Ecological purification device

Abstract

The utility model relates to the technical field of water purification treatment and ecological restoration. The utility model discloses an ecological purification device. The device comprises a main body, a water quality detection piece, a driving assembly and a control module, the water quality detection piece and the driving assembly are arranged on the main body; the water quality detection piece and the driving assembly are respectively in electric connection or wireless communication connection with the control module; the water quality detection part is used for detecting water quality information, and the control module is used for automatically planning an advancing route in an original map model according to the water quality information fed back by the water quality detection part and controlling the driving assembly to drive the main body to operate according to the planned advancing route. The water quality detection piece is used for detecting water quality information, the control module is used for automatically planning the advancing route according to the water quality information fed back by the water quality detection piece, the driving assembly is controlled to drive the main body to operate according to the advancing route, and automatic movement of the ecological purification device is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of water purification and ecological restoration, and in particular to an ecological purification device. Background Art

[0002] Overexploitation of important ecological spaces such as river basin water conservation areas, river and lake waters and their buffer zones has caused a series of ecological problems, including serious decline in ecological functions, loss of biodiversity, and high levels of blue-green algae blooms in lakes.

[0003] Floating island wetlands and ecological floating islands are commonly used means of water purification. Currently, most floating wetlands or ecological floating islands have a large weight and need external force to move.

[0004] Therefore, it is necessary to find an ecological purification device that can move automatically. Utility Model Content

[0005] In view of the above situation, an embodiment of the present application provides an ecological purification device, which aims to solve the above problems or at least partially solve the above problems.

[0006] The present application provides an ecological purification device, comprising:

[0007] Main body, water quality detection parts, drive components and control modules;

[0008] The water quality detection component and the driving assembly are both arranged on the main body;

[0009] The water quality detection component and the driving assembly are respectively electrically connected or wirelessly connected to the control module;

[0010] The water quality detection component is used to detect water quality information, and the control module is used to automatically plan a travel route in the original map model according to the water quality information fed back by the water quality detection component, and control the driving component to drive the main body to run according to the planned travel route.

[0011] Preferably, the ecological purification device further includes a camera and a laser radar;

[0012] The camera and the laser radar are arranged on the main body, and the camera and the laser radar are respectively connected to the control module qualitatively or wirelessly;

[0013] The control module is used to adjust the original map model according to the feedback information of the camera and the laser radar to generate a three-dimensional map model, and automatically plan a travel route in the three-dimensional map model.

[0014] Preferably, the camera is connected to the main body via a first connecting rod, and the laser radar is connected to the main body via a second connecting rod;

[0015] The first connecting rod and the second connecting rod are both telescopic rods.

[0016] Preferably, the driving assembly includes a driving propeller and a driving motor;

[0017] The driving motor is arranged on the main body, the driving paddle is rotationally connected to the main body, the driving motor is electrically connected or wirelessly connected to the control module, and the control module is used to control the driving motor to drive the driving paddle to rotate so as to move the main body.

[0018] Preferably, the drive assembly further comprises a universal control shaft and a universal controller;

[0019] The universal control shaft and the universal controller are arranged on the main body, the universal control shaft and the universal controller are electrically connected, the universal controller and the control module are electrically connected or wirelessly communicated, and the control module is used to control the universal control shaft through the universal controller to drive the main body to rotate circumferentially around the axis of the main body.

[0020] Preferably, the ecological purification device includes a solar energy collector and a storage battery;

[0021] The battery is arranged on the main body;

[0022] A plurality of solar energy collectors are provided, and the plurality of solar energy collectors are evenly distributed on the outer edge of the main body, and the solar energy collectors are electrically connected to the storage battery.

[0023] Preferably, the ecological purification device further comprises a temperature detection element, an air pressure detection element, an ultraviolet detection element and a purification component;

[0024] The temperature detection element, the air pressure detection element, the ultraviolet detection element and the purification component are arranged on the main body, the temperature detection element is used to detect the ambient temperature, the air pressure detection element is used to detect the ambient pressure, the ultraviolet detection element is used to detect ultraviolet rays in the environment, and the purification component will be used to purify the water body;

[0025] The temperature detection component, the air pressure detection component and the ultraviolet detection component are respectively electrically connected or wirelessly connected to the control module, and the control module controls the working state of the purification component according to feedback information from the temperature detection component, the air pressure detection component and the ultraviolet detection component and feedback information from the water quality detection component.

