High-place pond film repairing device and repairing method

Abstract

The invention discloses a high-place pond film repairing device and method. The high-place pond film repairing device comprises a main body, a binocular camera, a driving mechanism, a reversing mechanism and a repairing mechanism. The repairing mechanism comprises a repairing seat, a repairing roller, a gluing part and a film changing part, the repairing seat is arranged at the rotating end of the reversing mechanism, the gluing part and the film changing part are both arranged in the repairing seat, the repairing roller is rotationally arranged at the front end of the repairing seat, one end of the repairing roller is connected with the tail end of the film changing part, and the gluing part is arranged on one side of the film changing part; the other end of the repairing roller extends out of the repairing seat; the driving mechanism is arranged to drive the repairing mechanism to autonomously move underwater, the binocular camera is matched to position the damaged position of the pond membrane, the repairing mechanism is used for achieving pressing and rolling type repairing, repairing can be completed without draining pond water, the problem that a traditional repairing mode needs to interrupt the breeding process is solved, man-made interference on bred organisms is reduced, and the repairing efficiency is improved. And a stable production environment is maintained.

Description

Technical Field

[0001] The present invention relates to the technical field of high-level pond film repair, and particularly relates to a high-level pond film repair device and a repair method. Background Art

[0002] The high-level pond aquaculture mode is an intensive aquaculture technology that has developed rapidly in recent years. The area of its aquaculture unit is usually 1 - 8 mu, and the effective water depth is controlled at 1.5 - 3.0 meters. The film-laying aquaculture adopted in this mode not only facilitates centralized sewage discharge during the aquaculture process, but also minimizes the impact of the soil and bottom mud of the aquaculture pond on aquaculture production, thereby enhancing the effective management and control of the water environment in the aquaculture pond. When combined with the existing filtered water inlet system, aeration system, and bottom-pot central sewage system, this makes the high-level pond aquaculture mode more convenient to manage. However, during the aquaculture process, due to external damage or film aging, etc., the pond film may be damaged, leading to water quality deterioration and reduced system efficiency. Therefore, it is necessary to promptly repair the damaged pond film. Traditional repair methods usually require draining the pond water for manual repair, which not only consumes a large amount of resources, but also affects aquaculture production as the fish and shrimp need to be transferred multiple times; at the same time, manual repair requires a large amount of labor and has low efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a high-level pond film repair device to solve one or more of the technical problems existing in the above background art.

[0004] To achieve this purpose, the present invention adopts the following technical solutions: A high-level pond film repair device includes a main body, a binocular camera, a driving mechanism, a reversing mechanism, and a repair mechanism. The driving mechanism is provided on the main body, the reversing mechanism is provided at the front end of the main body, and the repair mechanism is provided at the rotating end of the reversing mechanism; The repair mechanism includes a repair seat, a repair roller, a glue application component, and a film replacement component. The repair seat is provided at the rotating end of the reversing mechanism. The glue application component and the film replacement component are both provided inside the repair seat. The repair roller is rotatably arranged at the front end of the repair seat. One end of the repair roller is connected to the end of the film replacement component. The glue application component is provided on one side of the film replacement component. The other end of the repair roller extends outside the repair seat. The film replacement component is used to provide a film with a suitable size for the repair roller; the glue application component is used to evenly spray the repair glue onto the surface of the film; The binocular camera is provided on one side of the repair roller. The binocular camera is used to identify the position, notch shape, and size of the damaged film in the high-level pond; The reversing mechanism is used to drive the repair mechanism to rotate relative to the main body; The driving mechanism is used to drive the main body to perform multi-directional movements underwater.

[0005] Preferably, the film changing component includes a film changing turntable, a film unwinding reel, and a guiding structure. The film changing turntable is provided with a plurality of limiting grooves for accommodating film reels. A first installation groove is formed on one side of the limiting groove. The film unwinding reel is arranged in the limiting groove and is used for installing the film reel. The guiding structure includes an elastic pressing plate and a guiding portion. The elastic pressing plate is arranged in the first installation groove. The guiding portion is arranged at the end of the elastic pressing plate and extends outside the film changing turntable. The elastic pressing plate is compressed under the limitation of the first installation groove, so that the guiding portion always fits against the outer side of the film reel. A contact curved surface is provided at one end of the guiding portion close to the film unwinding reel.

[0006] Preferably, the film changing component further includes a cutting knife and a cutting drive. A second installation groove is further formed on the film changing turntable and is located on the other side of the limiting groove. The cutting drive is arranged in the second installation groove. The cutting knife is arranged at the movable end of the cutting drive. The cutting drive is used to drive the cutting knife to move away from or into the limiting groove.

