Sewage pool wall moss cleaning robot and system

Abstract

The invention relates to a sewage pool wall moss cleaning robot and system. The cleaning robot comprises a moving platform, a power propelling system and a cleaning module. The power propelling system comprises a walking mechanism and a hydraulic driving assembly. The cleaning module is arranged on the moving platform and comprises an upper edge cleaning unit, an outer wall cleaning unit and an inner wall cleaning unit, the upper edge cleaning unit and the outer wall cleaning unit are arranged on one side of the moving platform and correspondingly clean the upper edge and the outer wall, and the inner wall cleaning unit is arranged on the other side of the moving platform and used for cleaning the inner wall. Through the synergistic effect of the main power of the walking mechanism and the auxiliary propulsive force of the hydraulic driving assembly, a dual-power redundant driving system is formed, and the obstacle crossing ability and the advancing stability of the robot on the wet and slippery attached biological membrane surface are improved; the cleaning modules correspond to the upper edge of the overflow weir, the outer wall of the overflow weir and the inner wall of the water outlet groove respectively, moss cleaning operation can be conducted synchronously, and the robot can achieve efficient and automatic cleaning remote control over moss of the sedimentation tank through remote control equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a sewage pool wall moss cleaning robot and system. BACKGROUND

[0002] The sewage pool is a key facility of the sewage treatment system, and the inner wall and the bottom thereof are in a eutrophic environment for a long time, so that moss and other biofilms are easily bred. These attachments can reduce the effective volume of the pool body, affect the treatment efficiency, and the decomposition products can corrode the equipment and deteriorate the water quality, which threatens the stable operation of the system. At present, the cleaning work mainly relies on the traditional manual method.

[0003] The existing cleaning methods mainly include: Manual pool brushing or high-pressure water gun flushing, the operating personnel face high risks such as hydrogen sulfide, oxygen deficiency, and pathogen exposure, and the labor intensity is large and the efficiency is low; Pool-side long rod tool cleaning, which does not need to go into the pool, but is limited by the arm span and the angle of view, and has dead angles and poor cleaning effect; Simple electric brush or submersible stirring and mud suction combination, which needs to be connected with a cable and a sludge pump, and has poor mobility and insufficient adaptability to water level and pool type; The above methods generally have problems such as high labor intensity, high operation cost, prominent safety hazards, and incomplete cleaning, which have been difficult to meet the development needs of the intelligent and automatic sewage treatment industry.

[0004] The existing sedimentation tank special cleaning robot in the market is mostly pulled by a track or a steel wire rope, can only run above the water surface or on a fixed track, has single function, high cost, poor adaptability to complex pool type, and still relies on manual positioning and maintenance, and also has problems such as low efficiency, high cost, and poor adaptability. SUMMARY

[0005] Therefore, the present application solves the technical problems in the prior art, and provides a sewage pool wall moss cleaning robot. Through the synergistic effect of the walking mechanism driving force and the water power driving assembly auxiliary propulsion force, a double-power redundant driving system is formed, and the obstacle crossing ability and the marching stability of the robot on the wet and attached biofilm surface are improved. The cleaning module corresponds to the upper edge of the overflow weir, the outer wall of the overflow weir, and the inner wall of the water outlet groove, and can simultaneously perform moss cleaning operation, so that the sedimentation tank moss can be efficiently and automatically removed.

[0006] In the first aspect, in order to solve the above technical problems, the present application provides a sewage pool wall moss cleaning robot, which comprises: A mobile platform for carrying various functional components; The power propulsion system comprises a walking mechanism and a water-driven assembly, the walking mechanism is used for providing the main power for the robot to travel along the wall of the structure, the water-driven assembly comprises a shell, a first rotating shaft, a paddle and a second servo motor, the paddle is arranged in the shell, one end of the first rotating shaft is connected with the paddle, and the other end of the first rotating shaft is connected with the second servo motor, a water inlet and a water outlet are arranged on the shell, and the water outlet direction of the water outlet is opposite to the travel direction of the robot, when the paddle rotates, a pressure difference is formed in the shell, sewage in the pool is sucked into the water inlet of the shell and is sprayed out of the water outlet at high speed, and an auxiliary propulsion force consistent with the moving direction of the robot is generated through the reaction force of the sewage. The cleaning module is arranged on the moving platform and comprises an upper edge cleaning unit, an outer wall cleaning unit and an inner wall cleaning unit, the upper edge cleaning unit and the outer wall cleaning unit are arranged on one side of the moving platform and correspond to the cleaning of the upper edge and the outer wall respectively, and the inner wall cleaning unit is arranged on the other side of the moving platform and is used for cleaning the inner wall.

