Water pollution monitoring and treatment integrated platform based on bionic robot

Abstract

The application discloses a water pollution monitoring and treatment integrated platform based on a bionic robot, which comprises a bottom plate, a head, a first support and a second support which are arranged on the bottom plate respectively, a steering assembly arranged on the first support, two front fin assemblies which are symmetrically arranged on the first support, the steering assembly drives the two front fin assemblies to move respectively, and two rear fin assemblies which are symmetrically arranged on the bottom plate. Thus, the application has the advantages of reasonable structure, high operation stability, wide application range, strong expansibility and matching property.

Description

Technical Field

[0001] This invention relates to the field of marine engineering, specifically to an integrated platform for monitoring and controlling water pollution based on biomimetic robots. Background Technology

[0002] With the intensification of human activities, pollution problems such as pathogens and organic pollutants in water bodies are becoming increasingly prominent, seriously threatening ecological balance and human health. Current water management methods have some obvious shortcomings. First, manual management methods suffer from significant inefficiencies and limited coverage. Second, cleaning robot management methods often focus too much on a single function and have a narrow range of applications.

[0003] Therefore, research on a more rational integrated structural architecture for an integrated platform for water pollution monitoring and control that balances operational stability and environmental adaptability is of practical significance. Summary of the Invention

[0004] The present invention aims to at least partially solve the technical problems in the above-mentioned technologies.

[0005] Therefore, this invention discloses an integrated platform for water pollution monitoring and control based on biomimetic robots, comprising:

[0006] Base plate;

[0007] The head, the first bracket, and the second bracket are respectively mounted on the base plate;

[0008] A steering assembly, which is mounted on the first bracket;

[0009] Two front fin assemblies are symmetrically arranged on the first support;

[0010] The steering components drive the two front fin components to move respectively;

[0011] Two rear fin assemblies are symmetrically arranged on the base plate.

[0012] The integrated water pollution monitoring and control platform based on biomimetic robots disclosed in this invention has advantages such as reasonable structure, high operational stability, wide applicability, scalability, and strong compatibility.

[0013] In addition, the integrated platform for water pollution monitoring and control based on biomimetic robots disclosed in this invention may also have the following additional technical features:

[0014] In one embodiment of the present invention, it further includes:

[0015] The upper shell is disposed on the upper part of the base plate and covers the first bracket and the second bracket;

[0016] The lower shell is located at the bottom of the base plate.

[0017] In one embodiment of the present invention, the steering component includes:

[0018] A linear module is mounted on the first bracket;

[0019] A steering connector is disposed on the slider of the linear module;

[0020] Two tie rods, one end of each of which is hinged to the steering connector;

[0021] Two L-shaped connectors, each with its two ends hinged to the first bracket and the other end of the pull rod, respectively.

[0022] In one embodiment of the present invention, the front fin assembly includes:

[0023] pectoral fin;

[0024] A first crank, one end of which is connected to the front fin;

[0025] The second crank has one end connected to the first crank;

[0026] The third crank has one end hinged to the other end of the second crank, and its other end is connected to the L-shaped connector.

[0027] The fourth crank is hinged to the other end of the first crank;

[0028] The fifth crank, one end of which is hinged to the third crank;

[0029] The connecting rod has two ends connected to the other ends of the fourth crank and the fifth crank, respectively;

[0030] An electric motor is mounted on the third crank, with its shaft passing through the third crank and connected to the hinge shaft of the third and fifth cranks, thereby driving the fifth crank to rotate.

[0031] In one embodiment of the present invention, the rear fin assembly includes:

[0032] The hind fin;

[0033] The rear fin connector, which connects to the rear fin;

[0034] The first rear fin sheet metal part is connected to the rear fin connector;

[0035] A servo motor, which is connected to the first rear fin sheet metal part;

[0036] The second rear fin sheet metal part is connected to the servo motor;

[0037] The third rear fin sheet metal part is connected to the base plate and the second rear fin sheet metal part respectively.

