CN114212838A - Intelligent water body cleaning system and control method thereof - Google Patents

Abstract

The invention discloses an intelligent water body cleaning system and a control method thereof, wherein the intelligent water body cleaning system comprises a water body cleaning device, wireless network equipment and a cloud platform; the water body cleaning device comprises a controller, a filtering unit, a power supply module and a power unit; the controller is in communication connection with the wireless network equipment, and the wireless network equipment is in communication connection with the cloud platform; according to the invention, a user can remotely control the water body cleaning device by remotely connecting the cloud platform with the controller, and the start and stop of the filtering unit and the power unit are controlled, so that the start and stop of filtering impurities in the water body are controlled, the water body cleaning device is driven to walk in the water body, large-particle impurities in the water are filtered by the filtering unit, and the impurities are transported back to the river bank, so that the purpose of cleaning pools such as a river channel pool and the like is achieved. The realization is to water cleaning device's remote, low time delay, efficient operation, has solved among the prior art and has gone into the problem that the water is cleaned up through the manual work and is not convenient, has eliminated the potential safety hazard.

Description

Intelligent water body cleaning system and control method thereof

Technical Field

The invention relates to the field of water body cleaning equipment, in particular to an intelligent water body cleaning system and a control method thereof.

Background

Along with the improvement of environmental protection consciousness, the increase of urban population, water pollution receives people's attention more and more, and pollution in the water is mainly plankton reproduction and floating rubbish, is difficult to the clearance usually, stands at clean ship through the clearance personnel and uses the diddle-net to clear up the floated rubbish of surface of water now to the water such as pond, shallow river course, view pond, work efficiency is very low like this, and has certain potential safety hazard.

Disclosure of Invention

The invention aims to provide an intelligent water body cleaning system and a control method thereof, so as to solve one or more technical problems in the background technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent water body cleaning system comprises a water body cleaning device, wireless network equipment and a cloud platform; the water body cleaning device comprises a controller, a filtering unit, a power supply module and a power unit; the controller is in communication connection with the wireless network device, and the wireless network device is in communication connection with the cloud platform;

the controller is used for downloading a control instruction sent by the cloud platform; the power unit is used for controlling the actions of the filtering unit and the power unit according to a control command; the system is used for uploading equipment conditions and events to the cloud platform;

the power supply module is used for supplying power to the controller, the filtering unit and the power unit;

the filtering unit is used for filtering impurities in the water body;

the power unit is used for driving the water body cleaning device to walk in the water body.

Preferably, the filtering and cleaning unit comprises a filter and a water pump, the control end of the water pump is electrically connected with the controller, the input end of the water pump is connected with a water pumping hose, and the output end of the water pump is connected with the input end of the filter through a hose.

Preferably, the filtration cleaning unit further comprises a filtration relay and a water flow meter, wherein the input end of the filtration relay is electrically connected with the controller, the output end of the filtration relay is electrically connected with the control end of the water pump, the water inlet end of the water flow meter is communicated with the water pump, and the water outlet end of the water flow meter is communicated with the input end of the filter.

Preferably, the power unit comprises a left screw propeller and a right screw propeller, and the left screw propeller and the right screw propeller are respectively electrically connected with the controller.

Preferably, the power driving unit further comprises a motor driving module, an input end of the motor driving module is electrically connected with the controller, an output end of the motor driving module is electrically connected with control ends of the left propeller and the right propeller respectively, and the motor driving module adopts an L298N chip.

Preferably, the controller is a raspberry pi Duo2 controller.

The invention also discloses a control method of the intelligent water body cleaning device, which comprises the following steps:

s1: the water body cleaning device is powered on and started, and the power supply module supplies power to the controller, the filtering unit and the power unit;

s2: the controller establishes communication connection with the wireless network equipment;

s3: the cloud platform establishes communication connection with the controller through the wireless network equipment and simultaneously performs equipment authentication security authentication;

s4: after the device authentication security authentication is successful, the controller initializes the GPIO port;

s5: the control instruction is transmitted to the cloud platform by the user side, the cloud platform adjusts the variable in the data template according to the control instruction, the controller receives the change of the variable in the data template in the cloud platform, and correspondingly executes a water pump control program, a propeller control program or a water flow meter reading program according to the change of the variable in the data template so as to control the filtering unit and/or the power unit to complete corresponding actions;

s6: uploading data and event states generated by the power module, the filtering unit and the power unit to the cloud platform through the controller;

s7: the delay waits for the next control command from the user side, and when the user side issues the next control command, the steps S5-S7 are repeated.

