Water area floating object cleaning and water quality purifying device

Abstract

The invention provides a water area floating object cleaning and water quality purifying device which is characterized by comprising a garbage collecting module used for recognizing and collecting floating objects on the water surface; the water body filtering module is used for adsorbing water body pollutants and purifying water; the power module drives the water area floating object cleaning and water quality purifying device to move and navigate; the device energy module is used for supplying power to each module; the intelligent control system cooperatively controls the garbage collection module, the water body filtering module, the power module and the device energy module; wherein the intelligent control system locates floating objects through a visual identification technology, is linked with the power module to realize accurate garbage collection, and meanwhile, dynamically regulates and controls the water body filtering module according to water quality monitoring data. Seamless integration and efficient cooperation of water area floating object cleaning and water quality purification can be achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning and purifying, and particularly relates to a water area floating object cleaning and water quality purifying device. BACKGROUND

[0002] Lake eutrophication is a typical water ecological problem caused by excessive input of exogenous nutrients such as nitrogen and phosphorus. Its characteristic performance is the transition of water body from oligotrophic state to eutrophic state, which further leads to abnormal proliferation of algae, sharp reduction of water transparency and sharp drop of dissolved oxygen content, and finally causes degradation of water ecological system function and imbalance of structure. Although the formation mechanism of blue-green algae bloom has been deeply analyzed by the academic circle, the current treatment of most eutrophic water bodies is still limited to end-point emergency disposal, and it is difficult to achieve long-term ecological restoration. Especially in the outbreak period of water bloom, how to build an emergency treatment system with timeliness and sustainability is still a difficult point to be broken through in the field of environmental engineering. The current emergency disposal technologies for blue-green algae bloom mainly include physical, chemical and biological methods: physical methods such as aeration flow generation can inhibit the aggregation of algae by disturbing the water body; chemical methods can achieve rapid algae inhibition by adding algicides, but there is a risk of secondary pollution; biological methods rely on microbial metabolism to digest pollutants, but are significantly restricted by environmental conditions. Although the above methods have their own characteristics, they all have the problems of limited applicability of single technology, strong ecological disturbance and high treatment cost. Therefore, based on the formation mechanism of blue-green algae bloom, combined with multiple parameters such as hydrodynamic characteristics, environmental carrying capacity and ecological risk threshold, an integrated emergency treatment scheme of multi-technology coupling is constructed, so a water area floating object cleaning and water quality purifying device which is simple to operate, high in working efficiency, green, environmentally friendly, saves manpower and material resources and is easy to maintain is needed. SUMMARY

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a water area floating object cleaning and water quality purifying device, which integrates the functions of water surface garbage cleaning, water quality monitoring and purifying, and is particularly suitable for comprehensive treatment of eutrophic water areas such as lakes and rivers.

[0004] To solve the above technical problems, the present application provides the following technical scheme: A water area floating object cleaning and water quality purifying device, comprising: a garbage collection module for identifying and collecting water surface floating objects; a water body filtration module for adsorbing water pollutants and purifying water quality; a power module for driving the water area floating object cleaning and water quality purifying device to move and navigate; a device energy module for supplying power to each module; an intelligent control system for cooperatively controlling the garbage collection module, the water body filtration module, the power module and the energy module; The intelligent control system locates the floating objects through visual recognition technology, and drives the power module to collect the garbage accurately, and dynamically adjusts and controls the water filtering module according to the water quality monitoring data.

[0005] Further, the garbage collection module comprises: a camera and a visual recognition large model for identifying the coordinates of the floating objects; a conveyor belt track driven by a stepper motor, the surface of which is provided with anti-skid convex patterns and baffles; a garbage collection box for receiving the floating objects conveyed by the conveyor belt; The intelligent control system controls the differential steering of the propellers according to the coordinates of the floating objects, so that the device approaches the floating objects.

[0006] Further, the water filtering module comprises: a filter water tank with a three-stage filter element including a coarse filter layer, a zeolite layer and a biochar layer; a water pump controlled by a power regulator to control the flow rate; a conductivity detector for real-time monitoring of water quality data; The intelligent control system switches to the enhanced filtration mode based on the water quality data and optimizes the filter element ratio.