[0007] Further, the walking mechanism comprises a driving wheel rolling matched with the wall of the structure and a rotating driving unit driving the driving wheel to rotate, the rotating driving unit comprises a speed reducer and a first servo motor, the first servo motor is coaxially fixed with the driving wheel through the speed reducer, the torque of the first servo motor is directly transmitted to the driving wheel, and wheel type travel is realized.

[0008] Further, two sides of the bottom of the moving platform are further provided with a guide wheel set rolling matched with the upper edge of the structure, and the guide wheel set and the driving wheel jointly constitute a clamping type anti-rollover structure.

[0009] Further, the shell comprises a water inlet pipeline, a main pipeline and a water outlet pipeline, the water inlet pipeline and the water outlet pipeline are arranged at two ends of the main pipeline respectively through three-way connectors, the water inlet pipeline comprises an arc branch water inlet pipeline and a main water inlet pipeline, the main water inlet pipeline is communicated with the main pipeline, and the arc branch water inlet pipelines are symmetrically arranged at two ends of the main water inlet pipeline; the main pipeline comprises a straight cylinder and an arc cylinder, the straight cylinder and the arc cylinder are fixed through locking pieces, the paddle is arranged in the straight cylinder, one end of the first rotating shaft is connected with the paddle, and the other end of the first rotating shaft passes out of the arc cylinder and is connected with the second servo motor; the water outlet pipeline comprises a shunt pipeline and arc branch water outlet pipelines symmetrically arranged at two sides of the shunt pipeline.

[0010] Further, the arc branch water inlet pipeline, the arc cylinder and the arc branch water outlet pipeline are all arc pipes with gradually changed inner diameters, and the inner arc lines and the outer arc lines of the arc pipes are both gradually tapered according to a second-order polynomial . Where x is the axial coordinate, y is the radial coordinate, a is the curvature control term, b is the slope control term, and c is the reference displacement term.

[0011] Furthermore, the upper edge cleaning unit is installed on the mobile platform via a lifting mechanism, and the position of the upper edge cleaning unit can be adjusted according to the specific height of the upper edge of the overflow weir. The upper edge cleaning unit includes an upper edge cleaning brush, a second rotating shaft, a first coupling, and a third servo motor. The second rotating shaft is connected to the third servo motor via the first coupling, and the upper edge cleaning brush is mounted on the second rotating shaft.

[0012] Furthermore, the outer wall cleaning unit includes an outer wall cleaning brush, a first bracket, a third rotating shaft, a second coupling, and a fourth servo motor. The first bracket is fixedly mounted on the mobile platform. The two ends of the third rotating shaft are respectively connected to the first bracket through rotating support seats, and the third rotating shaft is connected to the drive shaft of the fourth servo motor through the second coupling. The outer wall cleaning brush is mounted on the third rotating shaft.

[0013] Furthermore, the inner wall cleaning unit includes an inner wall cleaning brush, a second bracket, a fourth rotating shaft, a third coupling, and a fifth servo motor. The second bracket is mounted on the moving platform. Both ends of the fourth rotating shaft are connected to the second bracket via rotating support seats. The fourth rotating shaft is connected to the fifth servo motor via the third coupling. The inner wall cleaning brush is mounted on the fourth rotating shaft.

[0014] Furthermore, both the outer wall cleaning unit and the inner wall cleaning unit include pressure sensors to monitor the contact pressure with the wall surface in real time.

[0015] Furthermore, it also includes a control system, which is signal-connected to the walking mechanism, the hydraulic drive assembly, the upper edge cleaning unit, the outer wall cleaning unit, and the inner wall cleaning unit, and is used to adjust the moving speed of the walking mechanism and the start and stop of the hydraulic drive assembly and each cleaning unit in real time according to the feedback signal.