Preferably, in step S4, the initialization of the GPIO port includes defining a global time variable, running a water flow meter pulse detection thread, executing a GPIO initialization function, starting a water flow pulse interruption detection thread, and performing a pre-program DEBUG test.

Preferably, in steps S4 and S6, when the water flow detected by the water flow meter is lower than a set threshold, it is determined that the filter capacity is full, and the controller transmits an event to the cloud platform.

Preferably, the data template uses a JSON format data template, and comprises a water pump power supply control data template, a propeller control data template and a water flow sensor data template;

the data type of the water pump power supply control data template is Boolean type, the attribute is read-write, and the starting and the closing of the water pump are controlled by changing the variable quantity;

the data type of the propeller control data template is integer, the attribute is read-write, and the operation or stop of the left propeller and the right propeller is controlled respectively by changing variables;

the data type of the water flow sensor data template is Boolean type, the attribute is read only, and the capacity state of the current filter is obtained by reading the variable value.

The invention has the beneficial effects that: according to the invention, the cloud platform is remotely connected with the controller of the water body cleaning device, so that a user can remotely control the water body cleaning device, the start and stop of the filtration of impurities in the water body are controlled and the water body cleaning device is driven to walk in the water body by controlling the start and stop of the filtration unit and the power unit, the large-particle impurities in the water are filtered by the filtration unit, and the impurities are transported back to the river bank, so that the purpose of cleaning ponds such as a river channel pond and the like is achieved. Adopt internet control's mode, realize long distance, low time delay, efficient operation to water cleaning device, solved among the prior art through artifical income water carry out the not convenient problem of decontaminating, eliminated the potential safety hazard.

Drawings

The drawings are further illustrative of the invention and the content of the drawings does not constitute any limitation of the invention.

FIG. 1 is a schematic diagram of a control circuit of a water body cleaning device according to one embodiment of the invention;

FIG. 2 is a topological block diagram of the water body cleaning system according to one embodiment of the present invention;

fig. 3 is a flowchart of a control method of the intelligent water body cleaning system according to one embodiment of the invention.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

An intelligent water body cleaning system of the embodiment, referring to fig. 1 and 2, includes a water body cleaning device 1, a wireless network device 2 and a cloud platform 3; the water body cleaning device comprises a controller 11, a filtering unit, a power supply module and a power unit; the controller is in communication connection with the wireless network device 2, and the wireless network device is in communication connection with the cloud platform 3;

the controller is used for downloading a control instruction sent by the cloud platform; the power unit is used for controlling the actions of the filtering unit and the power unit according to a control command; the system is used for uploading equipment conditions and events to the cloud platform;

the power supply module is used for supplying power to the controller, the filtering unit and the power unit;

the filtering unit is used for filtering impurities in the water body;

the power unit is used for driving the water body cleaning device to walk in the water body.

This embodiment is through the mode of cloud platform remote connection director, makes the user can be long-rangely control establishing water cleaning device, stops through opening of control filter unit and power pack to the realization is filtered the water impurity and is stopped control and drive water cleaning device walking in the water of opening, filters aquatic large granule impurity through filter unit, and transport impurity back to the river bank on, in order to reach the purpose in ponds such as clean river channels pond. Adopt internet control's mode, realize long distance, low time delay, efficient operation to water cleaning device, solved among the prior art through artifical income water carry out the not convenient problem of decontaminating, eliminated the potential safety hazard.

Preferably, the filtering and cleaning unit comprises a filter and a water pump 12, wherein the control end of the water pump is electrically connected with the controller, the input end of the water pump is connected with a water pumping hose, and the output end of the water pump is connected with the input end of the filter through a hose.