[0026] Preferably, the purification assembly includes a hanging filler;

[0027] The hanging fillers are evenly distributed on the outer edge of the first supporting plate along the extending direction of the axis of the main body.

[0028] Preferably, the purification assembly further comprises an aeration device and a fixing rod;

[0029] The first end of the fixing rod is connected to the first supporting plate, and the second end extends underwater;

[0030] The aeration device is arranged at the second end of the fixing rod;

[0031] The fixing rod is a telescopic rod.

[0032] Preferably, the main body comprises a first support plate, a second support plate and a planting substrate;

[0033] The planting substrate, the first support plate and the second support plate are coaxially arranged and connected in sequence along the extending direction of the axis of the main body;

[0034] The water quality detection component is arranged on the first support plate, and the driving assembly is arranged on the second support plate.

[0035] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0036] The water quality detection component provided in the present application is used to detect water quality information. The control module is used to automatically plan a travel route based on the water quality information fed back by the water quality detection component, and control the driving component to drive the main body to operate along the said travel route, thereby realizing automatic movement of the ecological purification device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 This is a structural schematic diagram of the first support plate in one embodiment of the utility model;

[0039] Figure 2 This is another structural schematic diagram of the first support plate in one embodiment of the utility model;

[0040] Figure 3 This is a schematic structural diagram of a second support plate in an embodiment of the utility model;

[0041] Figure 4 It is a structural schematic diagram of a planting substrate in one embodiment of the utility model.

[0042] The reference numerals in the figures represent respectively:

[0043] 1-first support plate; 2-water quality detection part; 3-bacteria release box; 4-fixing rod; 5-aeration device; 6-hanging filler; 7-temperature sensor; 8-pressure sensor; 9-ultraviolet sensor; 10-camera; 11-universal controller; 12-laser radar; 13-solar panel; 14-drive paddle; 15-drive motor; 16-battery; 17-second support plate; 18-planting substrate; 19-plant.

[0044] The above drawings have shown clear embodiments of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such use is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to".

[0047] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0048] As mentioned above, most of the current floating wetlands or ecological floating islands have a large weight and need external force to move. In order to solve the above problem, this application proposes an ecological purification device.

[0049] Specifically, Figure 1 and Figure 2As shown, an ecological purification device includes: a main body, a water quality detection component 2, a drive component and a control module. The water quality detection component 2 and the drive component are both arranged on the main body; the water quality detection component 2 and the drive component are respectively electrically connected or wirelessly connected to the control module; the water quality detection component 2 is used to detect water quality information, and the control module is used to automatically plan a travel route in the original map model according to the water quality information fed back by the water quality detection component 2, and control the drive component to drive the main body to run according to the planned travel route.

[0050] Specifically, in one embodiment, the water quality detection element 2 is used to collect water samples at regular intervals and locations for monitoring, such as dissolved oxygen DO, redox potential ORP, transparency, ammonia nitrogen and other water quality indicators, and monitor water quality changes.

[0051] Specifically, in one embodiment, the original map model may be a pre-set offline map model.

[0052] Specifically, in one embodiment, the original route can be pre-set in the original map model, and water indicators of multiple areas can be set in the original route. The original route is automatically corrected according to the pre-set water indicators and feedback information from the water quality detection component 2 to generate a planned route.

[0053] Specifically, in one embodiment, the control module is used to control the driving component to drive the main body to run according to the original route, and obtain the feedback information of the water quality detection component 2 to automatically correct the original route and generate a planned route, and then control the driving component to drive the main body to run according to the planned route.

[0054] Preferably, the ecological purification device further includes a camera 10 and a laser radar 12. The camera 10 and the laser radar 12 are arranged on the main body, and the camera 10 and the laser radar 12 are respectively connected to the control module by qualitative connection or wireless communication. The control module is used to adjust the original map model according to the feedback information of the camera 10 and the laser radar 12 to generate a three-dimensional map model, and automatically plan the travel route in the three-dimensional map model.

