Water eutrophication treatment robot device

Abstract

The invention discloses a water eutrophication treatment robot device, and relates to the technical field of water treatment, and the water eutrophication treatment robot device comprises a water quality detection module which is responsible for detecting water quality parameters in a water area; the eutrophication degree evaluation module is responsible for evaluating the water eutrophication degree of the current water area based on the water quality detection data; the decision module is responsible for formulating a passivating agent putting scheme according to the evaluation result; the passivating agent putting module is responsible for accurately putting a passivating agent into the water body; according to the cleaning robot, when the putting amount of a passivating agent needs to be adjusted, a rotating control motor is started to enable a third rotating shaft to rotate, finally, a sliding cylinder can slide in a conveying groove, and the size of a passivating agent conveying space in the conveying groove can be changed; a proper amount of passivator can be put according to the eutrophication degree of the water area, so that the expected treatment effect can be achieved, and secondary pollution to the water body is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of water body treatment, and in particular to a robot device for treating eutrophication of water bodies. Background Art

[0002] Plant nutrient pollutants rich in nitrogen and phosphorus are widely distributed and have high content. The eutrophication problem caused by excessive amounts of these elements is harmful to lakes and slow-flowing water bodies. Eutrophication of water bodies not only leads to deterioration of water quality, but also causes the proliferation of harmful algae such as cyanobacteria, which consumes oxygen in the water, affects the survival of other aquatic organisms, and destroys the balance of aquatic ecosystems.

[0003] After searching, the Chinese patent number CN216584358U discloses a lake water eutrophication control device, including a water tank body, the lower end of the water tank body is fixedly connected with a support leg, the upper end of the water tank body is fixedly connected with a liquid storage tank through a support rod, the lower end of the liquid storage tank is provided with a pipe frame, the interior of the pipe frame is provided with a release component for releasing a passivating agent, a frame is provided between the pipe frame and the water tank body, a high-pressure water pump is installed inside the frame, and the output end of the high-pressure water pump is connected to the release component through a conduit. This patent is provided with a release component, which can disperse and release the passivating agent in a large range. Compared with the existing passivating agent delivery method, it can achieve a large range of delivery to make it fully mixed with the water body, and can effectively reduce the labor required, thereby improving the effect of eutrophication control of water bodies.

[0004] However, in actual use of the above-mentioned device, it is difficult to add an appropriate amount of passivator according to the degree of eutrophication of the water body. If the amount of passivator added is too little, it may be difficult to achieve the expected treatment effect. If the amount added is too much, resources may be wasted and even secondary pollution may be caused to the water body. Therefore, it is necessary to propose a robot device for eutrophication treatment of water bodies. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that it is difficult to add an appropriate amount of passivator according to the degree of eutrophication of the water body. If the amount of passivator added is too little, it may be difficult to achieve the expected treatment effect, and if the amount added is too much, resources may be wasted and even secondary pollution may be caused to the water body. A water eutrophication treatment robot device is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A water eutrophication control robot device, comprising:

[0008] Water quality detection module: responsible for detecting water quality parameters in the water area;

[0009] Eutrophication degree assessment module: responsible for assessing the eutrophication degree of the current water body based on water quality detection data;

[0010] Decision-making module: responsible for formulating the passivation agent deployment plan based on the evaluation results;

[0011] Passivation agent delivery module: responsible for accurately delivering the passivation agent into the water body;

[0012] The passivator delivery module is arranged on the upper part of the cleaning robot body, the upper part of the cleaning robot body is fixedly connected with a fixing frame, the interior of the fixing frame is fixedly connected with a storage box for storing the passivator, the interior of the fixing frame is fixedly connected with a fixing disk, the interior of the fixed disk is rotatably connected with a rotating disk, one side of the rotating disk is fixedly connected with a transport trough for transporting the passivator, the interior of the fixed disk is provided with a capacity adjustment mechanism for adjusting the transport amount of the passivator, the lower part of the storage box is fixedly connected with a first delivery pipe for delivering the passivator in the storage box into the interior of the transport trough, and the lower part of the fixed disk is fixedly connected with a second delivery pipe for delivering the passivator transported in the transport trough into the water body.

