater to identify the underwater terrain and obstacles, which helps to improve the accuracy of the three-dimensional map model and improve the speed and accuracy of the route planning.

[0067] Preferred, such as Figure 3 As shown, the drive assembly includes a drive propeller 14 and a drive motor 15. The drive motor 15 is mounted on the main body, and the drive propeller 14 is rotatably connected to the main body. The drive motor 15 is electrically connected or wirelessly connected to the control module. The control module is used to control the drive motor 15 to drive the drive propeller 14 to rotate so that the main body moves.

[0068] Specifically, in one embodiment, multiple drive motors 15 and multiple drive propellers 14 are provided. The multiple drive propellers 14 are evenly distributed around the axis of the main body. The start, stop and speed of the multiple drive motors 15 are controlled by the control module to realize the movement and steering of the main body.

[0069] Specifically, in one embodiment, the drive motor 15 is a dual-axis motor, and there are two drive propellers 14, with one drive shaft driving one drive propeller 14 to rotate. The drive assembly includes two connecting shafts, and a drive shaft, a connecting shaft, and a drive propeller 14 form a group. One end of the connecting shaft is connected to the drive shaft of the drive motor 15, and the other end of the connecting shaft is connected to the main body. The connecting shaft can rotate relative to the main body, and the drive propeller 14 is mounted on the connecting shaft. The drive shaft drives the connecting shaft to rotate the drive propeller 14.

[0070] Specifically, in one embodiment, the drive motor 15 is a single-axis motor, the drive propeller 14 is a single propeller, and the drive assembly includes a connecting shaft. One end of the connecting shaft is connected to the drive shaft of the drive motor 15, and the other end of the connecting shaft is connected to the main body. The connecting shaft can rotate relative to the main body. The drive propeller 14 is mounted on the connecting shaft, and the drive shaft drives the connecting shaft to rotate the drive propeller 14.

[0071] Specifically, in one embodiment, the drive motor 15 is disposed in the motor slot on the second support plate 17, and the drive propeller 14 is disposed in the drive hole on the second support plate 17.

[0072] Preferred, such as Figure 1 and Figure 2 As shown, the drive assembly also includes a universal control axis and a universal controller 11. The universal control axis and the universal controller 11 are mounted on the main body and are electrically connected in the middle. The universal controller 11 is electrically connected or wirelessly communicated with the control module. The control module is used to control the universal control axis to drive the main body to rotate circumferentially around the axis of the main body through the universal controller 11.

[0073] Specifically, in one embodiment, the universal controller 11 is mounted on the first support plate 1, and the second connection structure is a universal control shaft. One end of the universal control shaft is connected to the middle of the first support plate 1, and the other end of the universal control shaft is connected to the middle of the second support plate 17. The universal control shaft can drive the second support plate 17 to rotate within a 360° range according to the instructions of the universal controller 11, so as to change the direction of motion of the drive paddle, thereby making the ecological purification device run according to the planned route.

[0074] Preferably, the ecological purification device includes a solar energy collection component and a battery 16. The battery 16 is mounted on the main body, and multiple solar energy collection components are evenly distributed on the outer edge of the main body. The solar energy collection components and the battery 16 are electrically connected.

[0075] Specifically, in one embodiment, the solar energy collector is a solar panel 13, which is connected to the outer edge of the first support plate 1 via a foldable structure. When it rains, the solar panel 13 can be folded up using the foldable structure.

[0076] Preferably, the ecological purification device further includes a temperature sensor, a pressure sensor, an ultraviolet (UV) sensor, and a purification component. These components are mounted on the main body. The temperature sensor detects ambient temperature, the pressure sensor detects ambient pressure, the UV sensor detects UV radiation in the environment, and the purification component is used to purify the water. The temperature sensor, pressure sensor, and UV sensor are electrically or wirelessly connected to the control module. The control module controls the operating status of the purification component based on feedback information from the temperature sensor, pressure sensor, UV sensor, and water quality sensor 2.