[0007] Preferably, the film changing component further includes a conveyor belt. The conveyor belt is arranged in the repair base. The starting end of the conveyor belt is connected to the guiding structure, and the ending end of the conveyor belt is connected to the repair roller.

[0008] Preferably, the glue applying component includes a glue storage box, a glue spraying valve, a glue spraying head, and a glue applying roller. The glue spraying head is communicated with the glue storage box and is inclined towards the glue applying roller. The glue applying roller is arranged between the glue spraying head and the conveyor belt. The glue spraying valve is arranged between the glue storage box and the glue spraying head. The glue storage box is communicated with the input end of the glue spraying valve. The output end of the glue spraying valve is communicated with the glue spraying head. The glue spraying head is provided with a plurality of uniformly distributed glue spraying channels, and the plurality of glue spraying channels are uniformly distributed along the axial direction of the glue applying roller. The glue spraying valve is used to spray the repair glue in the glue storage box onto the surface of the glue applying roller. The glue applying roller rotates synchronously with the conveyor belt and is used to smear the repair glue on the surface of the film located on the conveyor belt.

[0009] Preferably, the repair mechanism further includes a recovery frame. The recovery frame is detachably arranged on one side of the repair base and is communicated with the inner cavity of the repair base. The recovery frame is connected with a scraping plate, and the scraping plate is attached to the repair roller.

[0010] Preferably, the commutation mechanism includes a movable bracket, a rotating member, and a swinging member. The rotating member is provided at the front end of the main body. The movable bracket is connected to the output end of the rotating member. The swinging members are provided on both sides of the movable bracket. The repair seat is connected to the output end of the swinging member; The rotating member includes a first commutation motor and a first planetary gear train transmission structure. The first commutation motor is provided inside the main body. The shaft end of the first commutation motor is connected to the sun gear of the first planetary gear train transmission structure. The planet carrier of the first planetary gear train transmission structure is embedded in the repair seat; The swinging member includes a second commutation motor, a connecting shaft, and two second planetary gear train transmission structures. The second commutation motor is provided inside the movable bracket. The two second planetary gear train transmission structures are respectively provided on both sides of the repair seat. The sun gears of the two second planetary gear train transmission structures are connected by the connecting shaft. The sun gear of one of the second planetary gear train transmission structures is connected to the shaft end of the second commutation motor. The planet carriers of the two second planetary gear train transmission structures are respectively embedded on both sides of the repair seat.

[0011] Preferably, the driving mechanism includes a plurality of connecting arms and a plurality of turbine thrusters. The plurality of connecting arms are distributed on the outer side of the main body. The turbine thrusters are rotatably arranged on the connecting arms.

[0012] The present invention also provides a repair method implemented by using the high-level pond film repair device. The method includes: Step A: Drive the main body to perform multi-directional movement underwater in the high-level pond along a preset patrol route through the driving mechanism. At the same time, the binocular camera identifies the pond film in the high-level pond. When the binocular camera identifies a damaged pond film gap, locate the position of the gap, and adjust the movement direction of the driving mechanism to drive the main body to move to the position of the gap that needs to be repaired; Step B: Subsequently, the commutation mechanism adjusts the posture of the repair mechanism. Drive the movable bracket to perform circumferential rotation relative to the main body through the cooperation of the first commutation motor and the first planetary gear train transmission structure, and drive the repair seat to swing up and down on the movable bracket through the cooperation of the second commutation motor and the second planetary gear train transmission structure until the position of the repair roller is adjusted to be opposite to the damaged gap on the pond film; Step C: The binocular camera further identifies the shape and size of the damaged gap of the pond film, and performs minimum matrix fitting on the shape of the gap; Step D: According to the result of fitting, the film changing component drives the rotation of the film changing turntable, rotates the film roll on the film changing turntable that fits the size of the notch to a position close to the starting end of the conveyor belt, and then the film unwinding shaft drives the film roll to rotate and unwind. During the unwinding process, the guiding structure always adheres to the film roll being unwound, guiding the released film between the glue applying roller and the conveyor belt; Step E: Open the glue spraying valve, evenly spray the repair glue in the glue storage box onto the surface of the glue applying roller. When the film passes through the meshing part between the glue applying roller and the conveyor belt, its surface is coated with the repair glue by the glue applying roller. Then, the film with the repair glue is conveyed to the repair roller under the combined drive of the conveyor belt and the glue applying roller. While the repair roller is rotating, the driving mechanism drives it to press tightly against the notch of the pool film for rolling repair. After the repair is completed, the remaining film returns to the repair seat under the continuous rotation of the repair roller and finally enters the recycling box under the action of the scraper.