[0013] The above technical solution further includes:

[0014] The capacity adjustment mechanism includes a third rotating shaft rotatably connected inside the fixed disk, a rotating frame is fixedly connected to the upper part of the third rotating shaft, a rotation control motor for controlling the rotation of the third rotating shaft is fixedly installed on the upper part of the rotating frame, and a fourth rotating shaft is rotatably connected to one side of the rotating frame.

[0015] The fourth rotating shaft is fixedly connected with a gear, the gear is meshingly connected with an annular rack, the annular rack is fixedly connected with a support frame, the support frame and the rotating frame are rotatably connected, and the support frame and the fixed disk are fixedly connected.

[0016] The fourth rotating shaft is fixedly connected to the first connecting plate, the first connecting plate is rotatably connected to the second connecting plate, and the second connecting plate is fixedly connected to a sliding rod at a side away from the first connecting plate.

[0017] The sliding rod is slidably connected to the support frame, the sliding rod is slidably connected to the transport trough, a sliding cylinder for adjusting the space for storing the passivating agent inside the transport trough is fixedly connected to the side of the sliding rod away from the second connecting plate, and the sliding cylinder is slidably connected to the transport trough.

[0018] A transport volume control motor is fixedly installed on one side of the fixed frame, and a second rotating shaft is provided at the output end of the transport volume control motor. The second rotating shaft is fixedly connected to the rotating disk, and the second rotating shaft is rotationally connected to the fixed disk.

[0019] A stirring control motor is fixedly installed on the upper part of the cleaning robot body, and a first rotating shaft is provided at the output end of the stirring control motor. The first rotating shaft is rotationally connected to the cleaning robot body, and the first rotating shaft is fixedly connected to a plurality of stirring rods for promoting uniform distribution of the passivating agent in the water body.

[0020] A protection box is symmetrically fixedly connected to the lower part of the cleaning robot body, and a propeller for controlling the movement of the cleaning robot body on the water surface is arranged inside the protection box.

[0021] The eutrophication degree assessment module uses a convolutional neural network algorithm to accurately predict and assess the eutrophication degree of water bodies. The specific steps of the convolutional neural network algorithm are:

[0022] Input data representation: Assume that the input data is a multidimensional array of a series of water quality parameters, denoted as X, where the dimensions of X are batch size, number of channels, height, and width, which represent the number of input samples, number of channels, image height, and image width, respectively;

[0023] Convolution operation: The convolution kernel is used to perform a sliding window convolution operation on the input data to extract features related to water eutrophication. Assuming that the dimensions of the convolution kernel are the number of channels, the height of the convolution kernel, and the width of the convolution kernel, recorded as W, the convolution operation can be expressed by the following formula:

[0024] Z[i,j]=sum(sum(sum(X[:,:,i:i+h,j:j+w]*W)))+b

[0025] Among them, Z is the output of the convolution operation, representing the feature map, i and j represent the position of the feature map, h and w represent the height and width of the convolution kernel respectively, and b is the bias term;

[0026] Activation function: After the convolution operation, ReLU is applied to perform nonlinear transformation on the feature map to increase the network’s expressive power;

[0027] Pooling operation: By selecting the average value in the local perception area as the pooling result, the spatial dimension of the feature map is reduced and important feature information is retained;

[0028] Fully connected operation: After multiple convolution and pooling operations, the feature map is expanded into a one-dimensional vector and input into the fully connected layer. Each neuron in the fully connected layer is connected to all neurons in the previous layer. By learning weights and biases, a complex mapping relationship between input features and eutrophication levels is established.