[0007] Further, the power module comprises: symmetrically arranged propellers driven by a motor; a Beidou positioning system for providing real-time position data; The intelligent control system corrects the trajectory by combining the data collected by the camera and the Kalman filter algorithm, and controls the differential steering of the propellers to achieve obstacle avoidance.

[0008] Further, the device energy module comprises: a photovoltaic panel kept at an inclined angle by an angle adjusting shaft; a storage battery for collecting the power generated by the photovoltaic panel; an illumination sensor for monitoring the ambient light; The intelligent control system switches between photovoltaic charging and storage battery power supply modes according to the ambient light data, and triggers the alarm light and automatic return charging when the power is lower than the threshold value.

[0009] Further, the intelligent control system works through the following processes: The visual recognition large model scans and identifies the floating objects, and plans the path in combination with the Beidou positioning system; After the power module drives the device to reach the target area, the conveyor belt track is started to collect the garbage; The water pump sucks in the water body for purification through the three-stage filter element, and the conductivity detector feeds back the data to the intelligent control system; The energy module automatically switches the power source according to the intensity of the light.

[0010] Further, the zeolite layer adopts modified zeolite, and the ion exchange capacity is greater than or equal to 170 mg / g; The biochar layer is MgO modified biochar, and the particle size is 1-2 mm; Both of them remove ammonia nitrogen and phosphate through ion exchange and chemical bonding respectively.

[0011] Further, the photovoltaic power generation panel is linked with the light sensor to adjust the inclination angle in real time to maximize the light energy conversion efficiency.

[0012] Further, the master control system integrates WiFi communication module and Bluetooth, interacts with the mobile applet, realizes water quality data monitoring, operation mode switching and device positioning.

[0013] Further, the enhanced filtration mode dynamically adjusts the thickness ratio of the zeolite layer and the biochar layer through the intelligent control system to improve the removal rate of ammonia nitrogen and phosphate.

[0014] Compared with the prior art, the present application has the following beneficial effects: 1. High functional integration and strong comprehensive treatment ability: The present application integrates garbage recognition and collection, real-time water quality monitoring and multi-stage purification functions in one, overcomes the defects of single function and low treatment efficiency of traditional equipment, and is especially suitable for the cooperative treatment of eutrophic water, significantly improving the comprehensive performance of water surface cleaning and water quality optimization.

[0015] 2. Intelligent identification and accurate operation: Through the fusion of the visual recognition large model and the Beidou positioning system, high-precision identification and positioning of water surface floating objects are realized, and the Kalman filter algorithm is used for path planning and dynamic obstacle avoidance, significantly improving the accuracy and navigation reliability of garbage collection.

[0016] 3. Self-adaptive purification and dynamic optimization: The water body filtration module can intelligently switch the enhanced filtration mode according to the water quality data such as conductivity, and dynamically adjust the filter core ratio of zeolite and biochar to realize targeted and efficient removal of pollutants such as ammonia nitrogen and phosphate, improving the responsiveness and adaptability of the purification process.

[0017] 4. Energy intelligent management and sustainable operation: The photovoltaic-battery hybrid power supply system is adopted, combined with the light sensor and the angle adjusting mechanism to realize maximum light energy capture, and trigger automatic return charging when the power is low, ensuring the long-term continuous operation ability of the equipment in the wild environment.

[0018] 5. Remote interaction and strong controllability: The intelligent system integrates WiFi and Bluetooth communication functions, supports remote monitoring of water quality data, control of operation mode and real-time positioning through the mobile applet, facilitates dynamic management and decision support for users, and improves the intelligence and usability of the device. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall system structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the waste collection module of the present invention. Figure 1 .

[0022] Figure 3 This is a schematic diagram of the waste collection module of the present invention. Figure 2 .

[0023] Figure 4 This is a schematic diagram of the water filtration module of the present invention.

[0024] Figure 5 This is a schematic diagram of the energy module of the present invention.

[0025] Figure 6 This is a schematic diagram illustrating the interaction between the energy module of this invention and the external environment.

[0026] Figure 7 This is a schematic diagram illustrating the interaction between the intelligent control system of the present invention and the external environment.