[0055] Specifically, in one embodiment, the laser radar 12 can detect the overall boundary conditions around the water body, and the camera 10 can collect images around the water body by rotating 360° so that the control module can identify the environment around the water body. The control module receives the feedback information of the laser radar 12, can obtain each distance from itself to the boundary of the water body and generate a digital map, and constructs a map of the environment in which the ecological purification device is located according to the algorithm in the control module. The control module receives the feedback information of the camera 10 and constructs an environmental map based on mathematical operations, geometry and trigonometry. In this application, by combining the laser radar 12 and the camera 10, a three-dimensional map model of the environment in which the ecological purification device is located is generated, which can improve the accuracy of the path planning of the ecological purification device and improve the obstacle avoidance and travel efficiency of the ecological purification device.

[0056] Furthermore, in one embodiment, water body topography-related information is preset in the original map model, and a cruise purification mode is preset according to the characteristics of the water body, such as cruise time, fixed position, and purification mode for key areas of the discharge port. The configuration of the camera 10 and the laser radar 12 plays a role in reviewing and adjusting the implanted information, and provides supporting data for adjusting the original map model in the control module. Among them, the preset water body topography-related information is the existing underwater shore topography measurement data.

[0057] Specifically, in one embodiment, the control module is used to control the driving component to drive the main body to run according to the original route, and obtain feedback information from the camera 10 and the laser radar 12 to automatically correct the original map model and generate a three-dimensional map model.

[0058] Specifically, in one embodiment, the camera 10 can achieve 360° rotation to obtain image information around the water body.

[0059] Preferably, Figure 1 , Figure 3 and Figure 4 As shown, the main body includes a first support plate 1, a second support plate 17 and a planting substrate 18. The planting substrate 18, the first support plate 1 and the second support plate 17 are coaxially arranged and connected in sequence along the axis extension direction of the main body. The water quality detection component 2 is arranged on the first support plate 1, and the driving component is arranged on the second support plate 17.

[0060] Specifically, in one embodiment, a plant 19 is provided on the planting substrate 18. The planting substrate 18 may be a common HDPE plastic or a composite fiber material. The plant 19 may be selected from native aquatic or terrestrial plants that are cold-resistant or heat-resistant, have a developed root system, good purification, and strong adaptability according to the purification needs and the landscape effect. The root system of the plant 19 can not only release dissolved oxygen, absorb nutrients, adsorb and precipitate organic matter, SS (suspended solids), etc., but also provide a living environment for aerobic denitrification microorganisms, thereby purifying the water quality of the water body.

[0061] Specifically, in one embodiment, the planting substrate 18 is arranged at the top, the second support plate 17 is arranged at the bottom, and the first support plate 1 is arranged between the planting substrate 18 and the second support plate 17. The planting substrate 18 and the first support plate 1 are connected by a first connecting structure, and the first support plate 1 and the second support plate 17 are connected by a second connecting structure, so that the planting substrate 18, the first support plate 1 and the second support plate 17 form a whole. The first connecting structure and the second connecting structure can both be connecting rods, connecting the planting substrate 18, the first support plate 1 and the second support plate 17 together. The specific structures of the first connecting structure and the second connecting structure are not specifically limited here.

[0062] Preferably, Figure 1 and Figure 2 As shown, the camera 10 is connected to the main body through a first connecting rod, and the laser radar 12 is connected to the main body through a second connecting rod. Both the first connecting rod and the second connecting rod are telescopic rods.

[0063] Specifically, in one embodiment, the first connecting rod and the second connecting rod are vertically arranged on the first supporting plate 1, passing through the planting substrate 18 and extending above the water surface. Figure 4 As shown, the ecological purification device also includes a planting substrate 18 and plants 19 arranged on the planting substrate 18. In order to avoid the blocking effect of the plants 19 on the laser radar 12 and the camera 10, the first connecting rod and the second connecting rod are configured as telescopic rods, and the heights of the first connecting rod and the second connecting rod can be adjusted as needed.