[0077] Specifically, in one embodiment, the purification component includes a MABR (membrane bioreactor) suspended packing 6, an aeration device 5 that works with the packing, and a microbial inoculation box 3. The MABR suspended packing 6 has a large specific surface area, gathers a large amount of microorganisms, and simultaneously carries out nitrification and denitrification reactions, resulting in good water purification effect.

[0078] Specifically, the bacterial inoculation tank 3 can be used to add appropriate bacterial species, such as anaerobic bacteria and aerobic bacteria, according to different water quality conditions. The bacterial inoculation tank 3 can increase the number of beneficial bacteria in the water and improve the efficiency of water purification.

[0079] Specifically, in one embodiment, the MABR (membrane bioreactor) suspended packing material 6 is not located on the outer edge of the first support plate 1. The purification assembly also includes a fixed rod 4, which is a telescopic rod. The inoculum incubation box 3 and the aeration device 5 are mounted on the fixed rod 4. The first end of the fixed rod 4 is connected to the first support plate 1, and the second end extends underwater through the second support plate 17. The inoculum incubation box 3 is located in the middle of the fixed rod 4. The aeration device 5 is a micro-nano aeration device, located at the second end of the fixed rod 4. When the ecological purification device is circulating, the fixed rod 4 is controlled to retract to prevent it from being entangled by underwater debris and affecting its circulation. When the ecological purification device circulates to a fixed position, the fixed rod 4 is controlled to extend. Due to the installation of the aeration device 5, the ecological purification device is fixed in place.

[0080] Specifically, in one embodiment, the temperature detection element is a temperature sensor 7, the air pressure detection element is a pressure sensor 8, and the ultraviolet detection element is an ultraviolet sensor 9. Based on the feedback information from the temperature detection element, air pressure detection element, and ultraviolet detection element, the control module can determine the weather conditions, such as sunny, cloudy, the eve of a rainstorm, or the aftermath of a rainstorm, so as to adjust the working state of the ecological purification device according to the weather conditions. For example, when the control module determines that the current weather is the eve of a rainstorm, the control module controls the drive motor 15 to turn off.

[0081] Specifically, in one embodiment, dissolved oxygen (DO) detection data can guide the system to adjust the aeration rate. The control module adjusts the aeration rate of the aeration device 5 by judging the weather and / or water quality conditions to better provide an oxygen source for the MABR suspended packing material 6. For example, when the control module judges that the weather is cloudy and the water pollution level is high, the control module increases the aeration rate. The ORP level reflects the oxidation-reduction capacity at different locations in the water body, and ammonia nitrogen can indicate the degree of water pollution. Based on the ORP and ammonia nitrogen indicators detected in the water quality, the control module can recommend bacterial strains to the staff to improve purification efficiency. For example, when the control module judges that the weather is cold and the pollution level is heavy, the control module recommends bacterial strains with strong cold resistance to the staff.

[0082] Specifically, in one embodiment, the ecological purification device can be deployed in multiple locations with multiple units working together, or it can be deployed individually, such as focusing on locations like drainage outlets, the center of water bodies, or areas with slow water flow, to purify the water at fixed times and locations. When multiple units work together, they can freely or separately form various shapes, meeting the needs of water purification while also creating a beautiful landscape effect.

[0083] On sunny days, the energy collected by the solar panel 13 is used to power equipment in the device, such as the drive paddle 14, aeration device 5, water quality detection device 2, various sensors (temperature sensor 7, pressure sensor 8, ultraviolet sensor 9), lidar 12, and camera 10. Excess energy is stored in the battery 16 for backup, so that when solar energy is insufficient, the battery can power the equipment in the power device.

[0084] This application also provides an ecological purification method, employing an ecological purification device as described above, the method comprising:

[0085] S10: Obtain water quality testing information from water quality testing sample 2;

[0086] S20: Automatically plan the travel route in the original map model based on the water quality information fed back by water quality testing device 2;

[0087] S30: Control drive components drive the main body to run along the planned route.