[0013] Preferably, it further includes: Step F: Continue to perform the next patrol, repeat Steps A - C, and determine whether there is a large difference in the size between the notch to be repaired and the notch repaired for the first time. If not, continue to perform Steps D and E; If so, perform a film changing operation. The shearing driver first drives the shearing knife to cut the film at the starting end of the conveyor belt. Then, the remaining cut film is conveyed to the repair roller under the combined action of the glue applying roller and the conveyor belt. Finally, the remaining film returns to the repair seat under the continuous rotation of the repair roller and is sent into the recycling box to complete the recycling; after recycling the remaining film, continue to perform Steps D and E.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting a driving mechanism to drive the repair mechanism to achieve autonomous movement underwater, cooperating with a binocular camera to locate the damaged position of the pool film, and using the repair mechanism to achieve rolling repair, the repair can be completed without draining the pool water, solving the problem that the traditional repair method needs to interrupt the breeding process, reducing the artificial interference to the breeding organisms, and maintaining a stable production environment.

[0015] The repair mechanism is provided with a repair roller, a glue applying component, and a film changing component. During the repair process, the film changing component provides a film that matches the notch size to the repair roller, and at the same time, the glue applying component evenly sprays the repair glue onto the surface of the film. The repair roller tightly presses the repair film against the damaged part of the pool film to ensure the adhesion between the film and the pool film, realizing automatic repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings further illustrate the present invention, but the content in the drawings does not constitute any limitation to the present invention.

[0017] Figure 1 It is a schematic diagram of the overall structure of one embodiment of the present invention; Figure 2 is a schematic diagram of the internal structure of a repair mechanism according to one embodiment of the present invention; Figure 3 is a schematic diagram of the structure of a film-changing turntable according to one embodiment of the present invention; Figure 4 is a schematic diagram of the structure of a glue storage box according to one embodiment of the present invention; Figure 5 is a schematic diagram of the structure of a rotating member and a swinging member according to one embodiment of the present invention.

[0018] Wherein: main body 1, binocular camera 2, driving mechanism 3, commutation mechanism 4, repair mechanism 5, repair seat 51, repair roller 52, film-changing turntable 53, limit groove 531, first installation groove 532, second installation groove 533, film-releasing reel 54, film roll 541, guiding structure 55, elastic pressing plate 551, guiding portion 552, contact curved surface 553, shearing knife 561, shearing driver 562, conveyor belt 57, glue storage box 581, glue spraying head 582, glue applying roller 59, glue spraying channel 583, recovery frame 50, movable bracket 41, first planetary gear train transmission structure 421, connecting shaft 431, second planetary gear train transmission structure 432, connecting arm 31, turbine thruster 32. Specific Embodiments

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] A high-level pond film repair device in this embodiment, referring to the attached Figure 1 and 2 , includes a main body 1, a binocular camera 2, a driving mechanism 3, a commutation mechanism 4 and a repair mechanism 5. The driving mechanism 3 is arranged on the main body 1, the commutation mechanism 4 is arranged at the front end of the main body 1, and the repair mechanism 5 is arranged at the rotating end of the commutation mechanism 4; The repair mechanism 5 includes a repair seat 51, a repair roller 52, a glue applying component and a film-changing component. The repair seat 51 is arranged at the rotating end of the commutation mechanism 4. The glue applying component and the film-changing component are both arranged in the repair seat 51. The repair roller 52 is rotatably arranged at the front end of the repair seat 51. One end of the repair roller 52 is connected to the end of the film-changing component. The glue applying component is arranged on one side of the film-changing component. The other end of the repair roller 52 extends out of the repair seat 51. The film-changing component is used to provide a film with a suitable size for the repair roller 52. The glue applying component is used to evenly spray the repair glue onto the surface of the film; The binocular camera 2 is arranged on one side of the repair roller 52. The binocular camera 2 is used to identify the position, notch shape and size of the damaged film in the high-level pond; The commutation mechanism 4 is used to drive the repair mechanism 5 to rotate relative to the main body 1; The driving mechanism 3 is used to drive the main body 1 to move in multiple directions underwater.

