CN-121454018-B - Water area pollution monitoring and treating integrated platform based on bionic robot

CN121454018BCN 121454018 BCN121454018 BCN 121454018BCN-121454018-B

Abstract

The invention discloses a water area pollution monitoring and treating integrated platform based on a bionic robot, which comprises a bottom plate, a head, a first support and a second support, steering assemblies, two front fin assemblies and two rear fin assemblies, wherein the first support is arranged on the bottom plate, the two front fin assemblies are symmetrically arranged on the first support, the steering assemblies respectively drive the two front fin assemblies to move, and the two rear fin assemblies are symmetrically arranged on the bottom plate. Therefore, the system has the advantages of reasonable structure, high operation stability, wide application range, strong expansibility, strong matching performance and the like.

Inventors

ZHENG SHIBO
QIU XIAOQIANG
LV YIWEI
YANG GUO
SONG HONGYU
ZHAO ZIBO
ZHANG SHIHAO
SONG QINGYU
ZHENG SHIWEN

Assignees

郑州大学

Dates

Publication Date: 20260508
Application Date: 20251128

Claims (6)

1. Bionical robot-based waters pollution monitoring and treatment integrated platform, its characterized in that includes: A bottom plate; The head, the first bracket and the second bracket are respectively arranged on the bottom plate; a steering assembly disposed on the first bracket; The two front fin assemblies are symmetrically arranged on the first bracket; the steering assembly drives the two front fin assemblies to move respectively; two skeg components symmetrically disposed on the base plate; an upper case which is provided at an upper portion of the bottom plate and covers the first bracket and the second bracket; a lower case disposed at a lower portion of the bottom plate; A pollution source positioning module disposed in the head; a sensor disposed on the lower case; The pollution source positioning module is used for positioning the pollution source according to the following steps: s1, detecting whether the concentration of pollutants exceeds a preset threshold value according to a preset frequency by the sensor; S2, when the pollutant concentration exceeds the preset threshold value for 3 times continuously, the pollutant source positioning module controls the front fin assembly and the rear fin assembly, drives the bionic robot to move in a clockwise circular manner by 180 degrees, a counterclockwise circular manner by 360 degrees and a clockwise circular manner by 180 degrees according to the preset radius by taking the current position of the bionic robot as a starting point, and does 8-shaped movement according to the preset radius, At the current position of the bionic robot, the sensor detects the concentration of primary pollutants as initial concentration data; during the first clockwise circular motion 180 degrees of the bionic robot, the sensor detects the concentration of primary pollutants as first concentration data; in the process of 360 degrees of anticlockwise circular motion of the bionic robot, the sensor detects the concentration of secondary pollutants as second concentration data and third concentration data; during the second clockwise circular motion 180 degrees of the bionic robot, the sensor detects the concentration of the primary pollutant as fourth concentration data; S3, calculating concentration differences of the initial concentration data and the first concentration data, the second concentration data, the third concentration data and the fourth concentration data respectively, and processing the concentration differences of the initial concentration data and the second concentration data, the third concentration data and the fourth concentration data by taking the concentration differences of the initial concentration data and the first concentration data as standard concentration differences so as to generate direction vectors of the initial concentration data and the first concentration data, the second concentration data, the third concentration data and the fourth concentration data respectively; And S4, vector superposition is carried out on the direction vectors of the initial concentration data, the first concentration data, the second concentration data, the third concentration data and the fourth concentration data, and the generated final direction vector is the first reference direction of the pollution source.
2. The integrated biomimetic robot-based water pollution monitoring and remediation platform of claim 1, wherein the steering assembly comprises: the linear module is arranged on the first bracket; the steering connecting piece is arranged on the sliding block of the linear module; One end of each of the two pull rods is respectively hinged with the steering connecting piece; Two L-shaped connecting pieces, two ends of each connecting piece are respectively hinged with the first bracket and the other end of the pull rod.
3. The integrated biomimetic robot-based water pollution monitoring and remediation platform of claim 2, wherein the front fin assembly comprises: A front fin; a first crank having one end connected to the front fin; a second crank having one end connected to the first crank; a third crank having one end connected with the other end of the second crank in a hinged manner and the other end connected with the connecting piece in an L shape; A fourth crank hinged to the other end of the first crank; A fifth crank having one end hinged to the third crank; The two ends of the connecting rod are respectively connected with the other ends of the fourth crank and the fifth crank; and the motor is arranged on the third crank, and the rotating shaft of the motor penetrates through the third crank, is connected with the hinge shafts of the third crank and the fifth crank and drives the fifth crank to rotate.
4. The integrated biomimetic robot-based water pollution monitoring and remediation platform of claim 3, wherein the skeg assembly comprises: A skeg; a skeg connector connected to the skeg; the first skeg sheet metal part is connected with the skeg connecting piece; The steering engine is connected with the first skeg sheet metal part; the second skeg sheet metal part is connected with the steering engine; And the third skeg sheet metal part is respectively connected with the bottom plate and the second skeg sheet metal part.
5. The integrated platform for monitoring and treating water pollution based on the bionic robot as set forth in claim 1, wherein the pollution source positioning module is further configured to position the pollution source according to the following steps: S5, the bionic robot moves linearly along the first reference direction; S6, in the process that the bionic robot moves linearly along the first reference direction, the sensor detects the concentration of pollutants according to the preset frequency, when the concentration of the pollutants continuously decreases for 5 times and the concentration of the pollutants decreases gradually, the bionic robot repeatedly executes the steps S2 to S4 by taking the current position as a starting point, and the generated final direction vector is the second reference direction of the pollution source; And S7, taking an intersection point of the first reference direction and the second reference direction as the position of the pollution source.
6. The integrated platform for monitoring and treating water pollution based on a bionic robot according to claim 5, wherein in step S7, if the first reference direction and the second reference direction are coincident or parallel, the bionic robot randomly selects a direction different from the second reference direction with the current position as a starting point, and repeatedly performs steps S2 to S4, wherein the generated final direction vector is the third reference direction of the pollution source, and the intersection point of the first reference direction and the third reference direction is used as the position of the pollution source.