In the filtering process, the water pump 12 pumps water from the filter to form negative pressure, and then the water is pumped out from the water body through the negative pressure and is discharged to the water body through the water pump 12 after being filtered by a filter element (such as filter sponge) in the filter, so that the effect of filtering particle impurities in the water is realized, the water pump 12 and the filter can be replaced by ion filters in the same way, and advanced equipment such as a centrifugal machine and the like is used for filtering finer particles, so that the better water body cleaning effect is achieved.

Further, the filtering and cleaning unit further comprises a filtering relay 13 and a water flow meter 17, wherein the input end of the filtering relay 13 is electrically connected with the controller 11, the output end of the filtering relay 13 is electrically connected with the control end of the water pump 12, the water inlet end of the water flow meter 17 is communicated with the water pump 12, and the water outlet end of the water flow meter 17 is communicated with the input end of the filter.

The water pump 12 is controlled by adopting a digital variable switching mode, namely, the switching of the water pump is controlled by adopting weak current of a GPIO port of a controller, a filtering relay is arranged, a switching signal is coupled to relays of high-power water pumps with different power specifications, the control of the water pumps 12 with different specifications is realized, or the working state of the adjustable water pump is adjusted by adopting a PWM (pulse width modulation) driving plate mode, and meanwhile, waterproof isolation is well made, so that the aim of flexibly controlling the switching by isolating the controller from a water pump power supply is fulfilled.

In the embodiment, the residual capacity in the filter is monitored through the water flow in the water pump, when the pollutant amount in the filter is small, the resistance of the sewage pumped by the water pump 12 in the water body when the sewage passes through the filter is small, and at the moment, the water flow measured by the water flow meter 17 is large; and when the contaminants in the filter gradually increase, the resistance of the filter to water is greater and the flow rate of water measured by the water flow meter 17 is smaller. Therefore, the analog quantity is converted into the digital quantity by monitoring the water flow passing through the water flow meter 17, a water flow threshold is set, when the water flow measured in the water flow meter 17 is lower than the threshold, the space for accommodating pollutants of the filter is judged to be full, then the event is sent to the user side through the controller, and the user is timely fed back to prompt the user to clean the filter. The water flow meter 17 of the embodiment adopts the turbine water flow detector, the turbine is pushed to rotate by water flow, and the number of pulses output by the rotation of the turbine is detected by the controller, so that the effect of flow detection is achieved.

Preferably, the power unit comprises a left screw propeller 14 and a right screw propeller 15, and the left screw propeller 14 and the right screw propeller 15 are respectively connected with the controller 11. Set up left screw 14 and right screw 15, the accessible control left screw 14 and the opening and close of right screw 15 realize water cleaning device's stopping, gos forward, retreat, turn left and turn right from this, realized driving water cleaning device and walked in the water, solved among the prior art through artifical income water carry out the not convenient problem of decontaminating, eliminated the potential safety hazard.

Preferably, the power driving unit further includes a motor driving module 16, an input end of the motor driving module is electrically connected to the controller, an output end of the motor driving module is electrically connected to control ends of the left propeller and the right propeller, respectively, and the motor driving module employs an L298N chip.

The controller is connected with a received control instruction through a network, the GPIO port is used for controlling the motor driving module of the L298N chip through control technologies such as PWM, the power supply module is enabled to output to the left propeller and the right propeller respectively, the moving direction of the equipment can be flexibly controlled by controlling different output working states of the motor driving module, and the rotating speed control of the left propeller 14 and the right propeller 15 is achieved by adopting the L298N chip.

Preferably, the controller is a raspberry pi Duo2 controller.

The control method of the intelligent water body cleaning device comprises the following steps:

s1: the water body cleaning device is powered on and started, and the power supply module supplies power to the controller, the filtering unit and the power unit;

s2: the controller executes the nmcli script and establishes communication connection with the wireless network equipment;

s3: the cloud platform establishes communication connection with the controller through the wireless network equipment and simultaneously performs equipment authentication security authentication;

s4: after the device authentication security authentication is successful, the controller initializes the GPIO port;

s5: the control instruction is transmitted to the cloud platform by the user side, the cloud platform adjusts the variable in the data template according to the control instruction, the controller receives the change of the variable in the data template in the cloud platform, and correspondingly executes a water pump control program, a propeller control program or a water flow meter reading program according to the change of the variable in the data template so as to control the filtering unit and/or the power unit to complete corresponding actions;

s6: uploading data and event states generated by the power module, the filtering unit and the power unit to the cloud platform through the controller;

s7: the delay waits for the next control command from the user side, and when the user side issues the next control command, the steps S5-S7 are repeated.