[0029] Loss function: Use the cross entropy loss function to measure the gap between the model's prediction results and the true label;

[0030] Back propagation algorithm: Use the back propagation algorithm to calculate the gradient of the loss function with respect to the model parameters, and use gradient descent to update the model parameters to continuously optimize the performance of the model.

[0031] The specific steps of the decision module are:

[0032] Receiving and analyzing the assessment results: First, the output data from the eutrophication assessment module is received and analyzed to clarify the eutrophication degree of the water body and the current main pollution characteristics;

[0033] Decision rule formulation: According to the different levels of eutrophication and pollution characteristics of water bodies, a complete decision rule library is established in advance, and the analyzed evaluation results are matched with the decision rule library to find the decision rule that best matches the current eutrophication status of water bodies;

[0034] Release strategy formulation: Determine the release amount of the passivator according to the matching decision rules;

[0035] Feedback and adjustment: Evaluate the effectiveness of the release based on water quality monitoring data, and make necessary adjustments and optimizations to the decision-making rules and release strategies based on the evaluation results and actual needs.

[0036] The present invention has the following beneficial effects:

[0037] 1. In the present invention, when the amount of passivator added needs to be adjusted, the rotation control motor is started to rotate the third rotating shaft, and finally the sliding cylinder can slide inside the transport trough, that is, the size of the space for transporting the passivator inside the transport trough can be changed, that is, an appropriate amount of passivator can be added according to the degree of eutrophication of the water area, ensuring that the expected treatment effect can be achieved and no secondary pollution will be caused to the water body.

[0038] 2. In the present invention, the eutrophication degree of the water body is accurately predicted and evaluated through the eutrophication degree assessment module. The decision module will match the evaluation results with the decision rule library and formulate the most appropriate decision rules to ensure the pertinence and effectiveness of the control measures and maximize the control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the structure of a water eutrophication control robot device proposed by the present invention;

[0040] Figure 2 It is a schematic diagram of the first structure in the present invention;

[0041] Figure 3 It is a second structural schematic diagram of the present invention;

[0042] Figure 4It is a schematic diagram of the third structure of the present invention;

[0043] Figure 5 It is a schematic diagram of the fourth structure of the present invention;

[0044] Figure 6 It is a fifth structural schematic diagram of the present invention;

[0045] Figure 7 for Figure 5 A schematic diagram of the structure enlargement in the middle;

[0046] Figure 8 It is a system block diagram of the present invention.

[0047] In the figure: 1. cleaning robot body; 2. fixed frame; 3. storage box; 4. first delivery tube; 5. fixed plate; 6. second delivery tube; 7. first rotating shaft; 8. stirring rod; 9. protective box; 10. propeller; 11. stirring control motor; 12. transport volume control motor; 13. transport trough; 14. second rotating shaft; 15. support frame; 16. annular rack; 17. sliding cylinder; 18. sliding rod; 19. rotating frame; 20. rotation control motor; 21. third rotating shaft; 22. fourth rotating shaft; 23. gear; 24. first connecting plate; 25. second connecting plate; 26. rotating disk. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1 - Figure 8 As shown, a water eutrophication control robot device comprises:

[0050] Water quality detection module: responsible for detecting water quality parameters in the water area;

[0051] Eutrophication degree assessment module: responsible for assessing the eutrophication degree of the current water body based on water quality detection data;

[0052] Decision-making module: responsible for formulating the passivation agent deployment plan based on the evaluation results;

[0053] Passivation agent delivery module: responsible for accurately delivering the passivation agent into the water body;

[0054] The passivator delivery module is arranged on the upper part of the cleaning robot body 1, and the upper part of the cleaning robot body 1 is fixedly connected with a fixing frame 2, and the interior of the fixing frame 2 is fixedly connected with a storage box 3 for storing the passivator, and the interior of the fixing frame 2 is fixedly connected with a fixing disk 5, and the interior of the fixing disk 5 is rotatably connected with a rotating disk 26, and one side of the rotating disk 26 is fixedly connected with a transport trough 13 for transporting the passivator, and the interior of the fixed disk 5 is provided with a capacity adjustment mechanism for adjusting the transport amount of the passivator, and the lower part of the storage box 3 is fixedly connected with a first delivery pipe 4 for delivering the passivator in the storage box 3 into the interior of the transport trough 13, and the lower part of the fixed disk 5 is fixedly connected with a second delivery pipe 6 for delivering the passivator transported in the transport trough 13 into the water body.