[0016] In a second aspect, to solve the above-mentioned technical problems, this invention discloses a system for cleaning moss from the walls of sewage tanks, including the robot described in the first aspect, and a remote control device for communicating with the robot.

[0017] Compared with the prior art, the above-described technical solution of the present invention has the following advantages: (1) The wastewater pool wall moss cleaning robot of the present invention forms a dual-power redundant drive system through the synergistic effect of the active power of the walking mechanism and the auxiliary propulsion of the hydraulic drive component. The walking mechanism provides the robot with the power to move and ensures the basic walking of the robot on the overflow weir. The hydraulic drive component uses the wastewater in the working environment to suck in and spray it out in the opposite direction to form an auxiliary propulsion force, which significantly improves the robot's obstacle crossing ability and walking stability on the wet and slippery biofilm surface. The reverse spray design of the outlet uses the backflow force of the wastewater to generate auxiliary thrust, realizing the dual functions of energy recovery and auxiliary traction.

[0018] (2) The wastewater pool wall moss cleaning robot of the present invention is equipped with three independent brushes. Based on the structural characteristics of the upper edge of the overflow weir, the outer wall and the inner wall, the brushes can fit the working surface with different contours. It is suitable for secondary sedimentation tanks of various specifications and can achieve comprehensive and synchronous cleaning of moss in the overflow weir area of ​​the secondary sedimentation tank. It effectively solves the problem of limited cleaning range and dead corners of traditional single brushes. Attached Figure Description

[0019] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0020] Figure 1 This is a three-dimensional structural diagram of the wastewater pool wall moss cleaning robot in a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the overall frontal three-dimensional structure of the present invention; Figure 3 This is a side view of the overall three-dimensional structure of the present invention; Figure 4 This is a top view of the overall structure of the present invention; Figure 5 This is a front view of the hydraulic drive assembly of the present invention. Figure 6 This is a top view of the hydraulic drive assembly of the present invention. Figure 7 This is a three-dimensional structural diagram of the hydraulic drive component of the present invention; Figure 8 This is a schematic diagram of the fitting curve of the outer contour of the arc-shaped branch water inlet pipe of the shell in this invention; Figure 9 This is a schematic diagram of the fitting curve of the outer contour of the curved cylinder of the shell in this invention; Figure 10 This is a schematic diagram of the fitting curve of the outer contour of the arc-shaped branch water outlet pipe in this invention; In the diagram: 1. Mobile platform; 2. Drive wheel; 3. Reducer; 4. First servo motor; 5. Guide wheel assembly; 6. Housing; 600. Inlet; 601. Outlet; 61. Inlet pipe; 62. Main pipe; 63. Outlet pipe; 611. Arc-shaped branch inlet pipe; 612. Main inlet pipe; 621. Straight cylinder; 622. Bent cylinder; 631. Diversion pipe; 632. Arc-shaped branch outlet pipe; 64. T-joint; 7. Filter screen ; 8. First rotating shaft; 10. Second servo motor; 11. Output shaft; 12. Upper edge cleaning brush; 13. Second rotating shaft; 14. First coupling; 15. Third servo motor; 16. Outer wall cleaning brush; 17. First bracket; 18. Third rotating shaft; 19. Second coupling; 20. Fourth servo motor; 21. Inner wall cleaning brush; 22. Second bracket; 23. Fourth rotating shaft; 24. Third coupling; 25. Fifth servo motor. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0022] Reference Figures 1-6 As shown, the wastewater pool wall moss cleaning robot of the present invention includes: Mobile platform 1 is used to carry various functional components; The propulsion system includes a walking mechanism and a hydraulic drive assembly. The walking mechanism provides the main power for the robot to move along the wall of the structure. The hydraulic drive assembly includes a housing 6, a first rotating shaft 8, a paddle, and a second servo motor 10. The paddle is disposed inside the housing 6. One end of the first rotating shaft 8 is connected to the paddle (not shown), and the other end is connected to the output shaft 11 of the second servo motor 10. The housing 6 is provided with an inlet 600 and an outlet 601, and the water outlet direction is opposite to the robot's direction of travel. When the paddle rotates, a pressure difference is formed inside the housing 6. Sewage in the pool is drawn in from the inlet of the housing 6 and ejected at high speed from the outlet. The reaction force of the sewage generates an auxiliary propulsion force in the same direction as the robot's movement. This thrust can significantly increase the positive pressure of the drive wheel 2 on the pool wall, thereby effectively preventing wheel slippage and ensuring the reliability and continuity of movement.