[0038] In one embodiment of the present invention, it further includes:

[0039] A pollution source location module is disposed in the head;

[0040] The sensor is mounted on the lower housing;

[0041] The pollution source location module locates the pollution source according to the following steps:

[0042] S1: The sensor detects whether the pollutant concentration exceeds a preset threshold at a preset frequency;

[0043] S2: When the pollutant concentration exceeds the preset threshold three times consecutively, the pollution source positioning module controls the front fin assembly and the rear fin assembly to drive the bionic robot to move in a figure-eight pattern, starting from the current position of the bionic robot, in sequence, a clockwise circular motion of 180 degrees, a counterclockwise circular motion of 360 degrees, and a clockwise circular motion of 180 degrees, with a preset radius.

[0044] At the current position of the bionic robot, the sensor detects the pollutant concentration once as initial concentration data;

[0045] During the first 180-degree clockwise circular motion of the bionic robot, the sensor detects the pollutant concentration once as the first concentration data;

[0046] During the 360-degree counterclockwise circular motion of the bionic robot, the sensor detects the concentration of secondary pollutants as the second and third concentration data.

[0047] During the second clockwise 180-degree circular motion of the bionic robot, the sensor detects the pollutant concentration once as the fourth concentration data.

[0048] S3: Calculate the concentration difference between the initial concentration data and the first concentration data, the second concentration data, the third concentration data, and the fourth concentration data respectively, and use the concentration difference between the initial concentration data and the first concentration data as the standard concentration difference to process the concentration differences between the initial concentration data and the second concentration data, the third concentration data, and the fourth concentration data to generate direction vectors between the initial concentration data and the first concentration data, the second concentration data, the third concentration data, and the fourth concentration data respectively;

[0049] S4: The direction vectors of the initial concentration data and the first concentration data, the second concentration data, the third concentration data and the fourth concentration data are vector superimposed to generate the final direction vector, which is the first reference direction of the pollution source.

[0050] In one embodiment of the present invention, the pollution source locating module further locates the pollution source according to the following steps:

[0051] S5: The bionic robot moves in a straight line along the first reference direction;

[0052] S6: During the process of the bionic robot moving in a straight line along the first reference direction, the sensor detects the pollutant concentration according to the preset frequency. When the pollutant concentration shows a decreasing trend for 5 consecutive times, the bionic robot takes the current position as the starting point and repeats steps S2 to S4. The final direction vector generated is the second reference direction of the pollution source.

[0053] S7: The intersection of the first reference direction and the second reference direction is taken as the location of the pollution source.

[0054] In one embodiment of the present invention, in step S7, if the first reference direction and the second reference direction coincide or are parallel, the bionic robot takes the current position as the starting point, randomly selects a direction different from the second reference direction, and repeats steps S2 to S4. The final direction vector generated is the third reference direction of the pollution source, and the intersection of the first reference direction and the third reference direction is taken as the position of the pollution source.

[0055] Additional features and advantages of this invention will be set forth in the description which follows, or may be learned by practicing the invention. Attached Figure Description

[0056] The technical solution and beneficial effects of the present invention will become apparent and readily understood from the following description in conjunction with the accompanying drawings, wherein:

[0057] Figure 1 This is a schematic diagram of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention.

[0058] Figure 2 This is a schematic diagram of the base plate, the first support, and the second support of the integrated platform for water pollution monitoring and control based on biomimetic robots of the present invention.

[0059] Figure 3 This is a schematic diagram of the base plate, head, first support, and second support of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention.

[0060] Figure 4 This is a schematic diagram of the first support and steering component of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention;

[0061] Figure 5 This is a schematic diagram of the front fin component of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention.

[0062] Figure 6 This is a schematic diagram of the rear fin assembly of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention.

[0063] Figure 7 This is a schematic diagram of the working environment of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention.

[0064] Figure 8 This is a schematic diagram of the figure-eight movement of the bionic robot in the integrated platform for water pollution monitoring and control based on bionic robots of the present invention.

[0065] Figure 9 This is a schematic diagram of the concentration difference, direction vector, and first reference direction of the integrated water pollution monitoring and treatment platform based on biomimetic robots of the present invention.

