CN-117756224-B - Ultrasonic algae removal device, control method thereof, electronic equipment and storage medium

CN117756224BCN 117756224 BCN117756224 BCN 117756224BCN-117756224-B

Abstract

The embodiment of the application provides an ultrasonic algae removal device, a control method thereof, electronic equipment and a storage medium, and belongs to the technical field of environmental treatment. According to the scheme, the algae removal path is obtained by obtaining the target water area model through path planning according to the obstacle distribution position and the algae distribution position, the control instruction is determined according to the algae removal path, and the control instruction is issued to the motion assembly, so that the ultrasonic algae removal device moves according to the algae removal path, the algae removal efficiency is improved through automatic path planning and control, the water quality data in the motion process of the ultrasonic algae removal device is further acquired in real time through the water quality sensor, the algae density degree of the current area is determined according to the water quality data, the working intensity of the ultrasonic assembly is adjusted according to the algae density degree, the self-adaptive adjustment of the working intensity of the ultrasonic assembly is realized, and the environmental adaptability and the algae removal effect of the algae removal process are improved.

Inventors

LIU JIALUN
WEN ZHAOYANG
WANG YILIN
ZENG JIXING
GUO YUXUAN
SHI WENBO

Assignees

武汉理工大学

Dates

Publication Date: 20260512
Application Date: 20231227

Claims (9)

1. The control method of the ultrasonic algae removal device is characterized by comprising an ultrasonic assembly, a motion assembly and a sensing assembly, wherein the sensing assembly comprises a water quality sensor, a camera, a sonar sensor and a position sensor, and the control method of the ultrasonic algae removal device comprises the following steps: obtaining a target water area model, wherein the target water area model comprises barrier distribution positions and algae distribution positions; Planning a path according to the obstacle distribution position and the algae distribution position to obtain an algae removal path; Determining a control instruction according to the algae removal path, and issuing the control instruction to the motion assembly so that the ultrasonic algae removal device moves according to the algae removal path; Acquiring water quality data in the motion process of the ultrasonic algae removal device in real time through the water quality sensor; determining the algae density degree of the current area according to the water quality data, and adjusting the working intensity of the ultrasonic assembly according to the algae density degree; the obtaining the target water area model comprises the following steps: determining the current position coordinates of the ultrasonic algae removal device through the position sensor, and acquiring a sonar image through the sonar sensor; detecting and dividing the obstacle and the alga area in the sonar image under different position coordinates to obtain a recognition result; Constructing a target water area model in a three-dimensional space according to the identification results of the plurality of sonar images; the control method of the ultrasonic algae removal device further comprises the following steps: And judging whether a new alga area is identified or not through image information in a certain space acquired by the camera in real time, if so, optimizing a current local path, controlling to move to the new alga area, and returning to the alga removing path.
2. The control method according to claim 1, wherein the path planning is performed according to the obstacle distribution position and the algae distribution position to obtain an algae removal path, comprising the steps of: Determining a plurality of target locations from the algae distribution locations; according to the distances between a plurality of target positions and the current position, arranging the plurality of target positions from small to large according to the distances; Initializing a starting point position as a current position and initializing an ending point position as a first target position; Determining a segmented path from a starting point position to an end point position according to the barrier distribution position; Updating the starting point position to be a first target position, updating the end point position to be a second target position, repeatedly executing the step of determining a segmented path from the starting point position to the end point position according to the obstacle distribution position, and the like until a segmented path with the end point position being the last target position is obtained; Combining a plurality of the segmented paths to obtain an algae removal path.
3. The control method according to claim 2, wherein the path planning is performed according to the obstacle distribution position and the algae distribution position, and the algae removal path is obtained further comprising the steps of: dividing the target water area model into a plurality of grid nodes; The step of determining a segmented path from a starting point position to an end point position according to the barrier distribution position comprises the following steps: determining an actual cost according to the distance from the current grid node to the starting point position, and determining a predicted cost according to the distance from the current grid node to the end point position; determining the estimated cost from the current grid node to the adjacent grid node according to the obstacle distribution position, the actual cost and the predicted cost, and determining the grid node to be searched next according to the estimated cost; a segment path is determined from the plurality of searched mesh nodes.
4. The control method according to claim 1, wherein the water quality data includes water temperature, water ph and dissolved oxygen content, and the determining algae density of the current area according to the water quality data includes the steps of: Inputting the water temperature, the water pH value and the dissolved oxygen content into a density prediction model to obtain the alga density degree of the current area; the density prediction model is constructed through the following steps; acquiring sample data, wherein the sample data comprises water temperature, water pH value and dissolved oxygen content acquired under different alga density degree areas; and constructing a density prediction model according to the sample data.
5. The control method according to claim 2, wherein the determining a plurality of target positions from the algae distribution positions includes the steps of: Acquiring the water flow direction; determining a concurrent area according to the water flow direction and the current position; A plurality of target locations is determined from the algae distribution locations in the concurrent region.
6. The utility model provides an supersound algae removal device which characterized in that, includes ultrasonic assembly, motion subassembly, sensing subassembly and processing control subassembly, sensing subassembly includes quality of water sensor, camera, sonar sensor and position sensor, processing control subassembly is used for: obtaining a target water area model, wherein the target water area model comprises barrier distribution positions and algae distribution positions; Planning a path according to the obstacle distribution position and the algae distribution position to obtain an algae removal path; determining a control instruction according to the algae removal path, and issuing the control instruction to the motion assembly so that the ultrasonic algae removal device moves according to the algae removal path; judging whether a new alga area is identified or not through image information in a certain space acquired by the camera in real time, if so, optimizing a current local path, controlling movement to the new alga area, and returning to the alga removing path; Acquiring water quality data in the motion process of the ultrasonic algae removal device in real time through the water quality sensor; determining the algae density degree of the current area according to the water quality data, and adjusting the working intensity of the ultrasonic assembly according to the algae density degree; The target water area model comprises the following steps: determining the current position coordinates of the ultrasonic algae removal device through the position sensor, and acquiring a sonar image through the sonar sensor; detecting and dividing the obstacle and the alga area in the sonar image under different position coordinates to obtain a recognition result; And constructing a target water area model in the three-dimensional space according to the identification results of the plurality of sonar images.
7. The ultrasonic algae removal apparatus of claim 6, wherein the processing control assembly is disposed in a housing, the movement assembly comprises four horizontal thrusters and four vertical thrusters, each horizontal thrusters and each vertical thrusters are connected to the processing control assembly, the four vertical thrusters are disposed on two sides of the housing, and the four horizontal thrusters are disposed on two sides of the housing.
8. An electronic device comprising a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for enabling a connection communication between the processor and the memory, the program when executed by the processor implementing the steps of the method of controlling an ultrasonic algae removal apparatus according to any one of claims 1 to 5.
9. A storage medium, which is a computer-readable storage medium, for computer-readable storage, characterized in that the storage medium stores one or more programs executable by one or more processors to implement the steps of the method of controlling an ultrasonic algae removal apparatus according to any one of claims 1 to 5.