Description

Water area pollution monitoring and treating integrated platform based on bionic robot Technical Field The invention relates to the field of ocean engineering, in particular to a water area pollution monitoring and treatment integrated platform based on a bionic robot. Background Along with the aggravation of human activities, the pollution problems of pathogenic bacteria, organic pollutants and the like in water areas are increasingly prominent, and ecological balance and human health are seriously threatened. The current water area treatment mode has obvious short plates, firstly, a manual treatment mode has the defects of obvious low efficiency, limited coverage range and the like, and secondly, a cleaning robot treatment mode often has the defects of single function being too much emphasized, narrow application range and the like. Therefore, the research on a water area pollution monitoring and treatment integrated platform which is more reasonable and integrated in structure and has both running stability and environmental adaptability is of practical significance. Disclosure of Invention The present invention aims to solve at least some of the technical problems in the above-described technology. Therefore, the invention discloses a water area pollution monitoring and treating integrated platform based on a bionic robot, which comprises the following steps: A bottom plate; The head, the first bracket and the second bracket are respectively arranged on the bottom plate; a steering assembly disposed on the first bracket; The two front fin assemblies are symmetrically arranged on the first bracket; the steering assembly drives the two front fin assemblies to move respectively; And the two skeg assemblies are symmetrically arranged on the bottom plate. The water area pollution monitoring and treatment integrated platform based on the bionic robot has the advantages of reasonable structure, high operation stability, wide application range, strong expansibility and matching performance and the like. In addition, the integrated platform for monitoring and treating water pollution based on the bionic robot disclosed by the invention can also have the following additional technical characteristics: in one embodiment of the present invention, further comprising: an upper case which is provided at an upper portion of the bottom plate and covers the first bracket and the second bracket; And a lower case disposed at a lower portion of the bottom plate. In one embodiment of the invention, the steering assembly comprises: the linear module is arranged on the first bracket; the steering connecting piece is arranged on the sliding block of the linear module; One end of each of the two pull rods is respectively hinged with the steering connecting piece; Two L-shaped connecting pieces, two ends of each connecting piece are respectively hinged with the first bracket and the other end of the pull rod. In one embodiment of the invention, the front fin assembly includes: A front fin; a first crank having one end connected to the front fin; a second crank having one end connected to the first crank; a third crank having one end connected with the other end of the second crank in a hinged manner and the other end connected with the connecting piece in an L shape; A fourth crank hinged to the other end of the first crank; A fifth crank having one end hinged to the third crank; The two ends of the connecting rod are respectively connected with the other ends of the fourth crank and the fifth crank; and the motor is arranged on the third crank, and the rotating shaft of the motor penetrates through the third crank, is connected with the hinge shafts of the third crank and the fifth crank and drives the fifth crank to rotate. In one embodiment of the invention, the skeg assembly comprises: A skeg; a skeg connector connected to the skeg; the first skeg sheet metal part is connected with the skeg connecting piece; The steering engine is connected with the first skeg sheet metal part; the second skeg sheet metal part is connected with the steering engine; And the third skeg sheet metal part is respectively connected with the bottom plate and the second skeg sheet metal part. In one embodiment of the present invention, further comprising: A pollution source positioning module disposed in the head; a sensor disposed on the lower case; The pollution source positioning module is used for positioning the pollution source according to the following steps: s1, detecting whether the concentration of pollutants exceeds a preset threshold value according to a preset frequency by the sensor; S2, when the pollutant concentration exceeds the preset threshold value for 3 times continuously, the pollutant source positioning module controls the front fin assembly and the rear fin assembly, drives the bionic robot to move in a clockwise circular manner by 180 degrees, a counterclockwise circular manner by 360 degrees and a clockwise circular manner