[0064] Specifically, in one embodiment, the first connecting rod and the second connecting rod are respectively driven to extend and retract by a driving member, and the driving member and the control device are electrically connected or wirelessly connected. The control device adjusts the height of the first connecting rod according to the feedback information of the camera 10, and adjusts the height of the second connecting rod according to the feedback information of the laser radar 12.

[0065] Specifically, in one embodiment, the first connecting rod and the second connecting rod are vertically arranged on the second support plate 17 and extend below the water surface. The camera 10 and the laser radar 12 are arranged underwater to identify underwater terrain and obstacles, which is beneficial to improve the accuracy of the three-dimensional map model and improve the speed and accuracy of route planning.

[0066] Preferably, Figure 3 As shown, the driving assembly includes a driving paddle 14 and a driving motor 15. The driving motor 15 is arranged on the main body, the driving paddle 14 and the main body are rotationally connected, the driving motor 15 and the control module are electrically connected or wirelessly connected, and the control module is used to control the driving motor 15 to drive the driving paddle 14 to rotate so as to move the main body.

[0067] Specifically, in one embodiment, a plurality of drive motors 15 are provided, a plurality of drive paddles 14 are provided, and the plurality of drive paddles 14 are evenly distributed circumferentially around the axis of the main body. The start and stop and rotation speed of the plurality of drive motors 15 are controlled by a control module to realize the movement and steering of the main body.

[0068] Specifically, in one embodiment, the driving motor 15 is a dual-shaft motor, two driving paddles 14 are provided, and one driving shaft drives one driving paddle 14 to rotate. The driving assembly includes two connecting shafts, and one driving shaft, one connecting shaft and one driving paddle 14 form a group. One end of the connecting shaft is connected to the driving shaft of the driving motor 15, and the other end of the connecting shaft is connected to the main body. The connecting shaft can rotate relative to the main body. The driving paddle 14 is provided on the connecting shaft, and the driving shaft drives the connecting shaft to drive the driving paddle 14 to rotate.

[0069] Specifically, in one embodiment, the driving motor 15 is a single-axis motor, the driving paddle 14 is one, and the driving assembly includes a connecting shaft, one end of the connecting shaft is connected to the driving shaft of the driving motor 15, and the other end of the connecting shaft is connected to the main body. The connecting shaft can rotate relative to the main body, and the driving paddle 14 is arranged on the connecting shaft, and the driving shaft drives the connecting shaft to drive the driving paddle 14 to rotate.

[0070] Specifically, in one embodiment, the driving motor 15 is disposed in a motor slot on the second support plate 17 , and the driving paddle 14 is disposed in a driving hole on the second support plate 17 .

[0071] Preferably, Figure 1 and Figure 2 As shown, the driving assembly also includes a universal control shaft and a universal controller 11. The universal control shaft and the universal controller 11 are arranged on the main body, the universal control shaft and the universal controller 11 are electrically connected, the universal controller 11 and the control module are electrically connected or wirelessly connected, and the control module is used to control the universal control shaft through the universal controller 11 to drive the main body to rotate circumferentially around the axis of the main body.

[0072] Specifically, in one embodiment, the universal controller 11 is arranged on the first support plate 1, and the second connection structure is a universal control shaft. One end of the universal control shaft is connected to the middle of the first support plate 1, and the other end of the universal control shaft is connected to the middle of the second support plate 17. The universal control shaft can drive the second support plate 17 to rotate within a range of 360° according to the instructions of the universal controller 11 to change the movement direction of the driving paddle, so that the ecological purification device can operate according to the planned route.

[0073] Preferably, the ecological purification device comprises a solar collector and a battery 16. The battery 16 is arranged on the main body, a plurality of solar collectors are arranged, and the plurality of solar collectors are evenly distributed on the outer edge of the main body, and the solar collector and the battery 16 are electrically connected.

[0074] Specifically, in one embodiment, the solar energy collector is a solar panel 13, which is connected to the outer edge of the first support plate 1 through a foldable structure. When it rains, the solar panel 13 can be folded up through the foldable structure.