[0027] In the diagram, 1-Photovoltaic panel; 2-Battery; 3-Microcontroller; 4-Camera; 5-Visual recognition large model; 6-Signal receiver; 7-Conductivity meter; 8-WiFi communication module; 9-Mini program terminal; 10-Filter water tank; 11-Stepper motor; 12-Garbage collection conveyor belt; 13-Motor; 14-Propeller; 15-Water outlet; 16-Data cable; 17-Water pump; 18-Garbage collection bin; 19-Water pump outlet; 20-Water pump inlet; 21-Water pump switch; 22-Filter screen; 23-BeiDou satellite; 24-Propeller motor shaft; 25-Propeller shaft; 26-Propeller blade; 27-Coarse filtration layer; 28-Zeolite layer; 29-Biochar layer; 30-Relay; 31-Detection probe; 32-Drive belt; 33-Water seepage hole; 34-Camera bracket; 35-Garbage collection module; 36-Water filtration module; 37-Conveyor belt shaft; 38-Power module; 39-Conveyor belt skirt; 40-Conveyor belt baffle; 41-Conveyor belt track; 42-Signal transmission antenna; 43-Water pump power regulator; 44-Photovoltaic panel angle adjustment shaft; 45-Power alarm light; 46-Light sensor; 47-Stepper motor shaft; 48-Filter box inlet; 49-Bluetooth; 50-Filter box door. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0029] Example 1 The invention will now be further described with reference to the accompanying drawings.

[0030] like Figure 1 As shown, this invention provides an emergency algae removal and purification device based on visual recognition, integrating surface debris cleaning, water quality monitoring, and purification functions. It is suitable for the treatment of eutrophic waters such as lakes and rivers. It includes: Waste collection module 35 is used to identify and collect floating debris on the water surface; Water filtration module 36 is used to adsorb pollutants in water and purify water quality; Power module 38 drives the movement and navigation of the water surface debris cleaning and water purification device; The device's energy module supplies power to all modules; The intelligent control system coordinates the control of the waste collection module, water filtration module, power module, and energy module of the device. The intelligent control system uses visual recognition technology to locate floating objects and links the power module to achieve precise garbage collection. At the same time, it dynamically adjusts the water filtration module based on water quality monitoring data.

[0031] like Figure 2 and 3 As shown, the waste collection module 35 is a key component for cleaning floating debris on the water surface, working closely with the visual recognition system, power module, and main control system. This module includes a conveyor belt power system driven by a stepper motor 11. The motor shaft 47 rotates, which in turn drives the conveyor belt 32, causing the conveyor belt 41 to rotate and enabling the waste collection conveyor belt 12 to operate normally. The conveyor belt surface is equipped with anti-slip ridges and conveyor belt baffles 40 to enhance waste adhesion and create directional flow channels. Camera brackets 34 are installed on both sides of the device, each carrying a camera 4. A large visual recognition model 5 (based on the YOLOv4 algorithm) identifies the coordinates of floating debris in real time. The intelligent control system (microcontroller 3) uses this coordinate data to intelligently adjust the differential speed of the propeller 14 via the propeller motor shaft 24, driving the entire device to precisely approach the target waste. When the device reaches the waste area, the conveyor belt 41 starts, effectively transporting the waste into the waste collection bin 18. The design of the conveyor belt skirt 39 and conveyor belt baffle 40 can effectively reduce the rebound of garbage caused by water flow impact and significantly improve collection efficiency.

[0032] The water filtration module 36 is the core component for water purification, working in conjunction with the water pump, detection probe, and main control system. For example... Figure 4 As shown, the module consists of a water filtration tank 10, a composite filter element, and a conductivity meter 7. The water filtration tank 10 features a cleverly designed three-layer staggered filter structure: a coarse filter layer 27 intercepts large particles; a zeolite layer 28 (modified zeolite, ion exchange capacity 170 mg / g) adsorbs ammonia nitrogen through ion exchange; and a biochar layer 29 (MgO-modified biochar, particle size 1-2 mm) removes phosphates through physical adsorption and chemical bonding. The three filter layers are separated by filter screens 22. A water pump 17, controlled by a pump power regulator 43, draws water in through the pump inlet 20 and discharges it through the outlet 19 to the filter tank inlet 48, allowing the water to enter the filtration system for purification. The purified water is then discharged through the filter tank outlet 15. To prevent excessive water pressure, a seepage hole 33 is provided at the bottom of the filter tank, through which purified water can also be discharged. The conductivity meter 7 monitors the water conductivity in real time and transmits the data to the intelligent control system (microcontroller 3) via data cable 16. The intelligent control system correlates ammonia nitrogen concentration using a linear model. Once the detected value exceeds a preset threshold, it automatically switches to enhanced filtration mode and optimizes the ratio of zeolite to biochar to ensure water purification efficiency. The filter box door 50 features a detachable design, greatly facilitating filter replacement and maintenance.