[0023] A cleaning module is installed on the mobile platform 1. It includes an upper edge cleaning unit, an outer wall cleaning unit, and an inner wall cleaning unit. The upper edge cleaning unit and the outer wall cleaning unit are installed on one side of the mobile platform 1 to clean the upper edge and the outer wall, respectively. The inner wall cleaning unit is installed on the other side of the mobile platform 1 and is used to clean the inner wall.

[0024] In the above structure, the three-way synchronous cleaning of the cleaning module reduces the traditional three round trips to one, greatly shortening the cleaning time of a single weir and improving efficiency; and the dual-power propulsion design of the walking mechanism and the hydraulic drive component enables the robot to crawl stably on slippery slopes, covering the overflow weir inclination angle of all common sewage pools.

[0025] The walking mechanism includes a drive wheel 2 that rolls with the wall of the structure and a rotary drive unit that drives the drive wheel 2 to rotate. The rotary drive unit includes a reducer 3 and a first servo motor 4. The first servo motor 4 is coaxially fixed to the drive wheel 2 via the reducer 3, and the torque of the first servo motor 4 is directly transmitted to the drive wheel 2 to achieve wheeled movement.

[0026] The mobile platform 1 serves as the main frame of the robot, with four drive wheels 2 at its bottom. The drive wheels 2 are connected to the first servo motor 4 via a reducer 3, forming the robot's main walking system, used to move on both sides of the overflow weir of the secondary sedimentation tank.

[0027] Furthermore, the bottom sides of the mobile platform 1 are also equipped with guide wheel sets 5 that roll in cooperation with the upper edge of the structure. The guide wheel sets 5 and the drive wheels 2 together form a clamping anti-tipping structure. When the robot is subjected to lateral wind loads or the lateral component of jet backlash, the guide wheel sets 5 and the upper edge rolling pair generate a counter-torque, which has anti-tipping capability, eliminating the need for magnetic adsorption or vacuum suction cups and preventing the concrete surface from cracking due to negative pressure.

[0028] like Figure 7 As shown, the housing 6 includes an inlet pipe 61, a main pipe 62, and an outlet pipe 63. The inlet pipe 61 and the outlet pipe 63 are respectively connected by tee connectors 64 at both ends of the main pipe 62. The inlet pipe 61 includes an arc-shaped branch inlet pipe 611 and a main inlet pipe 612. The main inlet pipe 612 is connected to the main pipe 62. The arc-shaped branch inlet pipe 611 is symmetrically arranged at both ends of the main inlet pipe 612. The main pipe 62 includes a straight cylinder 621 and a curved cylinder 622, which are fixed by a locking member 623; the blade is disposed inside the straight cylinder 621, one end of the first rotating shaft 8 is connected to the blade, and the other end passes through the curved cylinder 622 and is connected to the second servo motor 10. The water outlet pipe 63 includes a branch pipe 631 and arc-shaped branch water outlet pipes 632 symmetrically arranged on both sides of the branch pipe 631.

[0029] The above-mentioned three-way design realizes the integration of water intake, pressurization and diversion. The symmetrical layout of the arc-shaped branch pipe 612 ensures that the resultant force of the recoil force is strictly directed in the direction of the robot's movement, avoiding the generation of lateral torque that causes yaw. The main pipe 62 adopts a segmented locking structure of straight cylinder 621 and curved cylinder 622, which facilitates the disassembly and maintenance of the blades without disassembling the entire hydraulic drive assembly.

[0030] Preferably, the arc-shaped branch inlet pipe 612, the curved cylinder 321, and the arc-shaped branch outlet pipe 632 are all curved pipes with gradually changing inner diameters, and the inner and outer arcs of the curved pipes are both formulated according to a second-order polynomial. Perform a gradual reduction; Where x is the axial coordinate, y is the radial coordinate, a is the curvature control term, b is the slope control term, and c is the reference displacement term.