[0066] Figure 10 This is a schematic diagram of the first reference direction of the integrated water pollution monitoring and treatment platform based on biomimetic robots of the present invention in the working environment;

[0067] Figure 11 This is a schematic diagram of the first and second reference directions of the integrated water pollution monitoring and control platform based on biomimetic robots of the present invention in the working environment.

[0068] As shown in the figure:

[0069] 101-Base plate, 102-Head, 103-First support, 104-Second support, 105-Upper shell, 106-Lower shell;

[0070] 200-Steering assembly;

[0071] 201-Linear module, 202-Steering connector, 203-Tie rod, 204-Connector;

[0072] 300-Front Fin Assembly;

[0073] 301-Front fin, 302-First crank, 303-Second crank, 304-Third crank, 305-Fourth crank, 306-Fifth crank, 307-Connecting rod, 308-Motor;

[0074] 400-rear fin assembly;

[0075] 401-Rear fin, 402-Rear fin connector, 403-First rear fin sheet metal part, 404-Servo, 405-Second rear fin sheet metal part, 406-Third rear fin sheet metal part. Detailed Implementation

[0076] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0077] The integrated platform for water pollution monitoring and control based on biomimetic robots disclosed in this invention will now be described with reference to the accompanying drawings.

[0078] like Figure 1 , Figure 2 and Figure 3 As shown, the integrated platform for water pollution monitoring and control based on biomimetic robots includes:

[0079] Base plate 101;

[0080] The head 102, the first bracket 103, and the second bracket 104 are respectively mounted on the base plate 101;

[0081] Steering assembly 200, which is mounted on first bracket 103;

[0082] Two front fin assemblies 300 are symmetrically arranged on the first support 103;

[0083] The steering assembly 200 drives the two front fin assemblies 300 to move respectively;

[0084] Two rear fin assemblies 400 are symmetrically arranged on the base plate 101.

[0085] The upper shell 105 is disposed on the upper part of the base plate 101 and covers the first bracket 103 and the second bracket 104.

[0086] The lower shell 106 is located at the lower part of the base plate 101.

[0087] It should be noted that both the upper shell 105 and the lower shell 106 are based on the hydrodynamic shape of a sea turtle. The surface data was obtained through 3D scanning, and the water resistance coefficient was optimized to <0.05 through ANSYS Fluent simulation. They are made of carbon fiber reinforced composite material combined with 3D printing to meet the assembly requirements of the base plate 101, the upper shell 105 and the lower shell 106. The weight of the whole machine is controlled to <5kg, and the buoyancy reserve coefficient is >1.2.

[0088] like Figure 4 As shown, the steering assembly 200 includes:

[0089] Linear module 201 is mounted on first bracket 103;

[0090] Steering connector 202 is disposed on the slider of linear module 201;

[0091] Two tie rods 203, one end of each of which is hinged to the steering connector 202;

[0092] Two L-shaped connectors 204, each with one end hinged to the other end of the first bracket 103 and the pull rod 203 respectively.

[0093] Specifically, such as Figure 4 As shown, in the steering assembly 200, the linear module 201 drives the slider in a linear drive, and the steering connector 202 is fixedly connected to the slider of the linear module 201; one end of the pull rod 203 is hinged to the steering connector 202 through a fisheye bearing, and the other end is hinged to the L-shaped connector 204 through a fisheye bearing. The other end of the L-shaped connector 204 is connected to the first bracket 103 through a pin and forms a rotating shaft. When the linear module 201 drives the slider to move, the pull rod 203 pulls the L-shaped connector 204 to rotate around the rotating shaft, thereby driving the front fin assemblies 300 on both sides to achieve synchronous yaw.

[0094] like Figure 5 As shown, the front fin assembly 300 includes:

[0095] pectoral fin 301;

[0096] The first crank 302 has one end fixedly connected to the front fin 301;

[0097] The second crank 303 is L-shaped and bent, with one end hinged to the middle of the first crank 302;

[0098] The third crank 304 consists of two parts: the first part is in the shape of a quarter circle arc, and the second part is in the shape of an inverted T. One end of the first part and the upper end of the second part are integrally formed and connected. The plane in which the first part is located is perpendicular to the axis of the second part.

[0099] The free end of its first part and the other end of the second crank 303 are hinged together, and the second part is fixedly connected to the L-shaped connector 204.