[0075] Preferably, the ecological purification device also includes a temperature detection component, an air pressure detection component, an ultraviolet detection component and a purification component. The temperature detection component, the air pressure detection component, the ultraviolet detection component and the purification component are arranged on the main body, the temperature detection component is used to detect the ambient temperature, the air pressure detection component is used to detect the ambient pressure, the ultraviolet detection component is used to detect the ultraviolet rays in the environment, and the purification component will be used to purify the water body. The temperature detection component, the air pressure detection component and the ultraviolet detection component are electrically connected or wirelessly connected to the control module respectively, and the control module controls the working state of the purification component according to the feedback information of the temperature detection component, the air pressure detection component and the ultraviolet detection component and the feedback information of the water quality detection component 2.

[0076] Specifically, in one embodiment, the purification component includes a MABR (membrane bioreactor) suspension filler 6, an aeration device 5 matched with the filler, and a bacterial strain delivery box 3. The MABR suspension filler 6 has a large specific surface area, a large amount of aggregated microorganisms, and simultaneous nitrification and denitrification reactions, resulting in a good water purification effect.

[0077] Specifically, the strain delivery box 3 can be used to deliver corresponding strains of bacteria, such as anaerobic strains, aerobic strains, etc., according to different water quality conditions. The setting of the strain delivery box 3 can increase the number of beneficial bacteria in the water body and improve the efficiency of purifying the water body.

[0078] Specifically, in one embodiment, the MABR (membrane bioreactor) hanging fillers 6 are not on the outer edge of the first support plate 1. The purification component also includes a fixed rod 4, which is a telescopic rod, and the bacteria delivery box 3 and the aeration device 5 are arranged on the fixed rod 4. The first end of the fixed rod 4 is connected to the first support plate 1, and the second end passes through the second support plate 17 and extends underwater. The bacteria delivery box 3 is arranged in the middle of the fixed rod 4. The aeration device 5 is a micro-nano aeration device, and the aeration device 5 is arranged at the second end of the fixed rod 4. When the ecological purification device is cruising, the fixed rod 4 is controlled to retract to prevent the fixed rod 4 from being entangled by underwater debris and affecting the cruising. When the ecological purification device cruises to a fixed position, the fixed rod 4 is controlled to extend. Due to the setting of the aeration device 5, it plays a role in fixing the ecological purification device.

[0079] Specifically, in one embodiment, the temperature detection element is a temperature sensor 7, the air pressure detection element is a pressure sensor 8, and the ultraviolet detection element is an ultraviolet sensor 9. Through the feedback information of the temperature detection element, the air pressure detection element and the ultraviolet detection element, the control module can judge the weather conditions, such as sunny days, cloudy days, the eve of a rainstorm, after a rainstorm, etc., so as to adjust the working state of the ecological purification device according to the weather conditions. For example, when the control module judges that the current weather is the eve of a rainstorm, the control module controls the drive motor 15 to turn off.

[0080] Specifically, in one embodiment, the dissolved oxygen detection data can guide the system to adjust the aeration volume. The control module adjusts the aeration volume of the aeration device 5 by judging the weather conditions and / or water quality conditions, so as to better provide an oxygen source for the MABR hanging filler 6. For example, when the control module judges that the weather is cloudy and the water pollution level is high, the control module controls the aeration volume to increase. The high and low ORPs reflect the redox capacity of different positions in the water body, and ammonia nitrogen can indicate the degree of pollution of the water body. The control module can recommend bacterial strain types to the staff based on the ORP and ammonia nitrogen indicators detected by the water quality to improve the purification efficiency. For example, when the control module judges that the weather is cold and the pollution level is heavy, the control module recommends a bacterial strain type with strong cold resistance to the staff.

[0081] Specifically, in one embodiment, the ecological purification device can be arranged at multiple points to work together, or it can be arranged separately, such as focusing on the drainage outlet, the center of the water body, and the location where the water body flows slowly, and purifying the water quality by patrolling at fixed points and at regular intervals. When multiple devices work together, they can be freely or separately formed into various shapes, which can meet the needs of purifying water bodies and also form landscape effects.