[0031] In practical applications, such as Figure 8 As shown, the fitting polynomial for segment BC of the arc-shaped branch inlet pipe is set as follows: y = 0.0055 x 2 + 0.3412x + 60; Key point coordinates in segment BC: (0.00, 60.00), (85.00, 129.00), (170.00, 278.00), (84.57, 128.45) The fitting polynomial for segment DA is: y = 0.0041 x 2 -0.1511x; Key point coordinates in segment DA: (278.00, 278.00), (139.00, 59.00), (0.00, 0.00), (209.55, 150.16) Key point coordinates in segment DA: (278.00, 278.00), (139.00, 59.00), (0.00, 0.00), (209.55, 150.16) like Figure 9 As shown, the fitting polynomial for segment AB of the curved cylinder 622 is: y = -0.0125x 2 - 0.5x + 15; The fitting polynomial for segment CD is: y = -0.0097x 2 - 0.2222x + 119.4444; The coordinates of the points in segment AB are: (20.00, 0.00), (0.00, 15.00), (-20.00, 20.00). Key points in segment CD: (-20.00, 120.00), (40.00, 95.00), (100.00, 0.00) like Figure 10 As shown, the fitting polynomial for segment AB is: y = 0.0095x 2 + 0.0154x; The fitting polynomial for segment CD is: y = 0.032x 2 - 0.56x + 50; Key points in segment AB: (0.00, 0.00), (-65.00, 39.00), (-130.00, 158.00) Key points in segment CD: (-50.00, 158.00), (-25.00, 84.00), (0.00, 50.00).

[0032] By designing the arc-shaped branch inlet pipe 612, the curved cylinder 622, and the arc-shaped branch outlet pipe 632, the flow velocity of the inlet, middle, and outlet sections of the shell 6 is increased. This allows the kinetic energy to be concentrated in the water jet under the same power consumption, significantly enhancing the jet shear stress and greatly improving the biofilm stripping efficiency. This results in a more thorough removal of dense, aged biofilm in a single pass and an effective expansion of the flushing range.

[0033] Furthermore, the upper edge cleaning unit is mounted on the mobile platform 1 via a lifting mechanism, and its position can be adjusted according to the specific height of the upper edge of the overflow weir. The upper edge cleaning unit includes an upper edge cleaning brush 12, a second rotating shaft 13, a first coupling 14, and a third servo motor 15. The second rotating shaft 13 is connected to the third servo motor 15 via the first coupling 14, and the upper edge cleaning brush 12 is mounted on the second rotating shaft 13. The lifting mechanism allows the upper edge cleaning unit to automatically adjust its position according to changes in the overflow weir height, maintaining a stable fit between the upper edge cleaning brush 12 and the weir crest, preventing cleaning dead zones due to poor contact, and avoiding excessive pressure that could cause the drive wheel 2 to slip or the bristles to wear out too quickly, thus improving cleaning consistency and extending equipment lifespan.

[0034] It should be noted that the lifting mechanism is existing technology and belongs to the height adjustment means known in the field. This application only borrows its conventional function and does not make any improvement to the structure itself.

[0035] Preferably, the outer wall cleaning unit includes an outer wall cleaning brush 16, a first bracket 17, a third rotating shaft 18, a second coupling 19, and a fourth servo motor 20. The first bracket 17 is fixedly mounted on the moving platform 1. The two ends of the third rotating shaft 18 are respectively connected to the first bracket 17 through rotating support seats, and the third rotating shaft 18 is connected to the drive shaft of the fourth servo motor 20 through the second coupling 19. The outer wall cleaning brush 16 is mounted on the third rotating shaft 18. The first bracket 17 is an elastic swing arm structure with a built-in spring, which allows the outer wall cleaning brush 16 to adaptively conform to the curved surface of the overflow weir outer wall.

[0036] Preferably, the inner wall cleaning unit includes an inner wall cleaning brush 21, a second bracket 22, a fourth rotating shaft 23, a third coupling 24, and a fifth servo motor 25. The second bracket 22 is mounted on the mobile platform 1. The two ends of the fourth rotating shaft 23 are respectively connected to the second bracket 22 through rotating support seats. The fourth rotating shaft 23 is connected to the fifth servo motor 25 through the third coupling 24. The inner wall cleaning brush 21 is mounted on the fourth rotating shaft 23.