[0100] The fourth crank 305 is hinged to the other end of the first crank 302;

[0101] The fifth crank 306 has one end hinged to the third crank 304;

[0102] Connecting rod 307, with its two ends connected to the other ends of the fourth crank 305 and the fifth crank 306 respectively;

[0103] The motor 308 is mounted on the third crank 304, and its shaft passes through the third crank 304 and the fifth crank 306. The shaft of the motor 308 is rotatably connected to the third crank 304 and fixedly connected to the fifth crank 306 by an interference fit.

[0104] Specifically, such as Figure 5 As shown, in the front fin assembly 300, the assembly uses a multi-crank linkage mechanism to construct a biomimetic flapping transmission chain;

[0105] The front fin 301 and the first crank 302 are rigidly connected by bolts, forming the core component of the bionic flapping actuator.

[0106] One end of the L-shaped second crank 303 engages with the central shaft hole of the first crank 302 via a rotating pair, forming a flexible swinging intermediate transmission node.

[0107] The third crank 304 is an integrally formed structure, consisting of a quarter-circle arc-shaped first part and an inverted T-shaped second part. The ends of the two parts are integrally cast. The other end of the first part forms a rotating pair with the free end of the second crank 303 through a cylindrical pin. The plane of the first part is perpendicular to the axis of the second part.

[0108] The fourth crank 305 forms a rotating pair with the end of the first crank 302 through a pin, constituting an auxiliary adjustment component for the clapping posture. One end of the connecting rod 307 is rigidly connected to the fourth crank 305 by welding, and the other end is hinged to the free end of the fifth crank 306 through a spherical bearing.

[0109] The power output shaft of motor 308 is fixedly connected to the hinge shaft of third crank 304 and fifth crank 306, forming the core of the power input of the entire assembly. It converts the rotational motion of the motor into the reciprocating oscillation of fifth crank 306, and then drives the front fin 301 to form a biomimetic flapping trajectory through multi-stage transmission of connecting rod 307, fourth crank 305 and first crank 302.

[0110] like Figure 6 As shown, the rear fin assembly 400 includes:

[0111] hind fin 401;

[0112] The rear fin connector 402 is connected to the rear fin 401;

[0113] The first rear fin sheet metal part 403 is connected to the rear fin connector 402;

[0114] Servo motor 404 is connected to the first rear fin sheet metal part 403;

[0115] The second rear fin sheet metal part 405 is connected to the servo motor 404;

[0116] The third rear fin sheet metal part 406 is connected to the base plate 101 and the second rear fin sheet metal part 405 respectively.

[0117] Specifically, such as Figure 6 As shown, in the rear fin assembly 400, the rear fin 401 and the rear fin connector 402 are fixedly connected by bolts. The rear fin connector 402 is positioned with the first rear fin sheet metal part 403 through a mortise and tenon structure, and then a detachable rigid connection is achieved by bolts. The servo motor 404 is fixed to the second rear fin sheet metal part 405 through a mounting base, and its output shaft is fixedly connected to the first rear fin sheet metal part 403. The third rear fin sheet metal part 406 is formed by bending and is bolted to the base plate 101 through corner pieces, and at the same time forms a welded and fixed support frame with the second rear fin sheet metal part 405.

[0118] The drive system adopts a four-limb modular design. The front fin assembly 300 and the rear fin assembly 400 integrate four DC brushless motors to achieve four degrees of freedom of movement: forward, backward, turning, floating and diving, with a target swimming speed ≥0.5m / s. The steering assembly 200 precisely adjusts the movement trajectory of the front fin assembly 300 through the linkage of the linear module 201, the steering connector 202, the tie rod 203 and the L-shaped connector 204.

[0119] It should be noted that this integrated platform for water pollution monitoring and control based on biomimetic robots also includes:

[0120] Pollution source location module and sensors;

[0121] The pollution source location module is based on an STM32 main control chip and a Beidou positioning chip. The STM32 main control chip and the Beidou positioning chip are integrated with their peripheral circuits in the head 102. The sensor is set on the lower shell 106. The sensor can be one of a pH sensor, conductivity sensor, dissolved oxygen sensor or turbidity sensor.