[0055] The working principle of the water eutrophication treatment robot device proposed by the present invention is to load the passivator into the storage box 3, and then place the cleaning robot body 1 on the water surface. At this time, the passivator will enter the first delivery pipe 4, and the dissolved oxygen, ammonia nitrogen, phosphate, etc. in the water will be detected by the water quality detection module, and then the detected data will be transmitted to the eutrophication degree assessment module. The eutrophication degree assessment module combines historical data and expert system to assess the eutrophication degree of the water body. The decision module will automatically calculate and adjust the space inside the transport tank 13 that can transport the passivator according to the eutrophication degree assessment result, that is, adjust the delivery amount of the passivator to achieve accurate delivery;

[0056] When the space adjustment for transporting the passivator inside the transport trough 13 is completed, rotate the rotating disk 26 until the transport trough 13 rotates to the lower part of the first delivery tube 4. At this time, the passivator stored inside the first delivery tube 4 will enter the storage box 3 until the transport space inside the storage box 3 is filled. At this time, continue to rotate the rotating disk 26 until the transport trough 13 rotates to the upper part of the second delivery tube 6. At this time, the passivator inside the transport trough 13 will be delivered into the water body through the second delivery tube 6.

[0057] In one embodiment, for the above-mentioned capacity adjustment mechanism, the capacity adjustment mechanism includes a third rotating shaft 21 rotatably connected inside the fixed disk 5, the upper part of the third rotating shaft 21 is fixedly connected with a rotating frame 19, the upper part of the rotating frame 19 is fixedly installed with a rotation control motor 20 for controlling the rotation of the third rotating shaft 21, and one side of the rotating frame 19 is rotatably connected with a fourth rotating shaft 22.

[0058] In one embodiment, for the fourth rotating shaft 22, the fourth rotating shaft 22 is fixedly connected to a gear 23, the gear 23 is meshingly connected to an annular rack 16, the annular rack 16 is fixedly connected to a support frame 15, the support frame 15 and the rotating frame 19 are rotatably connected, and the support frame 15 and the fixed disk 5 are fixedly connected.

[0059] In one embodiment, for the fourth rotating shaft 22 , the fourth rotating shaft 22 is fixedly connected to the first connecting plate 24 , the first connecting plate 24 is rotatably connected to the second connecting plate 25 , and the side of the second connecting plate 25 away from the first connecting plate 24 is fixedly connected to the sliding rod 18 .

[0060] In one embodiment, for the above-mentioned sliding rod 18, the sliding rod 18 and the support frame 15 are slidably connected, the sliding rod 18 and the transport trough 13 are slidably connected, and the side of the sliding rod 18 away from the second connecting plate 25 is fixedly connected with a sliding cylinder 17 for adjusting the space for storing the passivating agent inside the transport trough 13, and the sliding cylinder 17 and the transport trough 13 are slidably connected.

[0061] The working principle of a water body eutrophication control robot device proposed by the present invention is that when it is necessary to adjust the space for transporting the passivating agent inside the transport trough 13, the rotation control motor 20 is started. The rotation control motor 20 causes the third rotating shaft 21 arranged at the output end to drive the rotating frame 19 to rotate. The rotation of the rotating frame 19 causes the fourth rotating shaft 22 rotatably connected on one side to drive the gear 23 to rotate in a circle. When the gear 23 rotates, it will mesh with the annular rack 16, that is, the gear 23 drives the fourth rotating shaft 22 to rotate. The rotation of the fourth rotating shaft 22 will drive the fixedly connected first connecting plate 24 to rotate. The rotation of the first connecting plate 24 will cause the rotatably connected second connecting plate 25 to drive the sliding rod 18 to slide. The sliding rod 18 will simultaneously drive the fixedly connected sliding cylinder 17 to slide inside the transport trough 13, that is, the effective space for transporting the passivating agent inside the transport trough 13 can be adjusted.

