Crawler-type slope algae-removing robot and control method thereof

Abstract

A tracked slope algae removal robot and its control method are disclosed, relating to the field of algae removal machinery technology. The tracked slope algae removal robot includes: a robot body with a tracked walking mechanism for traveling along the slope and an algae removal operation mechanism for contacting the slope; a buoyancy sensing unit installed on the front of the robot body on the water-side, capable of at least partial immersion in water, for real-time detection of the robot body's yaw angle and immersion depth relative to the water surface and slope boundary line as it moves along the water's edge; and an attitude sensing unit installed on the robot body for real-time detection of the robot body's roll angle, pitch angle, and heading angle on the slope. Through multi-source sensing and hierarchical coordinated control, the robot achieves stable movement along the water's edge and adaptive underwater algae removal operations in dynamic slope environments, resulting in high operational efficiency, small equipment weight, and minimal impact on the load on dams and slopes.

Description

Technical Field

[0001] This invention relates to the field of algae removal machinery technology, specifically to a tracked slope algae removal robot and its control method. Background Technology

[0002] Concrete or masonry slopes in water conservancy projects and landscape water bodies are constantly exposed to damp environments, making them highly susceptible to algae growth. Algae can easily cover areas 20-30mm below the water surface, affecting not only aesthetics but also accelerating the aging and corrosion of slope materials, reducing structural durability. Currently, slope algae removal mainly relies on manual scrubbing or high-pressure water jet washing, which is inefficient, labor-intensive, and causes damage to the slope surface. The few mechanical algae removal devices available are mostly mobile vehicles mounted on dams, using robotic arms and vacuum jet devices. These devices are heavy, placing a significant load on the dam, and are bulky and expensive, making them difficult to operate flexibly on narrow or complex slopes, resulting in poor algae removal effects on underwater slope locations. Summary of the Invention

[0003] The purpose of this invention is to propose a tracked slope algae removal robot and its control method. Through multi-source sensing and hierarchical coordinated control, the robot can achieve stable walking along the water's edge and adaptive underwater algae removal operations in dynamic slope environments. It has high operating efficiency, small equipment weight, and minimal impact on the load of dams and slopes.

[0004] The technical solution adopted in this invention is: a tracked slope algae removal robot, comprising:

[0005] The robot body has a tracked walking mechanism for traveling along the slope and an algae removal mechanism for contacting the slope.

[0006] A buoyancy sensing unit is installed on the front of the robot body on the water-side and can be at least partially immersed in the water. It is used to detect in real time the tilt angle and immersion depth of the robot body relative to the boundary line between the water surface and the slope when the robot body moves along the water edge.

[0007] An attitude sensing unit, which is installed on the robot body, is used to detect the roll angle, pitch angle and heading angle of the robot body on the slope in real time.

[0008] The bottom ranging unit is installed on the bottom of the robot body and is used to detect the contact gap between the track and the slope surface in real time.

[0009] An adjustable counterweight mechanism includes a counterweight adjustment component mounted on the robot body and a counterweight block component connected to the counterweight adjustment component, used to adjust the position of the counterweight block component relative to the center of mass of the robot body according to a coordinated control command.

[0010] A vector propulsion mechanism, mounted on the robot body, is used to immerse itself in water and generate adjustable forward or lateral thrust.

[0011] The controller is configured as follows:

[0012] Based on the detection data from the buoyancy sensing unit, attitude sensing unit, and bottom ranging unit, the precise attitude of the robot body on the slope is calculated by fusing the data through a Kalman filter. The precise attitude includes the upturn angle and the side tilt angle.

[0013] Based on the precise posture, determine whether the robot body is subject to floating drift disturbance, side slip and roll disturbance, and track slip disturbance, and generate corresponding coordinated control commands based on the disturbance type and the posture deviation and deviation change rate of the precise posture.

[0014] Based on fuzzy PID control theory, the coordinated control commands are weighted and distributed to the tracked walking mechanism, the adjustable counterweight mechanism, and the vector propulsion mechanism, so that the robot body can perform algae removal operations in a stable posture while moving along the water's edge.