[0021] In this embodiment, by setting the driving mechanism 3 to drive the repair mechanism 5 to achieve autonomous movement underwater, cooperating with the binocular camera 2 to locate the damaged position of the pool film, and using the repair mechanism 5 to achieve rolling repair, the repair can be completed without draining the pool water, solving the problem that the traditional repair method needs to interrupt the aquaculture process, reducing the artificial interference to the aquaculture organisms, and maintaining a stable production environment.

[0022] The repair mechanism 5 is provided with a repair roller 52, a glue application component and a film replacement component. The repair roller 52 is connected to the repair motor. By rotating the repair motor, the repair roller 52 can be driven to rotate at the front end of the repair seat 51. Cooperating with the driving of the main body 1 by the driving mechanism 3, rolling repair can be achieved. During the repair process, the film matching the notch size is provided to the repair roller 52 through the film replacement component, and at the same time, the repair glue is evenly sprayed onto the surface of the film by the glue application component. The repair film is tightly pressed onto the damaged part of the pool film through the self-rotation of the repair roller 52 and the driving of the driving mechanism 3, ensuring the adhesion between the film and the pool film and realizing automatic repair.

[0023] The intelligent binocular camera 2 in this embodiment is an intelligent binocular camera system constructed based on the YOLOv7 object detection algorithm using Python and Raspberry Pi 3B, realizing the efficient recognition of the damaged position of the film. Based on the image acquisition and processing functions of the binocular camera 2, the damaged film is detected through the YOLOv7 neural network, which can not only accurately identify the damaged position, but also evaluate the size and degree of the damaged area. By identifying the position of the notch of the pool film through the binocular camera 2, the positioning of the damaged position of the pool film is realized, facilitating the driving mechanism 3 to drive the repair mechanism 5 to move to the notch of the pool film for repair operations according to the coordinates provided by the binocular camera 2; through the binocular camera 2, the shape and size of the damaged notch in the pool film are also recognized, realizing the automatic matching of the repair material specifications. According to the recognition results of the binocular camera 2, through the coordinated operation of the glue application component and the film replacement component, a repair film of a suitable size is provided for the repair roller 52, reducing material redundancy and enabling the switching of multiple film materials to meet the repair requirements of different pool films.

[0024] By adjusting the attitude of the repair roller 52 through the reversing mechanism 4, the repair requirements for different positions such as the bottom surface of the pool and the angle of the pool wall can be met, improving the repair effect.

[0025] Preferably, refer to the appendix Figure 3, The film changing component includes a film changing turntable 53, a film feeding reel 54 and a guiding structure 55. The film changing turntable 53 is provided with a plurality of limiting grooves 531 for accommodating the film roll 541. A first installation groove 532 is formed on one side of the limiting groove 531. The film feeding reel 54 is detachably installed in the limiting groove 531 and is used for installing the film roll 541. The guiding structure 55 includes an elastic pressing plate 551 and a guiding portion 552. The elastic pressing plate 551 is arranged in the first installation groove 532, and the guiding portion 552 is arranged at the end of the elastic pressing plate 551 and extends outside the film changing turntable 53. The elastic pressing plate 551 is compressed under the limitation of the first installation groove 532, so that the guiding portion 552 is always in contact with the outer side of the film roll 541. A contact surface 553 is provided at one end of the guiding portion 552 close to the film feeding reel 54.

[0026] By providing a plurality of limiting grooves 531 on the film changing turntable 53, different specifications or types of film rolls 541 can be installed in the limiting grooves 531. When film changing is required, the rotation of the turntable driven by the turntable motor can drive different-sized or different-type films to be conveyed to the repair roller 52, realizing the rapid switching of the repaired films and adapting to diverse repair requirements; by providing the film feeding reel 54, it is used to drive the rotation of the film roll 541 to realize the automatic unwinding of the film roll 541 during the repair process; by providing the guiding structure 55, during the unwinding process of the film roll 541, the guiding structure 55 continuously guides the film to the starting end of the conveyor belt 57. The guiding structure 55 specifically includes an elastic pressing plate 551 and a guiding portion 552, wherein the elastic pressing plate 551 is placed in the first installation groove 532, so that the elastic pressing plate 551 is in a compressed state, thereby ensuring that the guiding portion 552 is always in contact with the outer side of the film roll 541, so that the film can enter the conveyor belt 57 under the guidance of the guiding portion 552 during the unwinding process. A contact surface 553 is provided at one end of the guiding portion 552 close to the film feeding reel 54, increasing the contact area between the guiding portion 552 and the film roll 541 and avoiding scratching the film roll 541 caused by continuous contact.