[0062] In one embodiment, for the above-mentioned fixed frame 2, a transport volume control motor 12 is fixedly installed on one side of the fixed frame 2, and a second rotating shaft 14 is provided at the output end of the transport volume control motor 12. The second rotating shaft 14 is fixedly connected to the rotating disk 26, and the second rotating shaft 14 is rotatably connected to the fixed disk 5.

[0063] In one embodiment, for the above-mentioned cleaning robot body 1, a stirring control motor 11 is fixedly installed on the upper part of the cleaning robot body 1, and a first rotating shaft 7 is provided at the output end of the stirring control motor 11. The first rotating shaft 7 is rotatably connected to the cleaning robot body 1, and the first rotating shaft 7 is fixedly connected with a plurality of stirring rods 8 for promoting uniform distribution of the passivating agent in the water body.

[0064] In one embodiment, for the above-mentioned cleaning robot body 1, a protective box 9 is symmetrically fixedly connected to the lower part of the cleaning robot body 1, and a propeller 10 is arranged inside the protective box 9 for controlling the movement of the cleaning robot body 1 on the water surface.

[0065] The working principle of a water eutrophication control robot device proposed by the present invention is that starting the transport volume control motor 12 will cause the second rotating shaft 14 set at the output end of the transport volume control motor 12 to rotate, and the rotation of the second rotating shaft 14 will drive the fixedly connected rotating disk 26 to rotate inside the fixed disk 5. After the passivating agent is added, starting the stirring control motor 11 will cause the first rotating shaft 7 set at the output end to rotate, and the first rotating shaft 7 will drive the multiple fixedly connected stirring rods 8 to rotate for stirring, which can promote the uniform distribution of the added passivating agent in the water body. The propeller 10 arranged inside the protective box 9 symmetrically fixedly connected to the lower part of the cleaning robot body 1 facilitates the cleaning robot body 1 to move on the water surface, so as to realize the eutrophication control of water bodies in different waters.

[0066] In one embodiment, for the above-mentioned eutrophication degree assessment module, the eutrophication degree assessment module uses a convolutional neural network algorithm to accurately predict and assess the eutrophication degree of a water body. The specific steps of the convolutional neural network algorithm are:

[0067] Input data representation: Assume that the input data is a multidimensional array of a series of water quality parameters, denoted as X, where the dimensions of X are batch size, number of channels, height, and width, which represent the number of input samples, number of channels, image height, and image width, respectively;

[0068] Convolution operation: The convolution kernel is used to perform a sliding window convolution operation on the input data to extract features related to water eutrophication. Assuming that the dimensions of the convolution kernel are the number of channels, the height of the convolution kernel, and the width of the convolution kernel, recorded as W, the convolution operation can be expressed by the following formula:

[0069] Z[i,j]=sum(sum(sum(X[:,:,i:i+h,j:j+w]*W)))+b

[0070] Among them, Z is the output of the convolution operation, representing the feature map, i and j represent the position of the feature map, h and w represent the height and width of the convolution kernel respectively, and b is the bias term;

[0071] Activation function: After the convolution operation, ReLU is applied to perform nonlinear transformation on the feature map to increase the network’s expressive power;

[0072] Pooling operation: By selecting the average value in the local perception area as the pooling result, the spatial dimension of the feature map is reduced and important feature information is retained;

[0073] Fully connected operation: After multiple convolution and pooling operations, the feature map is expanded into a one-dimensional vector and input into the fully connected layer. Each neuron in the fully connected layer is connected to all neurons in the previous layer. By learning weights and biases, a complex mapping relationship between input features and eutrophication levels is established.