[0015] As a preferred embodiment, the algae removal mechanism includes a spring base fixed to the robot body, a rotatable algae removal roller and an algae removal motor that drives the algae removal roller to rotate are mounted on the elastic movable end of the spring base, an algae removal brush is arranged on the algae removal roller, and a comb structure for cleaning the algae removal brush is also provided on the spring base.

[0016] As a preferred embodiment, the buoyancy sensing unit includes a buoyancy ball that can contact the water body and a buoyancy sensor connected between the buoyancy ball and the robot body.

[0017] As a preferred embodiment, the counterweight adjustment assembly includes a counterweight arm and a drive motor. A groove is provided on the robot body along its width direction. The counterweight arm is slidably disposed in the groove. The housing of the drive motor is fixed to the robot body. A drive gear is fixed on the output shaft of the drive motor. The counterweight arm is provided with a toothed groove that meshes with the drive gear. The counterweight block assembly is installed on the end of the counterweight arm away from the robot body.

[0018] As a preferred embodiment, the vector propulsion mechanism includes a tilting device mounted on the robot body and a propeller device connected to the tilting device. The tilting device can drive the propeller device to tilt in multiple degrees of freedom to adjust the thrust direction.

[0019] As a preferred embodiment, the system also includes an aerodynamic balancing mechanism mounted on the robot body and near the water body, which provides vertical upward lift to the robot body. The aerodynamic balancing mechanism is electrically connected to the controller.

[0020] A control method for a tracked slope algae removal robot, wherein the robot moves along the boundary line between the water surface and the slope, includes the following steps:

[0021] Attitude perception step: The attitude perception unit monitors the robot's roll angle, pitch angle and heading angle on the slope in real time;

[0022] Bottom ranging step: The bottom ranging unit measures the contact gap between the track and the slope surface in real time;

[0023] Buoyancy sensing step: Real-time detection of the buoyancy change of the buoyancy sensing unit as the robot moves along the water's edge, so as to provide feedback on the robot's tilt angle and immersion depth relative to the boundary line between the water surface and the slope.

[0024] Data fusion step: Input the data obtained from the attitude perception step, bottom ranging step and buoyancy perception step into the Kalman filter, and fuse and calculate the precise attitude of the robot body on the slope, the precise attitude including the upturn angle and the side tilt angle;

[0025] Disturbance identification step: Based on the precise attitude, identify the current disturbance type, which includes floating and drifting disturbance, sideslipping and rollover disturbance, and track slippage disturbance;

[0026] Coordinated control steps: Based on the identified disturbance type and the attitude deviation and rate of change of the precise attitude, a hierarchical coordinated control strategy is adopted to generate corresponding coordinated control commands;

[0027] The allocation step is as follows: The coordinated control command is input into the fuzzy PID controller, and then distributed to the tracked walking mechanism, adjustable counterweight mechanism and vector propulsion mechanism of the robot body according to the current working condition weight by the output distributor, so that the robot body can perform algae removal operation in a stable posture while moving along the water.

[0028] As a preferred embodiment, in the disturbance identification step:

[0029] The criteria for judging the upward drift disturbance are: the buoyancy sensing data obtained by the buoyancy sensing unit suddenly increases, and the upward tilt angle increases in the positive direction;

[0030] The criteria for judging sideslip and rollover disturbance are: the bottom ranging data obtained by the bottom ranging unit detects that one side of the track is suspended and the side tilt angle increases;

[0031] The criteria for judging track slippage disturbance is: the deviation between the encoder data of the track drive motor in the tracked walking mechanism and the actual moving speed calculated by the attitude sensing unit exceeds a preset threshold.

[0032] As a preferred embodiment, in the coordination control step:

[0033] For upward drift disturbances, the generated coordinated control commands include: a command to move the counterweight forward for the adjustable counterweight mechanism;

[0034] For sideslip and rollover disturbances, the generated coordinated control commands include: track differential steering commands for the tracked walking mechanism, lateral thrust commands for the vector propulsion mechanism, and counterweight lateral shift commands for the adjustable counterweight mechanism.