[0122] The main control chip STM32, the Beidou positioning chip, and the sensors are all powered by an internal lithium battery on the inner surface of the upper shell 105 via wires. The main control chip STM32 and its peripheral circuits are packaged on a PCB circuit board, and a digital signal processor is set on the PCB circuit board. The sensor probes are respectively set on the lower shell 106. When this bionic robot is running in water, the sensor probes are inserted into the water, and the sensors are connected to the PCB board via data lines and communicate with the digital signal processor.

[0123] Specifically, the pollution source location module locates the pollution source according to the following steps:

[0124] S1: The sensor detects whether the pollutant concentration exceeds a preset threshold at a preset frequency;

[0125] like Figure 7 As shown in the figure, area I is the pollution source, area II is the diffusion area of ​​the pollution source, area III is the open water, and area IIII is the integrated water pollution monitoring and treatment platform based on biomimetic robots.

[0126] S2: When the pollutant concentration exceeds the preset threshold three times consecutively, the pollution source positioning module controls the front fin assembly and the rear fin assembly to drive the bionic robot to a preset radius, starting from the current position of the bionic robot. Figure 8 As shown, the motion proceeds in sequence, rotating 180 degrees clockwise, 360 degrees counterclockwise, and then 180 degrees clockwise, forming a figure-eight pattern.

[0127] At the current position O of the bionic robot, the sensor detects the pollutant concentration once as the initial concentration data;

[0128] During the first 180-degree clockwise circular motion of the bionic robot, at position A at 90 degrees, the sensor detects the pollutant concentration once as the first concentration data.

[0129] During the 360-degree counterclockwise circular motion of the bionic robot, at positions B at 90 degrees and C at 180 degrees, the sensor detects the concentration of secondary pollutants as the second and third concentration data.

[0130] During the second clockwise circular motion of the bionic robot, at position D of 90 degrees, the sensor detects the pollutant concentration once as the fourth concentration data.

[0131] S3: As Figure 9 and Figure 10 As shown, the concentration differences OA, OB, OC, and OD between the initial concentration data and the first, second, third, and fourth concentration data are calculated respectively. The concentration difference between the initial concentration data and the first concentration data is used as the standard concentration difference OA. The concentration differences OB, OC, and OD between the initial concentration data and the second, third, and fourth concentration data are scaled proportionally to generate the direction vectors OA', OB', OC', and OD' between the initial concentration data and the first, second, third, and fourth concentration data respectively.

[0132] S4: The direction vectors OA', OB', OC', and OD' of the initial concentration data and the first, second, third, and fourth concentration data are vector-superimposed to generate the final direction vector, which is the first reference direction O1 of the pollution source.

[0133] In addition, the pollution source location module also locates the pollution source according to the following steps:

[0134] S5: The bionic robot moves in a straight line along the first reference direction O1;

[0135] S6: During the process of the bionic robot moving in a straight line along the first reference direction O1, the sensor detects the pollutant concentration at a preset frequency. When the pollutant concentration shows a decreasing trend for 5 consecutive times, the bionic robot takes the current position as the starting point and repeats steps S2 to S4. The final direction vector generated is the second reference direction O2 of the pollution source.

[0136] S7: As Figure 11 As shown, the intersection of the first reference direction O1 and the second reference direction O2 is taken as the location of the pollution source;

[0137] It should be noted that in actual use, due to ocean currents and the movement error of the bionic robot, there will be deviations in the actual movement of the bionic robot. That is, when the bionic robot moves in a straight line along the first reference direction O1, the actual movement direction of the bionic robot will deviate from the first reference direction O1. Therefore, by using the second reference direction O2, the intersection of the two can further improve the positioning accuracy of the pollution source.

[0138] It should also be noted that in step S7, if the first reference direction and the second reference direction coincide or are parallel, the bionic robot takes the current position as the starting point, randomly selects a direction different from the second reference direction, and repeats steps S2 to S4. The final direction vector generated is the third reference direction of the pollution source, and the intersection of the first reference direction and the third reference direction is taken as the location of the pollution source.