[0082] On sunny days, the energy collected by the solar panel 13 is used by the equipment in the power supply device, such as the driving paddle 14, the aeration device 5, the water quality detection component 2, various sensors (temperature sensor 7, pressure sensor 8, ultraviolet sensor 9), laser radar 12 and camera 10, etc. The excess energy is stored in the battery 16 for standby use, so that when the solar energy is insufficient, the battery can supply the equipment in the power device for use.

[0083] The present application also provides an ecological purification method, using an ecological purification device as described above, the method comprising:

[0084] S10: Obtaining water quality detection information fed back by the water quality detection component 2;

[0085] S20: automatically planning a travel route in the original map model according to the water quality information fed back by the water quality detection unit 2;

[0086] S30: Control the driving component to drive the main body to run according to the planned route.

[0087] Specifically, in one embodiment, the original map model is an offline map model. According to the feedback information of the water quality detection unit 2, the route is automatically planned in the pre-set offline map model. The key purification areas and their water quality indicators are marked in the offline map model. According to the comparison between the water quality information fed back by the water quality detection unit 2 and the marked water quality indicators, the route is automatically planned.

[0088] Specifically, in one embodiment, water body terrain related information is embedded in the original map model and pre-set in the control module, and the patrol purification mode is set based on the original map model according to the characteristics of water bodies in different areas, such as patrol time, fixed patrol positions, and purification modes for key areas such as discharge ports.

[0089] Specifically, in one embodiment, before obtaining the water quality detection information fed back by the water quality detection component 2, the method also includes: based on the original travel route in the original map model, controlling the driving component to drive the main body to run according to the original travel route, and obtaining the water quality detection information fed back by the water quality detection component 2 during the travel process, and automatically planning the travel route in the original map model according to the water quality information fed back by the water quality detection component 2.

[0090] Specifically, in one embodiment, before planning the travel route, the method further includes identifying the location of the ecological purification device.

[0091] Specifically, in one embodiment, the ecological purification device can upload water quality indicators as needed, which are then processed by the control module to generate a water quality purification process change diagram, providing the most intuitive visual data interface to provide data support for the next step of work.

[0092] Specifically, in one embodiment, the ecological purification device can not only purify a local area of ​​the water body, but also patrol at fixed points and at regular intervals as needed to solve water quality problems in water bodies at different locations, such as areas with more serious pollution near discharge ports.

[0093] Preferably, the method further comprises:

[0094] Obtaining feedback information from the camera 10 and the laser radar 12;

[0095] The original map model is adjusted according to the feedback information from the camera 10 and the laser radar 12 to generate a three-dimensional map model, and the travel route is automatically planned in the three-dimensional map model.

[0096] Specifically, the original map model is partially adjusted according to the feedback information of the camera 10 and the laser radar 12, and a three-dimensional map model is generated after the local adjustment.

[0097] Specifically, the method further includes:

[0098] Based on the original route in the original map model, the driving component is controlled to drive the main body to run according to the original route, and feedback information from the camera 10 and the laser radar 12 is obtained during the travel process;

[0099] The original map model is adjusted according to the feedback information from the camera 10 and the laser radar 12 to generate a three-dimensional map model, and the travel route is automatically planned in the three-dimensional map model.

[0100] Specifically, the original map model is globally adjusted according to the feedback information of the camera 10 and the laser radar 12, and a three-dimensional map model is generated after the global adjustment.

[0101] Specifically, the method further includes:

[0102] Obtain feedback information from the water quality detection component 2, the temperature detection component, the air pressure detection component, the ultraviolet detection component, and the purification component respectively;

[0103] Determine weather conditions based on feedback from temperature detectors, air pressure detectors, and ultraviolet detectors;

[0104] Determine the water quality status according to the feedback information of the water quality detection component 2;

[0105] According to the weather conditions and / or the water quality conditions, the aeration amount of the aeration device 5 in the purification component is controlled.

[0106] Specifically, the weather conditions include sunny days, cloudy days, before a rainstorm, after a rainstorm, etc. The water quality conditions include Class I, Class II, Class III, Class IV, Class V, and Class V, among which Class V also includes mild black and smelly and severe black and smelly.