[0035] For track slippage disturbances, the generated coordinated control commands include: a command to reduce forward thrust for the vector propulsion mechanism and a command to shift the counterweight sideways for the adjustable counterweight mechanism.

[0036] As a preferred embodiment, in the coordination control step, the generated coordination control command includes a lift balancing command, and in the execution allocation step, the lift balancing command is allocated to the aerodynamic balancing mechanism of the robot body via the output distributor according to the current working condition weight.

[0037] Compared with the prior art, the beneficial effects of the present invention are:

[0038] 1. The algae removal robot has an integrated structure, eliminating the need for a loading robotic arm. The overall weight of the equipment is small, allowing it to move directly on sloping and slippery slopes without impacting or damaging the slope structure during the algae removal process.

[0039] 2. The flexible and conforming algae-removing brush, combined with the self-cleaning comb structure, ensures that the algae-removing brush always maintains a high-efficiency working state, reduces downtime for cleaning, extends the continuous operation cycle, and has high algae removal efficiency and low maintenance costs.

[0040] 3. Multi-source information fusion: Buoyancy sensing, attitude sensing, and bottom ranging are deeply fused through Kalman filtering, which solves the limitations of a single sensor in complex water-land interface environments. The attitude sensing accuracy is high, and the attitude estimation accuracy reaches within ±2°.

[0041] 4. Layered coordinated control adapts to dynamic working conditions. Differentiated coordinated control strategies are designed for typical disturbances such as floating and drifting, side slipping and overturning, and track slippage. This avoids the shortcomings of traditional single control methods and enables the robot to adapt to dynamic working conditions such as changes in slope angle, water level fluctuations, and changes in the weight of attached materials. This allows the algae removal brush to move stably along the boundary between the slope and the water surface, thereby effectively removing algae.

[0042] 5. Multi-actuator collaboration: By using fuzzy PID and output distributor, control commands are distributed to multiple actuators such as tracks, counterweights, and propulsion according to their weights to achieve a collaborative effect, avoid control conflicts, and ensure that the robot moves stably along the water's edge. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present 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 only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the tracked slope algae removal robot in the present invention in its working state;

[0045] Figure 2 This is a front view schematic diagram of the tracked slope algae removal robot of the present invention;

[0046] Figure 3 This is a right-side schematic diagram of the tracked slope algae removal robot of the present invention;

[0047] Figure 4 This is a left-side schematic diagram of the tracked slope algae removal robot of the present invention;

[0048] Figure 5 This is a top view schematic diagram of the tracked slope algae removal robot of the present invention;

[0049] Figure 6 This is a schematic diagram of the algae removal mechanism in this invention;

[0050] Figure 7 This is a schematic diagram showing the interaction between the algae-removing brush and the comb structure in this invention;

[0051] Figure 8 This is a schematic diagram of the comb tooth structure in this invention;

[0052] Figure 9 This is a flowchart of the control method in this invention;

[0053] Figure 10 This is a block diagram illustrating the Kalman filter data fusion principle in this invention.

[0054] Figure 11 This is a schematic diagram illustrating the working principle of the fuzzy PID output distributor in this invention.

[0055] Reference numerals: 1. Robot body; 101. Tracked walking mechanism; 2. Algae removal mechanism; 201. Spring base; 202. Algae removal motor; 203. Algae removal roller; 204. Algae removal brush; 205. Comb structure; 3. Buoyancy sensing unit; 301. Buoyancy ball; 302. Buoyancy sensor; 4. Attitude sensing unit; 5. Bottom ranging unit; 6. Adjustable counterweight mechanism; 601. Counterweight arm; 602. Drive gear; 603. Winch; 604. Flexible rope; 605. Counterweight block; 7. Vector propulsion mechanism; 701. Tilting device; 702. Propeller device; 8. Controller; 9. Aerodynamic balancing mechanism. Detailed Implementation

[0056] The present invention will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0057] It should be noted that, unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "a," "an," or "the," etc., used in the specification and claims of this patent application do not express a limitation on quantity, but rather indicate the presence of at least one; the terms "first," "second," and "third," as used herein, should not be considered as a limitation on the order of components, but are merely for distinguishing different components; the terms "comprising," "including," etc., indicate that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, but do not exclude other elements or objects having the same function.