[0027] Preferably, the film changing component further includes a shear knife 561 and a shear driver 562. A second installation groove 533 is further formed on the film changing turntable 53, and the second installation groove 533 is located on the other side of the limiting groove 531. The shear driver 562 is arranged in the second installation groove 533, and the shear knife 561 is arranged at the movable end of the shear driver 562. The shear driver 562 is used to drive the shear knife 561 to move away from or into the limiting groove 531. By providing the shear knife 561 and the shear driver 562, the shear driver 562 can adopt a cylinder or a linear module, so that the telescopic action of the shear knife 561 can be realized. Thus, when roll changing is required, the shear driver 562 drives the shear knife 561 to act to cut off the film, realizing the subsequent film changing operation. When film changing is not required, the shear driver 562 drives the shear knife 561 to move away from the film roll 541 to avoid affecting the repair operation.

[0028] Preferably, the film replacement component further includes a conveyor belt 57 disposed within the repair base 51. The starting end of the conveyor belt 57 is connected to the guiding structure 55, and the ending end of the conveyor belt 57 is connected to the repair roller 52. By providing the conveyor belt 57 and connecting its starting end and ending end to the guiding structure 55 and the repair roller 52 respectively, the rotation of the conveyor belt 57 cooperates with the glue - applying roller 59 to pull the repair film towards the repair roller 52.

[0029] Preferably, referring to the appendix Figure 4 The glue - applying component includes a glue storage box 581, a glue - spraying valve, a glue - spraying head 582, and a glue - applying roller 59. The glue - spraying head 582 is in communication with the glue storage box 581 and is inclined towards the glue - applying roller 59. The glue - applying roller 59 is disposed between the glue - spraying head 582 and the conveyor belt 57. The glue - spraying valve is disposed between the glue storage box 581 and the glue - spraying head 582. The glue storage box 581 is in communication with the input end of the glue - spraying valve, and the output end of the glue - spraying valve is in communication with the glue - spraying head 582. The glue - spraying head 582 is provided with a plurality of evenly - distributed glue - spraying channels 583. The plurality of glue - spraying channels 583 are evenly distributed along the axial direction of the glue - applying roller 59. The glue - spraying valve is used to spray the repair glue in the glue storage box 581 onto the surface of the glue - applying roller 59. The glue - applying roller 59 rotates synchronously with the conveyor belt 57 and is used to apply the repair glue onto the surface of the film located on the conveyor belt 57.

[0030] By providing a plurality of evenly - distributed glue - spraying channels 583 on the glue - spraying head 582, the glue - spraying valve can evenly spray the repair glue in the glue storage box 581 onto the surface of the glue - applying roller 59, thereby ensuring that the coverage area and thickness of the repair glue applied by the glue - applying roller 59 on the repair film surface are consistent, and avoiding the problem of uneven glue amount that may occur during application. By providing the glue - spraying valve, the spraying amount of the repair glue can be controlled according to actual needs, avoiding waste caused by excessive glue amount or affecting the repair effect due to insufficient glue amount. By providing the glue - applying roller 59 and meshing the surface of the glue - applying roller 59 with the conveyor belt 57, the repair glue sprayed on the surface of the glue - applying roller 59 is evenly applied onto the surface of the film on the conveyor belt 57, realizing the automatic application of the repair glue, reducing manual intervention, and improving the repair efficiency.

[0031] Preferably, the repair mechanism 5 further includes a recovery frame 50. The recovery frame 50 is detachably disposed on one side of the repair base 51 and is in communication with the inner cavity of the repair base 51. The recovery frame 50 is connected with a scraping plate, and the scraping plate is in contact with the repair roller 52. By providing the recovery frame 50 to collect the residual film and repair glue on the repair roller 52, it avoids the influence of the residual repair film and repair glue on the subsequent repair effect. By making the scraping plate in contact with the repair roller 52, the residual repair glue on the surface of the repair roller 52 is scraped off, maintaining the cleanliness of the repair roller 52 before receiving the next section of the repair film and improving the repair quality.