[0033] The power module 38 is responsible for the device's motion and precise navigation, working in conjunction with the intelligent control system, BeiDou positioning system, and camera. Power primarily comes from symmetrically arranged propellers 14, whose blades 26 are connected to the motor 13 via the propeller shaft 25. The intelligent control system (microcontroller 3, STM32H7 dual-core architecture) receives real-time positioning data from BeiDou satellites 23 and camera 4 via signal receiver 6, and uses a Kalman filter algorithm to correct trajectory deviations, thereby precisely controlling the differential steering of propellers 14 (response time < 0.2s), achieving precise navigation and automatic obstacle avoidance (safe distance 20cm). Navigation data is transmitted back to the user terminal via signal transmission antenna 42, enabling remote monitoring and operation.

[0034] like Figure 5 and 6 As shown, the energy module provides continuous and stable power support for the entire device and is closely linked to the light sensor, battery, and intelligent control system. This module mainly includes a photovoltaic panel 1 and a battery 2. The photovoltaic panel 1 intelligently maintains a 30° tilt angle via an angle adjustment shaft 44 to maximize solar radiation reception, charging the battery 2 on sunny days. On cloudy or rainy days, the system automatically switches to energy storage mode, powered by the battery 2. The battery 2 (rated voltage 11.1V, capacity 12Ah) provides continuous power to the device. When the battery level drops below 10%, the power alarm light 45 triggers an alarm, and the device autonomously plans and returns to its initial position for charging via the BeiDou positioning system, ensuring long-term operation and ease of recovery. Furthermore, data from the light sensor 46 assists in energy management and optimizes charging and discharging strategies.

[0035] like Figure 7 As shown, the intelligent control system uses a single-chip microcomputer 3 as the main control core to realize intelligent management and coordination of various modules. The intelligent control system integrates a WiFi communication module 8 and Bluetooth 49, enabling real-time data interaction with a mobile app 9. Users can conveniently view water quality data (conductivity, ammonia nitrogen concentration), control device operating mode (automatic / manual), monitor power consumption, and locate the device in real time through the app 9. The water quality data collected by the detection probe 31 is transmitted to the single-chip microcomputer 3 via data cable 16, while the relay 30 precisely controls the start and stop of the water pump switch 21 and motors (such as stepper motor 11 and motor 13) according to the instructions of the intelligent control system. This series of data transmission and control mechanisms forms a closed-loop control of "detection-processing-feedback", ensuring the efficient, accurate, and intelligent operation of the device.

[0036] Overall operation process of the device After the device is started, the intelligent control system first activates the large visual recognition model 5 and camera 4 to scan and identify floating debris on the water surface. The intelligent control system (microcontroller 3) then plans the optimal cleaning path in conjunction with the Beidou positioning system 6. Subsequently, the power module 38 drives the propeller 14 to precisely propel the device to the target area. Once arrived, the conveyor belt 41 in the waste collection module 35 starts to effectively collect the floating debris into the waste collection bin 18. At the same time, the water pump 17 in the water filtration module 36 starts to work, drawing water into the filtration tank 10, where it is purified through layers of composite filters before being discharged. During this process, the conductivity meter 7 provides real-time feedback of water quality data to the intelligent control system (microcontroller 3), which dynamically adjusts the water purification strategy based on the data to ensure the purification effect. The device's energy module automatically switches the power supply modes of the photovoltaic panel 1 and the battery 2 based on the data from the light sensor 46, ensuring that the device can operate stably around the clock, achieving seamless integration and efficient collaboration between floating debris cleaning and water purification.

[0037] It should be understood that any parts not described in detail in this specification belong to the prior art.