Description

Ultrasonic algae removal device, control method thereof, electronic equipment and storage medium Technical Field The application relates to the technical field of environmental management, in particular to an ultrasonic algae removal device, a control method thereof, electronic equipment and a storage medium. Background At present, the water bloom of blue algae, which is a phenomenon caused by mass propagation of blue algae cells and usually occurs in eutrophic water, has serious negative effects on the health of water ecosystems and water resources. Overgrowth of these cells can lead to the water body becoming rich in cyanobacteria toxins, which pose a threat to drinking water, aquaculture and ecosystems. In the related art, a blue algae treatment method includes chemical treatment and biological control, in which the growth of blue algae is controlled using chemical substances such as copper sulfate, ammonium sulfate, etc., which may destroy the cellular structure of the blue algae, but may also adversely affect the water ecosystem, and require a lot of maintenance and monitoring work to ensure safe use, the effect of which is often not long lasting, and blue algae may be re-bred in a short time, and a biological control method in which the growth of blue algae is controlled using natural organisms including using herbivores (e.g., fish consumed by algae) or other organisms to consume the blue algae, but the method generally requires complicated ecosystem management and time to establish balance, and has limited algae removal effect. In order to reduce the influence on an ecological system and improve the algae removal effect, the algae removal can be performed by ultrasonic mechanical equipment at present, and the structure of blue algae cells is destroyed by ultrasonic energy through transmitting ultrasonic waves to the blue algae, so that the influence on the ecological environment is small and the algae removal effect is durable. However, when the conventional ultrasonic algae removal equipment is used for removing algae, a worker is required to control the equipment to reach a corresponding area according to the observed blue algae area, then an ultrasonic function is started to remove algae, the mode requires a professional operator, and the equipment working mode is fixed, so that the algae removal efficiency is low and the environmental adaptability is poor. Disclosure of Invention The embodiment of the application mainly aims to provide an ultrasonic algae removal device, a control method thereof, electronic equipment and a storage medium, and aims to improve algae removal efficiency and environmental adaptability. In order to achieve the above object, an aspect of the embodiments of the present application provides a control method of an ultrasonic algae removal device, where the ultrasonic algae removal device includes an ultrasonic assembly, a motion assembly and a sensing assembly, the sensing assembly includes a water quality sensor, and the control method of the ultrasonic algae removal device includes the following steps: obtaining a target water area model, wherein the target water area model comprises barrier distribution positions and algae distribution positions; Planning a path according to the obstacle distribution position and the algae distribution position to obtain an algae removal path; Determining a control instruction according to the algae removal path, and issuing the control instruction to the motion assembly so that the ultrasonic algae removal device moves according to the algae removal path; Acquiring water quality data in the motion process of the ultrasonic algae removal device in real time through the water quality sensor; And determining the alga density degree of the current area according to the water quality data, and adjusting the working intensity of the ultrasonic assembly according to the alga density degree. In some embodiments, the sensing assembly includes a sonar sensor and a position sensor, and the target water model includes the steps of: determining the current position coordinates of the ultrasonic algae removal device through the position sensor, and acquiring a sonar image through the sonar sensor; Identifying obstacles and algae areas in sonar images under different position coordinates to obtain an identification result; And constructing a target water area model in the three-dimensional space according to the identification results of the plurality of sonar images. In some embodiments, the path planning is performed according to the obstacle distribution position and the algae distribution position, so as to obtain an algae removal path, which comprises the following steps: Determining a plurality of target locations from the algae distribution locations; according to the distances between a plurality of target positions and the current position, arranging the plurality of target positions from small to large according to the distances; Initializ