[0139] In addition, the upper surface of the bionic robot's shell 105 is equipped with a solar cell array, the surface of which is covered with an ETFE film, and the gaps are sealed with waterproof tape. Inside the shell 105, an MPPT energy management module, a PLC module, and an internal lithium battery form a composite power supply architecture. The MPPT energy management module, PLC module, and internal lithium battery are mounted on the second bracket 104. Similarly, the MPPT energy management module, PLC module, and internal lithium battery are all sealed with a sealing box, and the gaps are sealed with waterproof tape. The solar cell array is electrically connected to the MPPT energy management module, PLC module, and internal lithium battery, respectively.

[0140] The lower shell 106 integrates a Pt / CeO2-Ti4O7 electrode array. The probes of the Pt / CeO2-Ti4O7 electrode array penetrate the lower shell 106. When this bionic robot is running in water, the probes of the Pt / CeO2-Ti4O7 electrode array penetrate into the water.

[0141] It should be noted that the MPPT energy management module and the internal lithium battery are respectively the STM32 main control chip and Beidou positioning chip in the PLC module and pollution source positioning module, the selected pH sensor, conductivity sensor, dissolved oxygen sensor or turbidity sensor, the Pt / CeO2-Ti4O7 electrode array integrated in the lower shell 106, and the linear module 201 in the steering assembly 200, the motor 308 in the front fin assembly 300 and the servo motor 404 in the rear fin assembly 400.

[0142] When this bionic robot is in use, the STM32 main control chip mainly executes the following instructions:

[0143] The STM32 main control chip monitors the power level of the internal lithium battery. When the power level of the internal lithium battery is lower than 25%, the STM32 main control chip sends a command to the PLC module. The PLC module starts to control the motor 308 in the front fin assembly 300 and the servo motor 404 in the rear fin assembly 400 to work, thereby driving the front fin 301 and the rear fin 401 to move, so that the bionic robot floats on the water surface or is in a semi-submerged state. At this time, the solar cell array set on the upper surface of the upper shell 105 begins to receive sunlight to generate electricity for the internal lithium battery.

[0144] The STM32 main control chip monitors the data collected by the sensor. When the data collected by the sensor exceeds the threshold, the STM32 main control chip sends a command to the PLC module. The PLC module then starts to control the linear module 201 in the steering assembly 200, the motor 308 in the front fin assembly 300, and the servo motor 404 in the rear fin assembly 400 to perform the above steps S1 to S7.

[0145] It should also be noted that after the location of pollution source I is determined, the PLC module activates the Pt / CeO2-Ti4O7 electrode array integrated in the lower shell 106. The PLC module controls the linear module 201 in the steering assembly 200, the motor 308 in the front fin assembly 300, and the servo motor 404 in the rear fin assembly 400 to work, so that the bionic robot moves around the vortex line with pollution source I as the starting point. During this process, the Pt / CeO2-Ti4O7 electrode array electrolyzes pollutants to purify the water quality.

[0146] It should be noted that the Pt / CeO2-Ti4O7 electrode array can effectively achieve an E. coli inactivation rate of ≥99.9% and a removal rate of organic pollutants such as dichlorophenol of ≥95% at a current density of 4mA·cm⁻², and will not harm the aquarium at a current density of 4mA·cm⁻².

[0147] In summary, the integrated water pollution monitoring and control platform based on biomimetic robots disclosed in this invention has advantages such as reasonable structure, high operational stability, wide applicability, scalability, and strong compatibility.