[0058] To more clearly describe the tracked slope algae removal robot and its control method, combined with the attached... Figure 1-11 This embodiment is described as follows:

[0059] like Figure 1-8 As shown, due to the sloping and slippery terrain, conventional algae removal vehicles are prone to tipping over or slipping. The algae removal mechanism cannot make stable and effective contact with algae at a depth of 20-30mm underwater on the slope. Therefore, the feasibility of algae removal in this way is not high, and the algae removal effect is poor. Therefore, this invention proposes a tracked slope algae removal robot that can directly perform stable algae removal operations along the slope. It includes a robot body 1, an algae removal operation mechanism 2, a buoyancy sensing unit 3, an attitude sensing unit 4, a bottom ranging unit 5, an adjustable counterweight mechanism 6, a vector propulsion mechanism 7, and a controller 8.

[0060] The robot body 1 has a tracked walking mechanism 101 that can travel along the slope. The tracked walking mechanism 101 has two tracks, each driven by an independent drive motor, and is equipped with an encoder to provide feedback on the speed of the drive motor. The track surface is provided with anti-slip patterns to adapt to the uneven slope and muddy working surface.

[0061] The algae removal mechanism 2 is located at the bottom of the robot body 1. It can move with the robot and separate the underwater algae from the slope by scraping. The separated algae can then be sucked away by the algae suction device and then treated uniformly. In one specific embodiment, the algae removal mechanism 2 includes a spring base 201 fixed to the robot body 1. A rotatable algae removal roller 203 and an algae removal motor 202 that drives the algae removal roller 203 to rotate are installed on the elastic movable end of the spring base 201. An algae removal brush 204 is arranged on the algae removal roller 203. The spring base 201 is also provided with a comb structure 205 for cleaning the algae removal brush 204. The spring base 201 contains a spring that can apply downward elastic pressure to the algae removal roller 203 to ensure that the algae removal brush 204 can make stable contact with the algae on the slope. During the robot's movement, the algae removal roller 203 is rotated by the algae removal motor 202, and the algae is peeled off by the algae removal brush 204. During the rotation of the algae removal brush 204, it contacts the fixed comb structure 205 to brush off the algae wrapped on the algae removal brush 204, avoiding excessive attachment that would cause poor peeling effect of the algae removal brush 204.

[0062] The buoyancy sensing unit 3 is installed on the front of the robot body 1 on the water-side. The buoyancy ball 301 is a hollow sphere made of stainless steel or corrosion-resistant material, which can be partially immersed in the water. The buoyancy sensor 302 detects the magnitude of the force on the buoyancy ball 301, and then provides feedback on the skew angle and immersion depth of the robot body 1 relative to the boundary line between the water surface and the slope when it moves along the water's edge. The buoyancy sensing unit 3 includes a buoyancy ball 301 that can contact the water and a buoyancy sensor 302 connected between the buoyancy ball 301 and the robot body 1. A rigid rod is set on the robot body 1, and the buoyancy ball 301 and the buoyancy sensor 302 are installed at the end of the rigid rod to ensure that the buoyancy ball 301 can effectively contact the water.

[0063] The attitude perception unit 4 includes a six-axis inertial measurement unit and a magnetic compass installed at the center of mass of the robot body 1. The six-axis inertial measurement unit integrates a three-axis accelerometer and a magnetic compass to detect the roll angle, pitch angle and heading angle of the robot body 1 on the slope in real time.

[0064] The bottom ranging unit 5 includes a multibeam echo sounder or underwater laser line scanner installed at the front and rear ends of the bottom of the robot body 1, with a measurement accuracy of ±1mm; it is used to detect the contact gap between the track and the slope surface in real time to determine whether the track on both sides is raised.

[0065] The adjustable counterweight mechanism 6 includes a counterweight adjustment component installed on the robot body 1 and a counterweight block component connected to the counterweight adjustment component, which is used to adjust the position of the counterweight block component relative to the center of mass of the robot body 1 according to the coordinated control command.