In step S2, the controller is connected through the serial port terminal during the first debugging, nmcli is used in the terminal to manage the network interface, search and connect Wi-Fi, after setting, the nmcli script will automatically initialize and connect with the last recorded wireless local area network, and will continuously reconnect after disconnection, so as to ensure the stability of network connection.

In step S3, the specific step of the device authentication security authentication is that the controller executes the program automatically to transmit the device information to the cloud platform and sequentially executes the _ setup _ connection _ init _ parameters function and the IOT _ Template _ Start _ Yield _ Thread function in the cloud platform C-SDK, and after the connection with the cloud platform is successful, the SSL encryption is used to continue the subsequent transmission.

In step S4, in step S4, the initialization of the GPIO port includes defining a global time variable, running a water flow meter pulse detection thread, executing a GPIO initialization function, starting a water flow pulse interrupt detection thread, and performing a DEBUG test before the program runs. It is specifically set as follows:

v/define a global time variable

static unsigned int millis_time;

static unsigned int avr_traffic;

static unsigned int rise_times;

// water flow meter pulse detection thread

PI_THREAD(wPi_ISR)

{

int flag = 0;

while (1) {

if (digitalRead(16) != flag) {

Turbo_ISR();

flag = !flag;

}

}

}

// GPIO initialization function

static void _usr_init(void)

{

Log_d("add your init code here");

Log_d("--- init code start ---");

int test_pin = 8;

wiringPiSetup();

pinMode (15, OUTPUT);/MA _ EN left Propeller Enable PIN

pinMode (14, OUTPUT)// MB _ EN right-handed propeller enable PIN

pinMode (13, OUTPUT);/MA 1 left-hand spiral control PIN

pinMode (12, OUTPUT);/MA 2 left-hand spiral control PIN

pinMode (3, OUTPUT);/MB 1 right-hand spiral control PIN

pinMode (2, OUTPUT);/MB 2 right-hand spiral control PIN

pinMode (8, OUTPUT);/PUMP Water Pump enable control PIN

pinMode(16, INPUT); // TURBO

pullUpDnControl(7, PUD_UP);

// starting Water flow pulse interrupt detection thread

piThreadCreate(wPi_ISR);

DEBUG test before program run

digitalWrite(test_pin, HIGH);

Log_d("Pin %d is %d!", test_pin, digitalRead(test_pin));

delay (500);

digitalWrite(test_pin, LOW);

Log_d("Pin %d is %d!", test_pin, digitalRead(test_pin));

delay (500);

Log_d("--- init code end ---");

}。

In step S5, the data template uses a JSON format data template, and the data template comprises a water pump power supply control data template, a propeller control data template and a water flow sensor data template;

the data type of the water pump power supply control data template is Boolean type, the attribute is read-write, the starting and the closing of the water pump are controlled by changing the variable quantity, the setting is 0 for representing the closing of the water pump, and the setting is 1 for representing the starting of the water pump;

the data type of the propeller control data template is integer, the attribute is read-write, and the operation or stop of the left propeller and the right propeller is controlled respectively by changing variables; respectively setting 0 for closing the propeller, 1 for advancing the propeller, 2 for backing the propeller, 3 for turning the propeller to the left and 4 for turning the propeller to the right;

the data type of the water flow sensor data template is Boolean type, the attribute is read only, the capacity state of the current filter is obtained by reading the variable value, and the value is respectively set to be 0 to represent that the container is not full, and 1 to represent that the container is full.