[0107] Specifically, the method further includes:

[0108] placing at least one ecological purification device at each of the plurality of locations;

[0109] Obtaining feedback information from the water quality detection component 2 of the ecological purification device at each location;

[0110] According to the feedback information of the plurality of water quality detection components 2, a travel route of each ecological purification device is generated in the map model, and each ecological purification device is controlled to operate according to the corresponding travel route.

[0111] Specifically, after each ecological purification device operates along the corresponding route, it can cruise along the route; it can also travel to other locations and form a consortium with other ecological purification devices to form various patterns, thereby improving the water landscape effect, increasing the utilization rate of the ecological purification devices, reducing investment costs, achieving fully automatic operation, and saving operation and maintenance management costs. When the consortium cruises, it can efficiently solve water quality problems at different locations of the water body.

[0112] In one embodiment, the method further comprises:

[0113] Based on the original route in the original map model, the control driving component drives the main body to run according to the original route, and obtains water quality detection information fed back by the water quality detection component 2, feedback information from the camera 10 and the laser radar 12, and feedback information from the water quality detection component 2, the temperature detection component, the air pressure detection component, the ultraviolet detection component, and the purification component during the travel process;

[0114] The original map model is adjusted to generate a three-dimensional map model according to the feedback information of the camera 10 and the laser radar 12, and the travel route is automatically planned in the three-dimensional map model according to the water quality information fed back by the water quality detection element 2;

[0115] The weather conditions are determined based on the feedback information from the temperature detection component, the air pressure detection component, and the ultraviolet detection component; the water quality conditions are determined based on the feedback information from the water quality detection component 2; and based on the weather conditions and / or the water quality conditions, the aeration amount of the aeration device 5 in the purification component is controlled and it is determined whether the combined operation mode is turned on and whether the bacterial strain needs to be replaced.

[0116] Specifically, during the travel, the target aeration volume is predicted according to the weather conditions and / or water quality conditions, and when the maximum aeration volume of the aeration device 5 in the purification component is lower than the target aeration volume, it is determined that the joint operation mode is turned on. When the joint operation mode is determined to be turned on, the master control system obtains the position information of the ecological purification device that determines to turn on the joint operation mode, and controls other ecological purification devices within a preset range around it to move to the ecological purification device that determines to turn on the joint operation mode, and controls the aeration volume of each ecological purification device according to the target aeration volume.

[0117] Specifically, during the movement, according to the weather conditions and / or water quality conditions, the strain type is predicted based on the pre-set mapping relationship between the strain type and the weather conditions and water quality conditions, and the predicted strain type is compared with the current strain type. When the predicted strain type and the current strain type do not match, it is determined that the strain needs to be replaced.

[0118] For example, based on the original route, the main body runs along the path of position ①→position ②→position ③→position ④. In the process of running from position ① to position ②, the area corresponding to position ① to position ② in the original map model is adjusted according to the feedback information of the camera 10 and the laser radar 12, and a three-dimensional map model is generated. In the three-dimensional map model, the route is automatically planned according to the water quality information fed back by the water quality detection component 2. The operation mode of running and adjusting can improve the accuracy of obstacle avoidance and travel efficiency. In the process of running to position ② according to the planned route, the weather state is judged according to the feedback information of the temperature detection component, the air pressure detection component, and the ultraviolet detection component, the water quality state is judged according to the feedback information of the water quality detection component 2, and the target aeration amount is predicted according to the weather state and / or the water quality state. When the maximum aeration amount of the aeration device 5 in the purification component is lower than the target aeration amount, it is judged to start the joint operation mode. At the same time, when the predicted strain type does not match the current strain type, it is judged that the strain needs to be changed, and the prompt information of changing the strain and the predicted strain type are pushed. When it is judged that the joint operation mode is turned on, the master control system obtains the position information of the ecological purification device that is judged to turn on the joint operation mode, and controls other ecological purification devices within the preset range around it to move to the ecological purification device that is judged to turn on the joint operation mode to form a union, and controls the aeration amount of each ecological purification device according to the target aeration amount. At this time, the strain can be replaced to improve the purification efficiency. After the joint operation mode has been running for a certain period of time, the master control system controls the union to continue to travel a preset distance according to the planned route of the ecological purification device that is judged to turn on the joint operation mode, and obtains the predicted target aeration amount based on the weather conditions and / or water quality conditions during the travel of the preset distance. When it is judged that the maximum aeration amount of the aeration device 5 in the ecological purification device that is judged to turn on the joint operation mode is greater than or equal to the target aeration amount, it is judged to turn off the joint operation mode, and the master control system controls other ecological purification devices to return to the position before the joint operation mode is turned on, and continue to operate according to their respective routes.