[0038] It should be understood that the above description of the preferred embodiments is quite detailed, but it should not be considered as a limitation on the scope of protection of this invention. It is neither necessary nor possible to exhaustively describe all possible implementations. Those skilled in the art, under the guidance of this invention, can make substitutions or modifications without departing from the scope of protection of this invention, and all such substitutions or modifications fall within the scope of protection of this invention.

Claims

1. A device for cleaning floating debris and purifying water in water bodies, characterized in that, include: The waste collection module is used to identify and collect floating debris on the water surface; Water filtration module, used to adsorb pollutants in water and purify water quality; The power module drives the movement and navigation of the water surface debris removal and water purification device. The device's energy module supplies power to all modules; The intelligent control system coordinates the control of the waste collection module, water filtration module, power module, and energy module of the device. The intelligent control system uses visual recognition technology to locate floating objects and links the power module to achieve precise garbage collection. At the same time, it dynamically adjusts the water filtration module based on water quality monitoring data.

2. The device for cleaning floating debris and purifying water quality in water areas according to claim 1, characterized in that, The waste collection module includes: A large-scale model using cameras and visual recognition to identify the coordinates of floating objects; The conveyor belt is driven by a stepper motor and has anti-slip ridges and baffles on its surface. Garbage collection bins receive floating debris transported by conveyor belts; The intelligent control system controls the propeller differential speed steering based on the coordinates of the floating object, so that the device can approach the floating object.

3. The device for cleaning floating debris and purifying water quality in water areas according to claim 1, characterized in that, The water filtration module includes: The water filtration tank has a built-in three-stage filter element consisting of a coarse filter layer, a zeolite layer, and a biochar layer. The water pump controls the flow rate via a power regulator; Conductivity meter for real-time monitoring of water quality data; The intelligent control system switches between enhanced filtration modes based on water quality data and optimizes the filter cartridge ratio.

4. The device for cleaning floating debris and purifying water quality in water areas according to claim 1, characterized in that, The power module includes: Symmetrically arranged propellers, driven by motors; The BeiDou Navigation Satellite System provides real-time location data; The intelligent control system combines data collected by the camera with Kalman filtering algorithm to correct the trajectory and controls the propeller differential steering to achieve obstacle avoidance.

5. The device for cleaning floating debris and purifying water quality in water areas according to claim 1, characterized in that, The device's energy module includes: The photovoltaic panel maintains its tilt angle via an angle adjustment shaft; A storage battery that collects the electricity generated by the photovoltaic panels; Light sensor to monitor ambient light; The intelligent control system switches between photovoltaic charging and battery power supply modes based on ambient light data, and triggers an alarm light and automatic return to charging when the battery level is below a threshold.

6. The device for cleaning floating debris and purifying water quality in water areas according to claim 1, characterized in that, The intelligent control system works collaboratively through the following processes: Visual recognition large-scale model scans and identifies floating objects, and combines BeiDou positioning to plan paths; After the power module drive unit arrives at the target area, it starts the conveyor belt to collect the garbage; The water pump draws in water, which is then purified through a three-stage filter. At the same time, the conductivity meter feeds back data to the intelligent control system. The energy module automatically switches power sources based on the intensity of sunlight.

7. The device for cleaning floating debris and purifying water quality in water areas according to claim 3, characterized in that: The zeolite layer is made of modified zeolite with an ion exchange capacity ≥170mg / g; The biochar layer is MgO-modified biochar with a particle size of 1-2 mm; Both methods remove ammonia nitrogen and phosphate through ion exchange and chemical bonding, respectively.

8. The device for cleaning floating debris and purifying water quality in water areas according to claim 5, characterized in that: The photovoltaic panel is linked to a light sensor to adjust the tilt angle in real time to maximize the light energy conversion efficiency.

9. The device for cleaning floating debris and purifying water quality in water areas according to claim 1, characterized in that: The main control system integrates a WiFi communication module and Bluetooth, and interacts with a mobile app to achieve water quality data monitoring, operation mode switching, and device positioning.

10. The device for cleaning floating debris and purifying water quality in water areas according to claim 3, characterized in that: The enhanced filtration mode dynamically adjusts the thickness ratio of the zeolite layer and the biochar layer through an intelligent control system, thereby improving the removal rate of ammonia nitrogen and phosphate.

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