[0088] Specifically, in one embodiment, the original map model is an offline map model. Based on the feedback information from the water quality monitoring device 2, the travel route is automatically planned in the pre-set offline map model. Key purification areas and their water quality indicators are marked in the offline map model. The travel route is automatically planned by comparing the water quality information from the water quality monitoring device 2 with the marked water quality indicators.

[0089] Specifically, in one embodiment, water body topography-related information is embedded in the original map model and pre-set in the control module. Based on the existing characteristics of water bodies in different areas, a patrol and purification mode is set according to the original map model, such as patrol time, patrol fixed location, and key area purification mode such as discharge outlet.

[0090] Specifically, in one embodiment, before obtaining the water quality detection information fed back by the water quality detection device 2, the method further includes: based on the original travel route in the original map model, controlling the driving component to drive the main body to run along the original travel route, and obtaining the water quality detection information fed back by the water quality detection device 2 during the travel, and automatically planning the travel route in the original map model according to the water quality information fed back by the water quality detection device 2.

[0091] Specifically, in one embodiment, the method further includes identifying the location of the ecological purification device before planning the route.

[0092] Specifically, in one embodiment, the ecological purification device can upload water quality indicators as needed, which are then processed by the control module to generate a water quality purification process change diagram, providing the most intuitive visual data interface and providing data support for the next step of the work.

[0093] Specifically, in one embodiment, the ecological purification device can not only purify local areas of water bodies, but also patrol at fixed points and times as needed to solve water quality problems in different locations, such as areas near discharge outlets where pollution is more severe.

[0094] Preferably, the method further includes:

[0095] Obtain feedback information from camera 10 and lidar 12;

[0096] The original map model is adjusted based on feedback information from camera 10 and lidar 12 to generate a 3D map model, and the travel route is automatically planned in the 3D map model.

[0097] Specifically, the original map model is locally adjusted based on the feedback information from the camera 10 and the lidar 12, and a three-dimensional map model is generated after the local adjustment.

[0098] Specifically, the methods also include:

[0099] Based on the original travel route in the original map model, the control drive component drives the main body to move along the original travel route, and obtains feedback information from the camera 10 and the lidar 12 during the travel process;

[0100] The original map model is adjusted based on feedback information from camera 10 and lidar 12 to generate a 3D map model, and the travel route is automatically planned in the 3D map model.

[0101] Specifically, the original map model is globally adjusted based on the feedback information from the camera 10 and the lidar 12, and a three-dimensional map model is generated after the global adjustment.

[0102] Specifically, the methods also include:

[0103] Feedback information was obtained from water quality testing device 2, temperature testing device, air pressure testing device, ultraviolet testing device and purification component respectively;

[0104] The weather conditions are determined based on feedback information from temperature, air pressure, and ultraviolet radiation sensors.

[0105] The water quality status is determined based on the feedback information from water quality testing device 2;

[0106] The aeration rate of the aeration device 5 in the purification assembly is controlled according to the weather conditions and / or the water quality conditions.

[0107] Specifically, weather conditions include sunny, cloudy, the eve of a rainstorm, and the aftermath of a rainstorm. Water quality conditions include Class I, Class II, Class III, Class IV, Class V, and Class V (worst). Class V (worst) further includes mild and severe black and odorous water.

[0108] Specifically, the methods also include:

[0109] Place at least one ecological purification device in multiple locations;

[0110] Obtain feedback information from water quality testing device 2 at each location of the ecological purification device;

[0111] Based on the feedback information from multiple water quality testing devices 2, a travel route for each ecological purification device is generated in the map model, and each ecological purification device is controlled to operate according to the corresponding travel route.

[0112] Specifically, after each ecological purification device operates according to its corresponding route, it can patrol along that route; it can also travel to other locations to form a joint with other ecological purification devices, creating various patterns to enhance the water landscape effect, improve the utilization rate of the ecological purification devices, reduce investment costs, achieve fully automatic operation, and save on operation and maintenance costs. When the joint patrols, it can efficiently solve water quality problems at different locations in the water body.