[0119] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An ecological purification device, characterized in that: include: Main body, water quality detection parts, drive components and control modules; The water quality detection component and the driving assembly are both arranged on the main body; The water quality detection component and the driving assembly are respectively electrically connected or wirelessly connected to the control module; The water quality detection component is used to detect water quality information, and the control module is used to automatically plan a travel route in the original map model according to the water quality information fed back by the water quality detection component, and control the driving component to drive the main body to run according to the planned travel route.

2. An ecological purification device according to claim 1, characterized in that: The ecological purification device also includes a camera and a laser radar; The camera and the laser radar are arranged on the main body, and the camera and the laser radar are respectively connected to the control module qualitatively or wirelessly; The control module is used to adjust the original map model according to the feedback information of the camera and the laser radar to generate a three-dimensional map model, and automatically plan a travel route in the three-dimensional map model.

3. An ecological purification device according to claim 2, characterized in that: The camera is connected to the main body via a first connecting rod, and the laser radar is connected to the main body via a second connecting rod; The first connecting rod and the second connecting rod are both telescopic rods.

4. The ecological purification device according to claim 1, characterized in that: The driving assembly includes a driving propeller and a driving motor; The driving motor is arranged on the main body, the driving paddle is rotationally connected to the main body, the driving motor is electrically connected or wirelessly connected to the control module, and the control module is used to control the driving motor to drive the driving paddle to rotate so as to move the main body.

5. The ecological purification device according to claim 4, characterized in that: The drive assembly also includes a universal control shaft and a universal controller; The universal control shaft and the universal controller are arranged on the main body, the universal control shaft and the universal controller are electrically connected, the universal controller and the control module are electrically connected or wirelessly communicated, and the control module is used to control the universal control shaft through the universal controller to drive the main body to rotate circumferentially around the axis of the main body.

6. The ecological purification device according to claim 1, characterized in that: The ecological purification device includes a solar energy collector and a storage battery; The battery is arranged on the main body; A plurality of solar energy collectors are provided, and the plurality of solar energy collectors are evenly distributed on the outer edge of the main body, and the solar energy collectors are electrically connected to the storage battery.

7. The ecological purification device according to claim 1, characterized in that: The ecological purification device also includes a temperature detection component, an air pressure detection component, an ultraviolet detection component and a purification component; The temperature detection element, the air pressure detection element, the ultraviolet detection element and the purification component are arranged on the main body, the temperature detection element is used to detect the ambient temperature, the air pressure detection element is used to detect the ambient pressure, the ultraviolet detection element is used to detect ultraviolet rays in the environment, and the purification component will be used to purify the water body; The temperature detection component, the air pressure detection component and the ultraviolet detection component are respectively electrically connected or wirelessly connected to the control module, and the control module controls the working state of the purification component according to feedback information from the temperature detection component, the air pressure detection component and the ultraviolet detection component and feedback information from the water quality detection component.

8. The ecological purification device according to claim 7, characterized in that: The purification assembly includes a suspension filler; The hanging fillers are evenly distributed on the outer edge of the first supporting plate along the extending direction of the axis of the main body.

9. The ecological purification device according to claim 7, characterized in that: The purification assembly also includes an aeration device and a fixing rod; The first end of the fixing rod is connected to the first supporting plate, and the second end extends underwater; The aeration device is arranged at the second end of the fixing rod; The fixing rod is a telescopic rod.

10. The ecological purification device according to claim 1, characterized in that: The main body comprises a first support plate, a second support plate and a planting substrate; The planting substrate, the first support plate and the second support plate are coaxially arranged and connected in sequence along the extending direction of the axis of the main body; The water quality detection component is arranged on the first support plate, and the driving assembly is arranged on the second support plate.

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