[0032] Preferably, referring to the appendixFigure 5 The commutation mechanism 4 includes a movable bracket 41, a rotating component, and a swinging component. The rotating component is arranged at the front end of the main body 1. The movable bracket 41 is connected to the output end of the rotating component. The swinging components are arranged on both sides of the movable bracket 41. The repair seat 51 is connected to the output end of the swinging component; The rotating component includes a first commutation motor and a first planetary gear train transmission structure 421. The first commutation motor is arranged inside the main body 1. The rotating shaft end of the first commutation motor is connected to the sun gear of the first planetary gear train transmission structure 421. The planet carrier of the first planetary gear train transmission structure 421 is embedded on the repair seat 51; The swinging component includes a second commutation motor, a connecting shaft 431, and two groups of second planetary gear train transmission structures 432. The second commutation motor is arranged inside the movable bracket 41. The two groups of second planetary gear train transmission structures 432 are respectively arranged on both sides of the repair seat 51. The sun gears of the two groups of second planetary gear train transmission structures 432 are connected by the connecting shaft 431. The sun gear of one group of second planetary gear train transmission structures 432 is connected to the rotating shaft end of the second commutation motor. The planet carriers of the two groups of second planetary gear train transmission structures 432 are respectively embedded on both sides of the repair seat 51.

[0033] The commutation mechanism 4 includes a rotating component and a swinging component. The rotation of the repair mechanism 5 relative to the main body 1 is realized by the drive of the rotating component, and the swinging of the repair mechanism 5 relative to the main body 1 is realized by the drive of the swinging component. Thus, the flexible adjustment of the angle and position of the repair roller 52 is realized, and the repair requirements for damages of different shapes and positions are met. The movements of the rotating component and the swinging component are respectively realized by the first commutation motor and the first planetary gear train structure, and the second commutation motor and the second planetary gear train structure. By controlling the rotation angles of the first commutation motor and the second commutation motor, the movement trajectory of the repair mechanism 5 can be accurately controlled, and the repair accuracy and consistency are improved. The planetary gear train transmission structure is adopted, which has the characteristics of compact structure and high transmission efficiency, ensuring the stable operation of the device.

[0034] Preferably, the driving mechanism 3 includes a plurality of connecting arms 31 and a plurality of turbine thrusters 32. The plurality of connecting arms 31 are distributed on the outer side of the main body 1. The turbine thrusters 32 are rotatably arranged on the connecting arms 31. By arranging a plurality of turbine thrusters 32 on the outer side of the main body 1 and cooperating with the rotation of the turbine thrusters 32 on the connecting arms 31, a multi-directional propulsion force can be provided, enabling the main body 1 to move in multiple directions in water and meeting the repair requirements for different positions in the high-level tank.

[0035] The repair method realized by the high-level tank film repair device in this embodiment includes: Step A: Drive the main body through the driving mechanism to perform multi-directional movement underwater in the high-level pond along a preset patrol route. At the same time, the binocular camera identifies the pond film in the high-level pond. When the binocular camera identifies a damaged gap in the pond film, it locates the position of the gap and adjusts the movement direction of the driving mechanism to drive the main body to move to the position of the gap that needs to be repaired; Step B: Subsequently, the commutation mechanism adjusts the posture of the repair mechanism. The first commutation motor and the first planetary gear train transmission structure cooperate to drive the movable bracket to rotate circumferentially relative to the main body, and the second commutation motor and the second planetary gear train transmission structure cooperate to drive the repair seat to swing up and down on the movable bracket until the position of the repair roller is adjusted to face the damaged gap on the pond film; Step C: The binocular camera further identifies the shape and size of the damaged gap in the pond film, and performs the minimum matrix fitting on the shape of the gap; Step D: According to the fitting result, the film changing component drives the rotation of the film changing turntable, rotates the film roll on the film changing turntable that is adapted to the size of the gap to a position close to the starting end of the conveyor belt. Subsequently, the film release roller drives the film roll to rotate and unwind. During the unwinding process, the guiding structure always fits with the film roll that is being unwound, and guides the released film between the glue spraying roller and the conveyor belt; Step E: Open the glue spraying valve, evenly spray the repair glue in the glue storage box on the surface of the glue spraying roller. When the film passes through the meshing part between the glue spraying roller and the conveyor belt, its surface is coated with the repair glue by the glue spraying roller. Subsequently, the film with the repair glue is conveyed to the repair roller under the joint drive of the conveyor belt and the glue spraying roller. While the repair roller is rotating, the driving mechanism drives it to press tightly against the gap in the pond film for rolling repair. After the repair is completed, the residual film returns to the repair seat under the continuous rotation of the repair roller, and finally, under the action of the scraper, the residual film is sent into the recycling box.