[0066] Specifically, the counterweight adjustment assembly includes a counterweight arm 601 and a drive motor. A slide groove is provided on the robot body 1 along its width direction. The counterweight arm 601 is slidably disposed in the slide groove. The housing of the drive motor is fixed on the robot body 1. A drive gear 602 is fixed on the output shaft of the drive motor. The counterweight arm 601 is provided with a toothed groove that meshes with the drive gear 602. The counterweight block assembly is installed on the counterweight arm 601 at the end away from the robot body 1.

[0067] The counterweight assembly may include a winch 603, a flexible rope 604, and a counterweight 605. The winch 603 is installed at the end of the counterweight arm 601 away from the robot body 1. One end of the flexible rope 604 is wound around the drum of the winch 603, and the other end is fixed to the counterweight 605. The winch 603 can drive the counterweight 605 to rise and fall in the vertical direction, thereby adjusting the height of the counterweight 605.

[0068] The vector propulsion mechanism 7 is installed on the water-facing side of the robot body 1. It is used to immerse itself in water and generate forward or lateral thrust with adjustable direction to prevent the robot body 1 from sliding to one side of the water. The vector propulsion mechanism 7 includes a tilting device 701 installed on the robot body 1 and a propeller device 702 connected to the tilting device 701. The tilting device 701 can tilt along the water surface and can drive the propeller device 702 to tilt in multiple degrees of freedom to adjust the thrust direction.

[0069] Specifically, the tilting device 701 includes a tilting motor, a worm gear mechanism, and a tilting support. The tilting motor is fixed to the robot body 1, and its output shaft is connected to the worm gear; the worm gear is fixedly connected to the tilting support, and the tilting support is connected to the propeller device 702. The tilting motor drives the worm gear to rotate, which in turn drives the worm gear to rotate, causing the tilting support and propeller device to tilt in the vertical plane (pitch angle adjustment) or deflect in the horizontal plane (yaw angle adjustment). The worm gear mechanism has a self-locking characteristic, ensuring that the propeller remains stable after reaching a specified angle and is not affected by water flow impact.

[0070] Controller 8 is configured as follows:

[0071] Based on the detection data from the buoyancy sensing unit 3, the attitude sensing unit 4, and the bottom ranging unit 5, the precise attitude of the robot body 1 on the slope is calculated by fusing the data through a Kalman filter. The precise attitude includes the upturn angle and the side tilt angle.

[0072] Based on the precise attitude, determine whether the robot body 1 is subject to floating drift disturbance, side slip and roll disturbance, and track slip disturbance. Generate corresponding coordinated control commands based on the disturbance type, attitude deviation and deviation change rate of the precise attitude.

[0073] Based on fuzzy PID control theory, coordinated control commands are distributed according to weight to the tracked walking mechanism 101, the adjustable counterweight mechanism 6, and the vector propulsion mechanism 7, so that the robot body 1 can perform algae removal operations in a stable posture while moving along the water's edge.

[0074] Optionally, an aerodynamic balancing mechanism 9 can be installed on the robot body 1 and on the side near the water. The aerodynamic balancing mechanism 9 can be a multi-rotor propeller. The aerodynamic balancing mechanism 9 is electrically connected to the controller 8 and is used to provide vertical upward lift to the robot body 1 to help balance the load distribution of the two tracks in the tracked walking mechanism 101 and suppress the side roll of the robot body 1.

[0075] See Figure 9-11 The present invention also discloses a control method for a tracked slope algae removal robot. The robot moves along the boundary line between the water surface and the slope, and the algae removal mechanism 2 covers and adheres to the algae underwater on the slope. The control method includes the following steps:

[0076] a. Attitude perception step: The attitude perception unit 4 monitors the roll angle, pitch angle and heading angle of the robot body on the slope in real time.