The data template of this embodiment is specifically:

static void _init_data_template(void)

{

// water pump power supply control data template

sg_ProductData.pump_power_switch = 0;

sg_DataTemplate[0].data_property.data = &sg_ProductData.pump_power_switch;

sg_DataTemplate[0].data_property.key = "pump_power_switch";

sg_DataTemplate[0].data_property.type = TYPE_TEMPLATE_BOOL;

sg_DataTemplate[0].state = eCHANGED;

// Propeller control data template

sg_ProductData.motor = 0;

sg_DataTemplate[1].data_property.data = &sg_ProductData.motor;

sg_DataTemplate[1].data_property.key = "motor";

sg_DataTemplate[1].data_property.type = TYPE_TEMPLATE_ENUM;

sg_DataTemplate[1].state = eCHANGED;

Data template of water flow sensor

sg_ProductData.container_sensor = 0;

sg_DataTemplate[2].data_property.data = &sg_ProductData.container_sensor;

sg_DataTemplate[2].data_property.key = "container_sensor";

sg_DataTemplate[2].data_property.type = TYPE_TEMPLATE_ENUM;

sg_DataTemplate[2].state = eCHANGED;

}。

In step S5, the water pump control program configures the enabling control end of the water pump 12 according to the boolean deformation quantity pump _ power _ switch transmitted by the data template, and the water pump control program is specifically set as:

if (pData->pump_power_switch) {

digitalWrite(8, HIGH);

} else {

digitalWrite(8, LOW);

}。

the left propeller and the right propeller are configured according to a shaping variable motor transmitted by a data template, and the propeller control program is specifically set as follows:

switch (pData->motor) {

case 1:

digitalWrite(15, HIGH);digitalWrite(14, HIGH);

digitalWrite(13, HIGH);digitalWrite(12, LOW);

digitalWrite(3, HIGH);digitalWrite(2, LOW);break;

case 2:

digitalWrite(15, HIGH);digitalWrite(14, HIGH);

digitalWrite(13, LOW);digitalWrite(12, HIGH);

digitalWrite(3, LOW);digitalWrite(2, HIGH);break;

case 3:

digitalWrite(15, HIGH);digitalWrite(14, HIGH);

digitalWrite(13, LOW);digitalWrite(12, HIGH);

digitalWrite(3, HIGH);digitalWrite(2, LOW);break;

case 4:

digitalWrite(15, HIGH);digitalWrite(14, HIGH);

digitalWrite(13, HIGH);digitalWrite(12, LOW);

digitalWrite(3, LOW);digitalWrite(2, HIGH);break;

default:

digitalWrite(15, LOW);digitalWrite(14, LOW);break;

}。

the water flow meter reading program specifically comprises a pulse interruption triggering statistical water flow function and a water flow pushing function, the pulse interruption triggering statistical water flow function is used for calculating the flow value of the water flow meter, then the analog quantity is converted into a digital quantity through the water flow pushing function, and the digital quantity is specifically set as:

// pulse interrupt trigger statistical water flow function

static void Turbo_ISR(void)

{

if (rise_times < sampling_period) {

rise_times++;

} else {

rise_times = 0;

avr_traffic_L_MIN = (sampling_period * 1000) / (7.5 * (millis() - millis_time))

millis_time = millis()

Log_d("Turbo_ISR time %d", millis());

Log_d("avr_traffic %f L/MIN", avr_traffic_L_MIN);

}

}

// water flow push function

static void _refresh_local_property(void)

{

int get_container_sensor = 0;

if (avr_traffic_L_MIN <= 2) {

get_container_sensor = 1;

} else {

get_container_sensor = 0;

}

if (get_container_sensor != sg_ProductData.container_sensor) {

sg_ProductData.container_sensor = get_container_sensor;

sg_DataTemplate[2].state = eCHANGED;

}

// add your local property refresh logic

}。

Preferably, in steps S4 and S6, when the water flow detected by the water flow meter is lower than a set threshold, it is determined that the filter capacity is full, and the controller transmits an event to the cloud platform. When the water flow measured in the water flow meter 17 is lower than the threshold value, the space for accommodating the pollutants in the filter is judged to be full, then the event is sent to the user end through the controller and is timely fed back to the user, and the user is prompted to clean the filter. The water flow meter 17 of the embodiment adopts the turbine water flow detector, the turbine is pushed to rotate by water flow, and the number of pulses output by the rotation of the turbine is detected by the controller, so that the effect of flow detection is achieved.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (10)