[0036] Furthermore, the repair method further includes: Step F: Continue to perform the next patrol, repeat Steps A - C, and determine whether there is a large difference in the size between the gap to be repaired and the gap repaired once. If not, continue to perform Steps D and E; If so, perform a film changing operation. The shearing driver first drives the shearing knife to act to cut the film at the starting end of the conveyor belt. Subsequently, the cut residual film is conveyed to the repair roller under the joint action of the glue spraying roller and the conveyor belt. Finally, the residual film returns to the repair seat under the continuous rotation of the repair roller and is sent into the recycling box to complete the recycling; after recycling the residual film, continue to perform Steps D and E.

[0037] Thus, after one repair is completed, the next patrol is continued, realizing continuous inspection of the high-level pond, enabling continuous repair of multiple damaged gaps in the pond film, and having high repair efficiency. By comparing whether there is a large difference in the size between the gap to be repaired and the gap repaired at one time, automatic judgment of whether membrane replacement operation is required is realized, avoiding unnecessary film waste and improving the economy of repair.

[0038] The technical principle of the present invention has been described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be construed in any way as a limitation on the protection scope of the present invention. Based on the explanations herein, those skilled in the art can think of other specific embodiments of the present invention without creative efforts, and these embodiments will fall within the protection scope of the present invention.

Claims

1. A high-level pond film repair device, characterized in that, It includes a main body, a binocular camera, a driving mechanism, a commutation mechanism and a repair mechanism. The driving mechanism is arranged on the main body, the commutation mechanism is arranged at the front end of the main body, and the repair mechanism is arranged at the rotating end of the commutation mechanism; The repair mechanism includes a repair seat, a repair roller, an adhesive application component and a film replacement component. The repair seat is arranged at the rotating end of the commutation mechanism. The adhesive application component and the film replacement component are both arranged in the repair seat. The repair roller is rotatably arranged at the front end of the repair seat. One end of the repair roller is connected to the end of the film replacement component. The adhesive application component is arranged on one side of the film replacement component. The other end of the repair roller extends out of the repair seat. The film replacement component is used to provide a film with a suitable size for the repair roller. The adhesive application component is used to evenly spray the repair glue onto the surface of the film; The binocular camera is arranged on one side of the repair roller and is used to identify the position, notch shape and size of the damaged film in the high-level pond; The commutation mechanism is used to drive the repair mechanism to rotate relative to the main body; The driving mechanism is used to drive the main body to move in multiple directions underwater.

2. The high-level pond film repair device according to claim 1, characterized in that, The film replacement component includes a film replacement turntable, a film unwinding reel and a guiding structure. The film replacement turntable is provided with a plurality of limiting grooves for accommodating film rolls. A first installation groove is opened on one side of the limiting groove. The film unwinding reel is arranged in the limiting groove and is used to install the film roll. The guiding structure includes an elastic pressing plate and a guiding portion. The elastic pressing plate is arranged in the first installation groove. The guiding portion is arranged at the end of the elastic pressing plate and extends out of the film replacement turntable. The elastic pressing plate is compressed under the limitation of the first installation groove, so that the guiding portion is always in contact with the outer side of the film roll. A contact surface is arranged at one end of the guiding portion close to the film unwinding reel.

3. The high-level pond film repair device according to claim 2, characterized in that, The film replacement component further includes a cutting knife and a cutting driver. A second installation groove is also opened on the film replacement turntable, and the second installation groove is located on the other side of the limiting groove. The cutting driver is arranged in the second installation groove, and the cutting knife is arranged at the movable end of the cutting driver. The cutting driver is used to drive the cutting knife to move away from or into the limiting groove.

4. The high-level pond thin-film repair device according to claim 2, characterized in that The film replacement component further includes a conveyor belt. The conveyor belt is arranged in the repair seat. The starting end of the conveyor belt is connected to the guiding structure, and the ending end of the conveyor belt is connected to the repair roller.

5. The high-level pond film repair device according to claim 4, characterized in that, The gluing component includes a glue storage box, a glue spraying valve, a glue spraying head and a gluing roller. The glue spraying head is communicated with the glue storage box and is arranged obliquely towards the gluing roller. The gluing roller is arranged between the glue spraying head and the conveyor belt. The glue spraying valve is arranged between the glue storage box and the glue spraying head. The glue storage box is communicated with the input end of the glue spraying valve. The output end of the glue spraying valve is communicated with the glue spraying head. The glue spraying head is provided with a plurality of uniformly distributed glue spraying channels. The plurality of glue spraying channels are uniformly distributed along the axial direction of the gluing roller. The glue spraying valve is used to spray the repair glue in the glue storage box onto the surface of the gluing roller. The gluing roller rotates synchronously with the conveyor belt to smear the repair glue on the surface of the film located on the conveyor belt.