[0148] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An integrated platform for water pollution monitoring and control based on biomimetic robots, characterized in that, include: Base plate; The head, the first bracket, and the second bracket are respectively mounted on the base plate; A steering assembly, which is mounted on the first bracket; Two front fin assemblies are symmetrically arranged on the first support; The steering components drive the two front fin components to move respectively; Two rear fin assemblies are symmetrically arranged on the base plate; The upper shell is disposed on the upper part of the base plate and covers the first bracket and the second bracket; The lower shell is located at the lower part of the base plate; A pollution source location module is disposed in the head; The sensor is mounted on the lower housing; The pollution source location module locates the pollution source according to the following steps: S1: The sensor detects whether the pollutant concentration exceeds a preset threshold at a preset frequency; S2: When the pollutant concentration exceeds the preset threshold three times consecutively, the pollution source positioning module controls the front fin assembly and the rear fin assembly to drive the bionic robot to move in a figure-eight pattern, starting from the current position of the bionic robot, in sequence, a clockwise circular motion of 180 degrees, a counterclockwise circular motion of 360 degrees, and a clockwise circular motion of 180 degrees, with a preset radius. At the current position of the bionic robot, the sensor detects the pollutant concentration once as initial concentration data; During the first 180-degree clockwise circular motion of the bionic robot, the sensor detects the pollutant concentration once as the first concentration data; During the 360-degree counterclockwise circular motion of the bionic robot, the sensor detects the concentration of secondary pollutants as the second and third concentration data. During the second clockwise 180-degree circular motion of the bionic robot, the sensor detects the pollutant concentration once as the fourth concentration data. S3: Calculate the concentration difference between the initial concentration data and the first concentration data, the second concentration data, the third concentration data, and the fourth concentration data respectively, and use the concentration difference between the initial concentration data and the first concentration data as the standard concentration difference to process the concentration differences between the initial concentration data and the second concentration data, the third concentration data, and the fourth concentration data to generate direction vectors between the initial concentration data and the first concentration data, the second concentration data, the third concentration data, and the fourth concentration data respectively; S4: The direction vectors of the initial concentration data and the first concentration data, the second concentration data, the third concentration data and the fourth concentration data are vector superimposed to generate the final direction vector, which is the first reference direction of the pollution source.

2. The integrated platform for water pollution monitoring and control based on biomimetic robots as described in claim 1, characterized in that, The steering component includes: A linear module is mounted on the first bracket; A steering connector is disposed on the slider of the linear module; Two tie rods, one end of each of which is hinged to the steering connector; Two L-shaped connectors, each with its two ends hinged to the first bracket and the other end of the pull rod, respectively.

3. The integrated platform for water pollution monitoring and control based on biomimetic robots as described in claim 2, characterized in that, The front fin assembly includes: pectoral fin; A first crank, one end of which is connected to the front fin; The second crank has one end connected to the first crank; The third crank has one end hinged to the other end of the second crank, and its other end is connected to the L-shaped connector. The fourth crank is hinged to the other end of the first crank; The fifth crank, one end of which is hinged to the third crank; The connecting rod has two ends connected to the other ends of the fourth crank and the fifth crank, respectively; An electric motor is mounted on the third crank, with its shaft passing through the third crank and connected to the hinge shaft of the third and fifth cranks, thereby driving the fifth crank to rotate.

4. The integrated platform for water pollution monitoring and control based on biomimetic robots as described in claim 3, characterized in that, The rear fin assembly includes: The hind fin; The rear fin connector, which connects to the rear fin; The first rear fin sheet metal part is connected to the rear fin connector; A servo motor, which is connected to the first rear fin sheet metal part; The second rear fin sheet metal part is connected to the servo motor; The third rear fin sheet metal part is connected to the base plate and the second rear fin sheet metal part respectively.

5. The integrated platform for water pollution monitoring and control based on biomimetic robots as described in claim 1, characterized in that, The pollution source location module also locates the pollution source according to the following steps: S5: The bionic robot moves in a straight line along the first reference direction; S6: During the process of the bionic robot moving in a straight line along the first reference direction, the sensor detects the pollutant concentration according to the preset frequency. When the pollutant concentration shows a decreasing trend for 5 consecutive times, the bionic robot takes the current position as the starting point and repeats steps S2 to S4. The final direction vector generated is the second reference direction of the pollution source. S7: The intersection of the first reference direction and the second reference direction is taken as the location of the pollution source.

6. The integrated platform for water pollution monitoring and control based on biomimetic robots as described in claim 5, characterized in that, In step S7, if the first reference direction and the second reference direction coincide or are parallel, the bionic robot takes the current position as the starting point, randomly selects a direction different from the second reference direction, and repeats steps S2 to S4. The final direction vector generated is the third reference direction of the pollution source, and the intersection of the first reference direction and the third reference direction is taken as the position of the pollution source.

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