[0113] In one embodiment, the method further includes:

[0114] Based on the original travel route in the original map model, the control drive component drives the main body to run along the original travel route, and during the journey, it acquires water quality detection information from water quality detection device 2, feedback information from camera 10 and lidar 12, and feedback information from water quality detection device 2, temperature detection device, air pressure detection device, ultraviolet detection device and purification component.

[0115] The original map model is adjusted based on the feedback information from the camera 10 and the lidar 12 to generate a three-dimensional map model, and the travel route is automatically planned in the three-dimensional map model based on the water quality information fed back by the water quality detection device 2.

[0116] The weather condition is determined based on feedback information from temperature, air pressure, and ultraviolet light sensors. The water quality condition is determined based on feedback information from water quality sensor 2. Based on the weather condition and / or the water quality condition, the aeration rate of the aeration device 5 in the purification component is controlled, and it is determined whether to activate the combined operation mode and whether the bacterial strain needs to be replaced.

[0117] Specifically, during the process, the target aeration rate is predicted based on weather and / or water quality conditions. When the maximum aeration rate of aeration device 5 in the purification component is lower than the target aeration rate, the joint operation mode is activated. When the joint operation mode is activated, the central control system obtains the location information of the ecological purification device that has activated the joint operation mode and controls other ecological purification devices within a preset range around it to move towards the ecological purification device that has activated the joint operation mode, and controls the aeration rate of each ecological purification device according to the target aeration rate.

[0118] Specifically, during the journey, based on the weather and / or water quality conditions, and using a pre-set mapping relationship between bacterial species and weather and water quality conditions, the bacterial species type is predicted. The predicted bacterial species type is then compared with the current bacterial species type. If the predicted bacterial species type and the current bacterial species type do not match, it is determined that the bacterial species needs to be replaced.

[0119] For example, based on the original route, the main body moves along the path from position ① to position ② to position ③ to position ④. During the movement from position ① to position ②, the area corresponding to position ① to position ② in the original map model is adjusted according to the feedback information from camera 10 and lidar 12 to generate a 3D map model. In the 3D map model, the main body automatically plans the route based on the water quality information fed back by water quality detection device 2. This operation mode of adjusting while running can improve obstacle avoidance accuracy and movement efficiency. During the movement to position ② according to the planned route, the weather condition is judged based on the feedback information from temperature detection device, air pressure detection device, and ultraviolet detection device, and the water quality condition is judged based on the feedback information from water quality detection device 2. The target aeration rate is predicted based on the weather condition and / or water quality condition. When the maximum aeration rate of aeration device 5 in the purification component is lower than the target aeration rate, the joint operation mode is activated. At the same time, when the predicted bacterial species type does not match the current bacterial species type, it is determined that the bacterial species needs to be changed, and a prompt message for changing the bacterial species and the predicted bacterial species type are pushed. When the joint operation mode is activated, the central control system acquires the location information of the ecological purification device that has activated the joint operation mode and controls other ecological purification devices within a preset range around it to move towards the device that has activated the joint operation mode to form a joint. The system controls the aeration rate of each ecological purification device according to the target aeration rate. At this time, the bacterial strain can be replaced to improve purification efficiency. After the joint operation mode has been running for a certain period, the central control system controls the joint to continue traveling a preset distance along the planned route of the ecological purification device that has activated the joint operation mode. During this travel distance, the system acquires the predicted target aeration rate based on weather conditions and / or water quality conditions. When the maximum aeration rate of aeration device 5 in the ecological purification device that has activated the joint operation mode is greater than or equal to the target aeration rate, the system determines that the joint operation mode is to be deactivated. The central control system then controls the other ecological purification devices to return to their positions before the joint operation mode was activated and continue operating according to their respective routes.