6. The high-position pond thin-film repair device according to claim 1, wherein, The repair mechanism further includes a recovery frame. The recovery frame is detachably arranged on one side of the repair seat and is communicated with the inner cavity of the repair seat. The recovery frame is connected with a scraping plate, and the scraping plate is attached to the repair roller.

7. A high-level pond film repair device according to claim 1, characterized in that, The commutation mechanism includes a movable support, a rotating component and a swinging component. The rotating component is arranged at the front end of the main body. The movable support is connected to the output end of the rotating component. The swinging components are arranged on both sides of the movable support. The repair seat is connected to the output ends of the swinging components. The rotating component includes a first commutation motor and a first planetary gear train transmission structure. The first commutation motor is arranged in the main body. The shaft end of the first commutation motor is connected to the sun gear of the first planetary gear train transmission structure. The planet carrier of the first planetary gear train transmission structure is embedded on the repair seat. The swinging component includes a second commutation motor, a connecting shaft and two groups of second planetary gear train transmission structures. The second commutation motor is arranged inside the movable support. The two groups of second planetary gear train transmission structures are respectively arranged on both sides of the repair seat. The sun gears of the two groups of second planetary gear train transmission structures are connected by the connecting shaft. The sun gear of one group of second planetary gear train transmission structures is connected to the shaft end of the second commutation motor. The planet carriers of the two groups of second planetary gear train transmission structures are respectively embedded on both sides of the repair seat.

8. A high-level pond thin film repair device according to claim 1, characterized in that, The driving mechanism includes a plurality of connecting arms and a plurality of turbine thrusters. The plurality of connecting arms are distributed on the outside of the main body. The turbine thrusters are rotatably arranged on the connecting arms.

9. A repair method implemented by using the high-position pond film repair device according to any one of claims 1-8, characterized in that, The method includes: Step A: Drive the main body to move in multiple directions underwater in the high-level pond along a preset patrol route through the driving mechanism. At the same time, the binocular camera identifies the pond film in the high-level pond. When the binocular camera identifies a damaged gap in the pond film, locate the position of the gap and adjust the moving direction of the driving mechanism to drive the main body to move to the position of the gap that needs to be repaired. Step B: Subsequently, the commutation mechanism adjusts the posture of the repair mechanism. Drive the movable support to make a circumferential rotation relative to the main body through the cooperation of the first commutation motor and the first planetary gear train transmission structure, and drive the repair seat to swing up and down on the movable support through the cooperation of the second commutation motor and the second planetary gear train transmission structure until the position of the repair roller is adjusted to be opposite to the damaged gap on the pond film. Step C: The binocular camera further identifies the shape and size of the notch where the pool film is damaged, and performs a minimum matrix fitting on the shape of the notch; Step D: According to the result of the completed fitting, the film replacement component drives the rotation of the film replacement turntable, rotates the film roll on the film replacement turntable that fits the size of the notch to a position close to the starting end of the conveyor belt, and then the unwinding reel drives the rotation of the film roll to unwind. During the unwinding process, the guiding structure always fits the film roll that is being unwound, guiding the unwound film between the glue-applying roller and the conveyor belt; Step E: Open the glue spraying valve, evenly spray the repair glue in the glue storage box onto the surface of the glue-applying roller. When the film passes through the meshing part between the glue-applying roller and the conveyor belt, its surface is coated with the repair glue by the glue-applying roller. Subsequently, the film with the repair glue is conveyed to the repair roller under the combined drive of the conveyor belt and the glue-applying roller. While the repair roller is rotating, the driving mechanism drives it to press tightly against the notch of the pool film for roller pressing repair. After the repair is completed, the remaining film returns to the repair seat under the continuous rotation of the repair roller and finally enters the recycling box under the action of the scraper.

10. The repair method of a high-level pond thin film repair device according to claim 9, characterized in that, It also includes: Step F: Continue to perform the next patrol, repeat steps A - C, and determine whether there is a large difference in the size between the notch to be repaired and the notch repaired once. If not, continue to execute steps D and E; If so, perform a film replacement operation. The shearing driver first drives the shearing knife to cut the film at the starting end of the conveyor belt. Subsequently, the cut remaining film is conveyed to the repair roller under the combined action of the glue-applying roller and the conveyor belt, and finally the remaining film returns to the repair seat and enters the recycling box to complete the recycling under the continuous rotation of the repair roller; after recycling the remaining film, continue to execute steps D and E.

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