[0077] Bottom ranging step: The bottom ranging unit 5 measures the contact gap between the track and the slope surface in real time;

[0078] Buoyancy sensing steps: Real-time detection of the buoyancy change of the buoyancy sensing unit 3 as the robot body 1 moves along the water's edge, so as to provide feedback on the tilt angle and water depth of the robot body 1 relative to the boundary line between the water surface and the slope.

[0079] b. Data fusion step: Input the data obtained from the attitude perception step, bottom ranging step and buoyancy perception step into the Kalman filter, and fuse and calculate the precise attitude of the robot body 1 on the slope. The precise attitude includes the upturn angle (the upward trend of the robot head caused by buoyancy or terrain) and the side tilt angle (the tilt of the robot along the slope).

[0080] c. Disturbance identification steps: Based on the precise attitude, identify the current disturbance type, which includes floating and drifting disturbance, sideslipping and rollover disturbance, and track slippage disturbance;

[0081] In the disturbance identification step:

[0082] The criteria for determining the upward drift disturbance (the robot exhibits a head-up posture) are: the buoyancy sensing data acquired by the buoyancy sensing unit 3 suddenly increases, and the upward tilt angle increases in the positive direction;

[0083] The criteria for judging the side slip and rollover disturbance (the robot exhibits a side slip and tilt posture towards the water body) are: the bottom ranging unit 5 detects that one side of the track is suspended and the tilt angle increases, corresponding to the robot;

[0084] The criteria for determining track slippage disturbance (slippage occurs on at least one side of the robot's track) is: the difference between the encoder data of the track drive motor in the tracked walking mechanism 101 and the actual moving speed calculated by the attitude sensing unit exceeds a preset threshold.

[0085] d. Coordinated control steps: Based on the identified disturbance type and the attitude deviation and rate of change of the precise attitude, a hierarchical coordinated control strategy is adopted to generate corresponding coordinated control commands.

[0086] For upward drift disturbances, the generated coordinated control commands include: a forward movement command for the counterweight (counterweight block assembly) of the adjustable counterweight mechanism 6, that is, the counterweight block assembly moves forward to suppress the robot's head-up posture.

[0087] For sideslip and rollover disturbances, the generated coordinated control commands include: a differential steering command for the tracked walking mechanism 101, a lateral thrust command for the vector propulsion mechanism 7, and a lateral shift command for the adjustable counterweight mechanism 6. Specifically, the differential steering command accelerates one track while decelerating or braking the other, using the speed difference to correct the heading angle and resist the downward force caused by gravity. The lateral thrust command activates the vector propulsion mechanism 7 if the differential speed is insufficient to resist sideslip, using the propeller to generate lateral thrust towards the slope, assisting the robot in preventing further slide. The lateral shift command moves the counterweight assembly of the adjustable counterweight mechanism 6 towards the side where the track is suspended, using gravity to restore the robot's balance.

[0088] For track slippage disturbances, the generated coordinated control commands include: a command to reduce forward thrust for the vector propulsion mechanism 7 and a command to shift the counterweight to the side for the adjustable counterweight mechanism 6; the command to reduce forward thrust means to reduce the forward thrust of the propeller to prevent the track from digging further holes due to excessive thrust; the command to shift the counterweight to the side means to move the counterweight block assembly toward the slipping track to increase the adhesion of the corresponding track; optionally, the rotation speed of the algae removal brush can be temporarily reduced to reduce operating resistance, and the operation can be resumed after the grip is restored.

[0089] Optionally, the generated coordinated control commands include lift balancing commands. In the execution allocation step, the lift balancing commands are allocated to the aerodynamic balancing mechanism 9 of the robot body 1 by the output distributor according to the current working condition weight. Under floating drift disturbance and track slippage disturbance, the aerodynamic balancing mechanism 9 can be activated or the downward thrust of the aerodynamic balancing mechanism 9 can be increased to press the robot body 1 against the slope.

[0090] e. Execution allocation steps: Input the coordination control command into the fuzzy PID controller, and distribute it to the actuators of the robot body 1 (tracked walking mechanism 101, adjustable counterweight mechanism 6 and vector propulsion mechanism 7) according to the current working condition weight by the output distributor, so that the robot body 1 can carry out algae removal operation in a stable posture while moving along the water.