1. An intelligent water body cleaning system is characterized by comprising a water body cleaning device, wireless network equipment and a cloud platform; the water body cleaning device comprises a controller, a filtering unit, a power supply module and a power unit; the controller is in communication connection with the wireless network device, and the wireless network device is in communication connection with the cloud platform;

the controller is used for downloading a control instruction sent by the cloud platform; the power unit is used for controlling the actions of the filtering unit and the power unit according to a control command; the system is used for uploading equipment conditions and events to the cloud platform;

the power supply module is used for supplying power to the controller, the filtering unit and the power unit;

the filtering unit is used for filtering impurities in the water body;

the power unit is used for driving the water body cleaning device to walk in the water body.

2. The intelligent water body cleaning system according to claim 1, wherein the filtering and cleaning unit comprises a filter and a water pump, a control end of the water pump is electrically connected with the controller, an input end of the water pump is connected with a water pumping hose, and an output end of the water pump is connected with an input end of the filter through a hose.

3. The intelligent water body cleaning system according to claim 2, wherein the filtering and cleaning unit further comprises a filtering relay and a water flow meter, an input end of the filtering relay is electrically connected with the controller, an output end of the filtering relay is electrically connected with a control end of the water pump, a water inlet end of the water flow meter is communicated with the water pump, and a water outlet end of the water flow meter is communicated with an input end of the filter.

4. The intelligent water body cleaning system according to claim 1, wherein the power unit comprises a left screw propeller and a right screw propeller, and the left screw propeller and the right screw propeller are respectively electrically connected with the controller.

5. The intelligent water body cleaning system according to claim 4, wherein the power driving unit further comprises a motor driving module, an input end of the motor driving module is electrically connected with the controller, an output end of the motor driving module is electrically connected with control ends of the left propeller and the right propeller respectively, and the motor driving module adopts an L298N chip.

6. The intelligent water body cleaning system according to claim 1, wherein the controller is a raspberry pi Duo 2.

7. A control method of the intelligent water body cleaning system according to any one of claims 1-6, characterized by comprising the following steps:

s1: the water body cleaning device is powered on and started, and the power supply module supplies power to the controller, the filtering unit and the power unit;

s2: the controller establishes communication connection with the wireless network equipment;

s3: the cloud platform establishes communication connection with the controller through the wireless network equipment and simultaneously performs equipment authentication security authentication;

s4: after the device authentication security authentication is successful, the controller initializes the GPIO port;

s5: the control instruction is transmitted to the cloud platform by the user side, the cloud platform adjusts the variable in the data template according to the control instruction, the controller receives the change of the variable in the data template in the cloud platform, and correspondingly executes a water pump control program, a propeller control program or a water flow meter reading program according to the change of the variable in the data template so as to control the filtering unit and/or the power unit to complete corresponding actions;

s6: uploading data and event states generated by the power module, the filtering unit and the power unit to the cloud platform through the controller;

s7: the delay waits for the next control command from the user side, and when the user side issues the next control command, the steps S5-S7 are repeated.

8. The method for controlling an intelligent water body cleaning system according to claim 7, wherein in step S4, the initialization of the GPIO port includes defining a global time variable, running a water flow meter pulse detection thread, executing a GPIO initialization function, starting a water flow pulse interruption detection thread, and performing a pre-DEBUG test.

9. The method as claimed in claim 7, wherein in steps S4 and S6, when the water flow detected by the water flow meter is lower than a set threshold, it is determined that the filter capacity is full, and the controller sends an event to the cloud platform.

10. The control method of an intelligent water body cleaning system according to claim 7, wherein the data template uses a JSON format data template, the data template comprises a water pump power supply control data template, a propeller control data template and a water flow sensor data template;

the data type of the water pump power supply control data template is Boolean type, the attribute is read-write, and the starting and the closing of the water pump are controlled by changing the variable quantity;

the data type of the propeller control data template is integer, the attribute is read-write, and the operation or stop of the left propeller and the right propeller is controlled respectively by changing variables;

the data type of the water flow sensor data template is Boolean type, the attribute is read only, and the capacity state of the current filter is obtained by reading the variable value.

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