[0120] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An ecological purification method, characterized in that, An ecological purification device is adopted, and the ecological purification device comprises: a main body, a water quality detection element, a driving assembly and a control module; the water quality detection element and the driving assembly are arranged on the main body; the water quality detection element and the driving assembly are electrically connected or wirelessly communicated with the control module respectively; the water quality detection element is used for detecting water quality information, the control module is used for automatically planning a travel route in an original map model according to the water quality information fed back by the water quality detection element, and the driving assembly is controlled to drive the main body to run according to the planned travel route; the method comprises: obtaining water quality detection information fed back by the water quality detection element; automatically planning a travel route in an original map model according to water quality information fed back by the water quality detection element; controlling the driving assembly to drive the main body to run according to the planned travel route; the method further comprises: in the process of traveling, predicting a target aeration amount according to a weather state and / or a water quality state, judging to start a joint operation mode when the maximum aeration amount of the aeration device in the purification assembly is lower than the target aeration amount, obtaining position information of the ecological purification device for which the joint operation mode is judged to be started by the total control system when it is judged to start the joint operation mode, and controlling other ecological purification devices within a preset range around the ecological purification device to move to the ecological purification device for which the joint operation mode is judged to be started, and controlling the aeration amount of each ecological purification device according to the target aeration amount.

2. The ecological purification method according to claim 1, wherein the ecological purification device further comprises a camera and a laser radar; the camera and the laser radar are arranged on the main body, and are qualitatively connected or wirelessly communicated with the control module respectively; the control module is used for adjusting the original map model to generate a three-dimensional map model according to the feedback information of the camera and the laser radar, and automatically planning a travel route in the three-dimensional map model.

3. The ecological purification method according to claim 2, wherein the camera is connected with the main body through a first connecting rod, and the laser radar is connected with the main body through a second connecting rod; the first connecting rod and the second connecting rod are both telescopic rods.

4. The ecological purification method according to claim 1, wherein the driving assembly comprises a driving paddle and a driving motor; the driving motor is arranged on the main body, the driving paddle is rotationally connected with the main body, the driving motor is electrically connected or wirelessly communicated with the control module, and the control module is used for controlling the driving motor to drive the driving paddle to rotate so as to move the main body.

5. The ecological purification method according to claim 4, wherein the driving assembly further comprises a universal control shaft and a universal controller. The universal control shaft and the universal controller are arranged on the main body, and are electrically connected, wirelessly communicated or not connected between the universal controller and the control module.

6. The ecological purification method according to claim 1, characterized in that, The ecological purification device comprises a solar energy collector and a battery; The battery is arranged on the main body; The solar energy collector is arranged in plurality, and the plurality of solar energy collectors are evenly distributed on the outer edge of the main body, and are electrically connected between the solar energy collector and the battery.

7. The ecological purification method according to claim 1, characterized in that, The ecological purification device further comprises a temperature detection member, an air pressure detection member, an ultraviolet detection member and a purification assembly; The temperature detection member, the air pressure detection member, the ultraviolet detection member and the purification assembly are arranged on the main body, the temperature detection member is used for detecting the ambient temperature, the air pressure detection member is used for detecting the ambient pressure, the ultraviolet detection member is used for detecting the ultraviolet in the environment, and the purification assembly is used for purifying the water body; The temperature detection member, the air pressure detection member and the ultraviolet detection member are electrically connected or wirelessly communicated between the control module, and the control module controls the working state of the purification assembly according to the feedback information of the temperature detection member, the air pressure detection member and the ultraviolet detection member and the feedback information of the water quality detection member.

8. The ecological purification method according to claim 1, characterized in that, The main body comprises a first support plate, a second support plate and a planting substrate; The planting substrate, the first support plate and the second support plate are coaxially arranged and sequentially arranged and connected along the extension direction of the axis of the main body; The water quality detection member is arranged on the first support plate, and the driving assembly is arranged on the second support plate.

9. The ecological purification method according to claim 1, characterized in that, The method further comprises: obtaining the feedback information of the camera and the laser radar; adjusting the original map model according to the feedback information of the camera and the laser radar to generate a three-dimensional map model, and automatically planning a travel route in the three-dimensional map model.

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