[0074] Loss function: Use the cross entropy loss function to measure the gap between the model's prediction results and the true label;

[0075] Back propagation algorithm: Use the back propagation algorithm to calculate the gradient of the loss function with respect to the model parameters, and use gradient descent to update the model parameters to continuously optimize the performance of the model.

[0076] In one embodiment, for the above decision module, the specific steps of the decision module are:

[0077] Receiving and analyzing the assessment results: First, the output data from the eutrophication assessment module is received and analyzed to clarify the eutrophication degree of the water body and the current main pollution characteristics;

[0078] Decision rule formulation: According to the different levels of eutrophication and pollution characteristics of water bodies, a complete decision rule library is established in advance, and the analyzed evaluation results are matched with the decision rule library to find the decision rule that best matches the current eutrophication status of water bodies;

[0079] Release strategy formulation: Determine the release amount of the passivator according to the matching decision rules;

[0080] Feedback and adjustment: Evaluate the effectiveness of the release based on water quality monitoring data, and make necessary adjustments and optimizations to the decision-making rules and release strategies based on the evaluation results and actual needs.

[0081] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot device for controlling eutrophication of water bodies, characterized in that: include: Water quality detection module: responsible for detecting water quality parameters in the water area; Eutrophication degree assessment module: responsible for assessing the eutrophication degree of the current water body based on water quality detection data; Decision-making module: responsible for formulating the passivation agent deployment plan based on the evaluation results; Passivation agent delivery module: responsible for accurately delivering the passivation agent into the water body; The passivation agent delivery module is arranged on the upper part of the cleaning robot body (1); the upper part of the cleaning robot body (1) is fixedly connected to a fixed frame (2); a storage box (3) for storing the passivation agent is fixedly connected inside the fixed frame (2); a fixed disk (5) is fixedly connected inside the fixed frame (2); a rotating disk (26) is rotatably connected inside the fixed disk (5); a transport trough (13) for transporting the passivation agent is fixedly connected to one side of the rotating disk (26); a capacity adjustment mechanism for adjusting the transport amount of the passivation agent is arranged inside the fixed disk (5); a first delivery pipe (4) for delivering the passivation agent inside the storage box (3) into the transport trough (13) is fixedly connected to the lower part of the storage box (3); and a second delivery pipe (6) for delivering the passivation agent transported inside the transport trough (13) into a water body is fixedly connected to the lower part of the fixed disk (5).

2. A water eutrophication control robot device according to claim 1, characterized in that: The capacity adjustment mechanism comprises a third rotating shaft (21) rotatably connected inside the fixed disk (5); a rotating frame (19) is fixedly connected to the upper part of the third rotating shaft (21); a rotation control motor (20) for controlling the rotation of the third rotating shaft (21) is fixedly installed on the upper part of the rotating frame (19); and a fourth rotating shaft (22) is rotatably connected to one side of the rotating frame (19).

3. A water eutrophication control robot device according to claim 2, characterized in that: The fourth rotating shaft (22) is fixedly connected to a gear (23), the gear (23) is meshingly connected to an annular rack (16), the annular rack (16) is fixedly connected to a support frame (15), the support frame (15) is rotationally connected to the rotating frame (19), and the support frame (15) is fixedly connected to the fixed disk (5).

4. A water eutrophication control robot device according to claim 3, characterized in that: The fourth rotating shaft (22) is fixedly connected to a first connecting plate (24), the first connecting plate (24) is rotatably connected to a second connecting plate (25), and a side of the second connecting plate (25) away from the first connecting plate (24) is fixedly connected to a sliding rod (18).