[0091] The fuzzy PID controller uses attitude deviation (e(t)) and the rate of change of deviation as inputs, and dynamically adjusts the PID parameters (Kp, Ki, Kd) through a fuzzy control rule base. The output distributor distributes the "correction force" calculated by the PID controller to the three actuators (propeller P, counterweight C, and track T) according to the current operating conditions. For example, in shallow water, P has a high weight (propeller downward pressure is dominant), and C has a medium weight; in deep water, C has a high weight (counterweight adjustment is dominant), and P has a low weight. By rationally distributing power, the robot body can maintain a stable attitude, and the propeller, counterweight, and track will not conflict with each other, allowing the algae removal brush 204 of the algae removal mechanism to make effective rotational contact with algae on the slope, ensuring the feasibility and efficiency of slope operations.

[0092] The parts not described in detail in the above embodiments are existing technologies.

[0093] It should be noted that although the present invention has been described through the above embodiments, the present invention may have many other embodiments. Without departing from the spirit and scope of the present invention, those skilled in the art can obviously make various corresponding changes and modifications to the present invention, but all such changes and modifications should fall within the scope of protection of the appended claims and their equivalents.

Claims

1. A tracked slope algae removal robot, characterized in that, include: The robot body (1) has a tracked walking mechanism (101) for traveling along the slope and an algae removal mechanism (2) for contacting the slope. A buoyancy sensing unit (3) is installed on the front of the robot body (1) on the water side and can be at least partially immersed in the water. It is used to detect in real time the skew angle and immersion depth of the robot body (1) relative to the boundary line between the water surface and the slope when it moves along the water side. An attitude sensing unit (4) is installed on the robot body (1) and is used to detect the roll angle, pitch angle and heading angle of the robot body (1) on the slope in real time. Bottom ranging unit (5) is installed at the bottom of the robot body (1) and is used to detect the contact gap between the track and the slope surface in real time. The adjustable counterweight mechanism (6) includes a counterweight adjustment component installed on the robot body (1) and a counterweight block component connected to the counterweight adjustment component, for adjusting the position of the counterweight block component relative to the center of mass of the robot body (1) according to the coordinated control command. Vector propulsion mechanism (7), installed on the robot body (1), is used to immerse in water and generate forward thrust or lateral thrust with adjustable direction; The controller (8) is configured as follows: Based on the detection data from the buoyancy sensing unit (3), attitude sensing unit (4) and bottom ranging unit (5), the precise attitude of the robot body (1) on the slope is calculated by Kalman filter fusion. The precise attitude includes the upturn angle and the side tilt angle. Based on the precise posture, determine whether the robot body (1) is subject to floating drift disturbance, side slip and roll disturbance and track slip disturbance, and generate corresponding coordinated control commands based on the disturbance type and the posture deviation and deviation change rate of the precise posture. Based on the fuzzy PID control theory, the coordinated control command is assigned to the tracked walking mechanism (101), the adjustable counterweight mechanism (6) and the vector propulsion mechanism (7) according to the weight, so that the robot body (1) can perform algae removal operation in a stable posture while moving along the water.

2. The tracked slope algae removal robot according to claim 1, characterized in that: The algae removal mechanism (2) includes a spring base (201) fixed on the robot body (1). The elastic movable end of the spring base (201) is equipped with a rotatable algae removal roller (203) and an algae removal motor (202) that drives the algae removal roller (203) to rotate. An algae removal brush (204) is arranged on the algae removal roller (203). The spring base (201) is also provided with a comb structure (205) for cleaning the algae removal brush (204).

3. The tracked slope algae removal robot according to claim 1, characterized in that: The buoyancy sensing unit (3) includes a buoyancy ball (301) that can contact the water body and a buoyancy sensor (302) connected between the buoyancy ball (301) and the robot body (1).