[0037] Furthermore, both the outer and inner wall cleaning units include pressure sensors to monitor the contact pressure with the wall surface in real time. The pressure sensors can sense the contact pressure between the brush and the wall surface in real time. This design avoids incomplete cleaning due to insufficient pressure, and also prevents excessive wear of the brush or damage to the equipment due to excessive pressure, thus extending the equipment's service life while ensuring efficient cleaning.

[0038] Furthermore, a filter screen 7 is provided at the water inlet 600 of the housing 6. The filter screen 7 prevents fibers and plastic bag fragments from entering the housing 6 and becoming entangled in the blades. When maintenance is required, the filter screen 7 can be completely removed for flushing or replacement.

[0039] This embodiment also includes a control system, which is signal-connected to the walking mechanism, the hydraulic drive component, the upper edge cleaning unit, the outer wall cleaning unit, and the inner wall cleaning unit. The control system is used to adjust the moving speed of the walking mechanism and the start and stop of the hydraulic drive component and each cleaning unit in real time according to the feedback signal.

[0040] In this embodiment, the mobile platform 1 is made of corrosion-resistant materials, and key components such as the drive motors of the cleaning module all adopt waterproof and sealed structures, ensuring that the robot can work stably for a long time in harsh sewage environments. At the same time, the brushes of the cleaning module adopt a quick-disassembly structure, which greatly facilitates daily maintenance and replacement work and reduces the long-term operation and maintenance costs of the equipment.

[0041] Based on the above structure, the wastewater pool wall moss cleaning robot is placed behind the overflow weir. The walking mechanism provides the main walking power, and the hydraulic drive component draws water and sprays it in the opposite direction to generate additional thrust, simultaneously increasing the wheel-wall positive pressure to prevent slippage. The upper edge cleaning unit is height-adjusted to maintain constant contact with the weir top, and the outer wall cleaning unit and inner wall cleaning unit are in real time. The three-way brush sweeps and peels off the biofilm in one go. The filter screen intercepts debris and self-cleans. The control system uniformly dispatches each servo motor to complete constant speed walking, and the hydraulic drive component assists walking and brushing simultaneously, realizing efficient full-section cleaning without human intervention.

[0042] This application also discloses a wastewater pond wall moss cleaning system, including a robot with the aforementioned structure and a remote control device for communicating with the robot. The remote control device sends movement and cleaning commands to the robot via a wireless link and receives real-time information from the robot regarding its position, pressure, and operating status, enabling remote monitoring and unmanned operation of the biofilm on the wastewater pond walls. In use, only a wireless transceiver module needs to be installed on the robot to connect with the existing SCADA system in the wastewater treatment plant's central monitoring room or a mobile terminal APP. No wiring is required below the pond. The remote control device can be started / stopped with a single button, its path modified, and its brush pressure and power consumption monitored. In case of a fault, it automatically returns to its original position, achieving a safe, unmanned, remotely monitored operation mode, significantly reducing the risk of human exposure and maintenance costs.

[0043] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom remain under the protection of this invention.

Claims

1. A robot for cleaning algae from sewage tank walls, characterized in that, include: The mobile platform is used to carry various functional components; A propulsion system, mounted on the mobile platform, includes a walking mechanism and a hydraulic drive assembly. The walking mechanism provides the main power for the robot to move along the wall of the structure. The hydraulic drive assembly includes a housing, a first rotating shaft, blades, and a second servo motor. The blades are disposed inside the housing. One end of the first rotating shaft is connected to the blades, and the other end is connected to the second servo motor. The housing has an inlet and an outlet, with the outlet's water flow direction opposite to the robot's direction of travel. When the blades rotate, a pressure difference is created inside the housing. Wastewater in the pool is drawn in through the inlet and ejected at high speed from the outlet, generating an auxiliary propulsion force in the same direction as the robot's movement through the reaction force of the wastewater. A cleaning module is installed on the mobile platform, which includes an upper edge cleaning unit, an outer wall cleaning unit, and an inner wall cleaning unit. The upper edge cleaning unit and the outer wall cleaning unit are installed on one side of the mobile platform to clean the upper edge and the outer wall, respectively. The inner wall cleaning unit is installed on the other side of the mobile platform and is used to clean the inner wall.