5. A water eutrophication control robot device according to claim 4, characterized in that: The sliding rod (18) is slidably connected to the support frame (15), and the sliding rod (18) is slidably connected to the transport trough (13). A sliding cylinder (17) for adjusting the space for storing the passivating agent inside the transport trough (13) is fixedly connected to the side of the sliding rod (18) away from the second connecting plate (25), and the sliding cylinder (17) is slidably connected to the transport trough (13).

6. The water eutrophication control robot device according to claim 1, characterized in that: A transport volume control motor (12) is fixedly mounted on one side of the fixed frame (2); a second rotating shaft (14) is provided at the output end of the transport volume control motor (12); the second rotating shaft (14) is fixedly connected to the rotating disk (26); and the second rotating shaft (14) is rotatably connected to the fixed disk (5).

7. The water eutrophication control robot device according to claim 1, characterized in that: A stirring control motor (11) is fixedly mounted on the upper part of the cleaning robot body (1); a first rotating shaft (7) is provided at the output end of the stirring control motor (11); the first rotating shaft (7) is rotatably connected to the cleaning robot body (1); and a plurality of stirring rods (8) are fixedly connected to the first rotating shaft (7) for promoting uniform distribution of the passivating agent in the water body.

8. The water eutrophication control robot device according to claim 1, characterized in that: A protection box (9) is symmetrically fixedly connected to the lower part of the cleaning robot body (1), and a propeller (10) is arranged inside the protection box (9) for controlling the movement of the cleaning robot body (1) on the water surface.

9. The water eutrophication control robot device according to claim 1, characterized in that: The eutrophication degree assessment module uses a convolutional neural network algorithm to accurately predict and assess the eutrophication degree of water bodies. The specific steps of the convolutional neural network algorithm are: Input data representation: Assume that the input data is a multidimensional array of a series of water quality parameters, denoted as X, where the dimensions of X are batch size, number of channels, height, and width, which represent the number of input samples, number of channels, image height, and image width, respectively; Convolution operation: The convolution kernel is used to perform a sliding window convolution operation on the input data to extract features related to water eutrophication. Assuming that the dimensions of the convolution kernel are the number of channels, the height of the convolution kernel, and the width of the convolution kernel, recorded as W, the convolution operation can be expressed by the following formula: Z[i,j]=sum(sum(sum(X[:,:,i:i+h,j:j+w]*W)))+b Among them, Z is the output of the convolution operation, representing the feature map, i and j represent the position of the feature map, h and w represent the height and width of the convolution kernel respectively, and b is the bias term; Activation function: After the convolution operation, ReLU is applied to perform nonlinear transformation on the feature map to increase the network’s expressive power; Pooling operation: By selecting the average value in the local perception area as the pooling result, the spatial dimension of the feature map is reduced and important feature information is retained; Fully connected operation: After multiple convolution and pooling operations, the feature map is expanded into a one-dimensional vector and input into the fully connected layer. Each neuron in the fully connected layer is connected to all neurons in the previous layer. By learning weights and biases, a complex mapping relationship between input features and eutrophication levels is established. Loss function: Use the cross entropy loss function to measure the gap between the model's prediction results and the true label; Back propagation algorithm: Use the back propagation algorithm to calculate the gradient of the loss function with respect to the model parameters, and use gradient descent to update the model parameters to continuously optimize the performance of the model.

10. The water eutrophication control robot device according to claim 1, characterized in that: The specific steps of the decision module are: Receiving and analyzing the assessment results: First, the output data from the eutrophication assessment module is received and analyzed to clarify the eutrophication degree of the water body and the current main pollution characteristics; Decision rule formulation: According to the different levels of eutrophication and pollution characteristics of water bodies, a complete decision rule library is established in advance, and the analyzed evaluation results are matched with the decision rule library to find the decision rule that best matches the current eutrophication status of water bodies; Release strategy formulation: Determine the release amount of the passivator according to the matching decision rules; Feedback and adjustment: Evaluate the effectiveness of the release based on water quality monitoring data, and make necessary adjustments and optimizations to the decision-making rules and release strategies based on the evaluation results and actual needs.

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