4. The tracked slope algae removal robot according to claim 1, characterized in that: The counterweight adjustment assembly includes a counterweight arm (601) and a drive motor. A slide groove is provided on the robot body (1) along its width direction. The counterweight arm (601) is slidably disposed in the slide groove. The housing of the drive motor is fixed on the robot body (1). A drive gear (602) is fixed on the output shaft of the drive motor. The counterweight arm (601) is provided with a tooth groove that meshes with the drive gear (602). The counterweight block assembly is installed on the counterweight arm (601) at one end away from the robot body (1).

5. The tracked slope algae removal robot according to claim 1, characterized in that: The vector propulsion mechanism (7) includes a tilting device (701) mounted on the robot body (1) and a propeller device (702) connected to the tilting device (701). The tilting device (701) can drive the propeller device (702) to tilt in multiple degrees of freedom to adjust the thrust direction.

6. The tracked slope algae removal robot according to claim 1, characterized in that: It also includes an aerodynamic balancing mechanism (9) installed on the robot body (1) and close to the water body, for providing vertical upward lift to the robot body (1), and the aerodynamic balancing mechanism (9) is electrically connected to the controller (8).

7. A control method for a tracked slope algae removal robot according to any one of claims 1-6, wherein the robot moves along the boundary line between the water surface and the slope, characterized in that... Includes the following steps: Attitude perception steps: The attitude perception unit (4) monitors the roll angle, pitch angle and heading angle of the robot body (1) on the slope in real time; Bottom ranging step: The contact gap between the track and the slope surface is measured in real time by the bottom ranging unit (5); Buoyancy sensing step: Real-time detection of the buoyancy change of the buoyancy sensing unit (3) when the robot body (1) moves along the waterside, so as to provide feedback on the tilt angle and water depth of the robot body (1) relative to the boundary line between the water surface and the slope. Data fusion step: Input the data obtained from the attitude perception step, bottom ranging step and buoyancy perception step into the Kalman filter, and fuse and calculate the precise attitude of the robot body (1) on the slope, the precise attitude including the upturn angle and the side tilt angle; Disturbance identification step: Based on the precise attitude, identify the current disturbance type, which includes floating and drifting disturbance, sideslipping and rollover disturbance, and track slippage disturbance; Coordinated control steps: Based on the identified disturbance type and the attitude deviation and rate of change of the precise attitude, a hierarchical coordinated control strategy is adopted to generate corresponding coordinated control commands; The allocation step is as follows: The coordinated control command is input into the fuzzy PID controller and then distributed by the output distributor to the tracked walking mechanism (101), the adjustable counterweight mechanism (6) and the vector propulsion mechanism (7) of the robot body (1) according to the current working condition weight, so that the robot body (1) can perform algae removal operation in a stable posture while moving along the water.

8. The control method according to claim 7, characterized in that, In the disturbance identification step: The criteria for judging the upward drift disturbance are: the buoyancy sensing data obtained by the buoyancy sensing unit (3) suddenly increases, and the upward tilt angle increases in the positive direction; The basis for judging the side slip and rollover disturbance is: the bottom ranging unit (5) detected that one side of the track was suspended and the side tilt angle increased; The basis for judging track slippage disturbance is: the difference between the encoder data of the track drive motor in the tracked walking mechanism (101) and the actual moving speed calculated by the attitude sensing unit exceeds the preset threshold.

9. The control method according to claim 7, characterized in that, In the coordination and control steps: For floating and drifting disturbances, the generated coordinated control commands include: a counterweight forward movement command for the adjustable counterweight mechanism (6); For sideslip and rollover disturbances, the generated coordinated control commands include: track differential steering command for the tracked walking mechanism (101), lateral thrust command for the vector propulsion mechanism (7), and counterweight lateral shift command for the adjustable counterweight mechanism (6). For track slippage disturbance, the generated coordinated control commands include: a command to reduce forward thrust for the vector propulsion mechanism (7) and a command to shift the counterweight sideways for the adjustable counterweight mechanism (6).

10. The control method according to claim 7, characterized in that: In the coordination control step, the generated coordination control command includes a lift balance command, and in the execution allocation step, the lift balance command is allocated to the aerodynamic balancing mechanism (9) of the robot body (1) by the output distributor according to the current working condition weight.

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