2. The wastewater pool wall moss cleaning robot according to claim 1, characterized in that, The walking mechanism includes a drive wheel that rolls with the wall of the structure and a rotary drive unit that drives the drive wheel to rotate. The rotary drive unit includes a reducer and a first servo motor. The first servo motor is coaxially fixed to the drive wheel via the reducer, and the torque of the first servo motor is directly transmitted to the drive wheel to achieve wheeled movement.

3. The wastewater pool wall moss cleaning robot according to claim 2, characterized in that, The bottom sides of the mobile platform are also equipped with guide wheel sets that roll in cooperation with the upper edge of the structure. The guide wheel sets and the drive wheels together form a clamping anti-rollover structure.

4. The wastewater pool wall moss cleaning robot according to claim 1, characterized in that, The housing includes an inlet pipe, a main pipe, and an outlet pipe, with tee connectors for the inlet and outlet pipes respectively located at both ends of the main pipe; The water inlet pipe includes an arc-shaped branch water inlet pipe and a main water inlet pipe. The main water inlet pipe is connected to the main pipe, and the arc-shaped branch water inlet pipes are symmetrically arranged at both ends of the main water inlet pipe. The main pipeline includes a straight cylinder and a curved cylinder, which are fixed by locking components; the blade is disposed inside the straight cylinder, one end of the first rotating shaft is connected to the blade, and the other end extends out of the curved cylinder and is connected to the second servo motor. The water outlet pipe includes a diversion pipe and arc-shaped branch water outlet pipes symmetrically arranged on both sides of the diversion pipe.

5. A wastewater pool wall moss cleaning robot according to claim 4, characterized in that, The arc-shaped branch inlet pipe, the curved cylinder, and the arc-shaped branch outlet pipe are all curved pipes with gradually decreasing inner diameters, and the inner and outer arcs of the above-mentioned curved pipes are all governed by the following second-order polynomial: Regression is performed, where x is the axial coordinate, y is the radial coordinate, a is the curvature control term, b is the slope control term, and c is the reference displacement term.

6. The wastewater pool wall moss cleaning robot according to claim 1, characterized in that, The upper edge cleaning unit is installed on the mobile platform via a lifting mechanism, and the position of the upper edge cleaning unit can be adjusted according to the specific height of the upper edge of the overflow weir. The upper edge cleaning unit includes an upper edge cleaning brush, a second rotating shaft, a first coupling, and a third servo motor. The second rotating shaft is connected to the third servo motor via the first coupling, and the upper edge cleaning brush is mounted on the second rotating shaft.

7. The wastewater pool wall moss cleaning robot according to claim 1, characterized in that, The outer wall cleaning unit includes an outer wall cleaning brush, a first bracket, a third rotating shaft, a second coupling, and a fourth servo motor. The first bracket is fixedly mounted on the moving platform. The two ends of the third rotating shaft are respectively connected to the first bracket through rotating support seats, and the third rotating shaft is connected to the drive shaft of the fourth servo motor through the second coupling. The outer wall cleaning brush is mounted on the third rotating shaft.

8. A wastewater pool wall moss cleaning robot according to claim 1, characterized in that, The inner wall cleaning unit includes an inner wall cleaning brush, a second bracket, a fourth rotating shaft, a third coupling, and a fifth servo motor. The second bracket is mounted on the moving platform. Both ends of the fourth rotating shaft are connected to the second bracket via rotating support seats. The fourth rotating shaft is connected to the fifth servo motor via the third coupling. The inner wall cleaning brush is mounted on the fourth rotating shaft.

9. A wastewater pool wall moss cleaning robot according to claim 1, characterized in that, It also includes a control system, which is signal-connected to the walking mechanism, the hydraulic drive assembly, the upper edge cleaning unit, the outer wall cleaning unit, and the inner wall cleaning unit, and is used to adjust the moving speed of the walking mechanism and the start and stop of the hydraulic drive assembly and each cleaning unit in real time according to the feedback signal.

10. A system for cleaning algae from the walls of a sewage tank, characterized in that, Includes the robot as described in any one of claims 1 to 9, and a remote control device for communicating with the robot.

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