CN120864636A - Unmanned aerial vehicle-based algae control system and method in cooperation with intelligent underwater robot - Google Patents

Unmanned aerial vehicle-based algae control system and method in cooperation with intelligent underwater robot

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Publication number
CN120864636A
CN120864636A CN202511122593.3A CN202511122593A CN120864636A CN 120864636 A CN120864636 A CN 120864636A CN 202511122593 A CN202511122593 A CN 202511122593A CN 120864636 A CN120864636 A CN 120864636A
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CN
China
Prior art keywords
algae
underwater robot
uav
unmanned aerial
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202511122593.3A
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Chinese (zh)
Inventor
田凤秋
牛丽
郭靖
任平
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Suzhou Vocational University
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Suzhou Vocational University
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Priority to CN202511122593.3A priority Critical patent/CN120864636A/en
Publication of CN120864636A publication Critical patent/CN120864636A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/001—Processes for the treatment of water whereby the filtration technique is of importance
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/50—Treatment of water, waste water, or sewage by addition or application of a germicide or by oligodynamic treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Organic Chemistry (AREA)
  • Environmental & Geological Engineering (AREA)
  • Water Supply & Treatment (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了基于无人机的与智能投放水下机器人协同控藻系统及方法，其中，基于无人机的与智能投放水下机器人协同控藻系统，包括无人机、水下机器人和协同控制平台。无人机上设有监控摄像头和定位模块，监控摄像头基于可见光和多谱光监测水面藻类，定位模块用于实时定位无人机位置。水下机器人内设有除藻模块，除藻模块包括控藻剂单元和负压吸附单元，控藻剂单元用于释放除藻剂，负压吸附单元用于吸附富藻水体以降低藻密度。协同控制平台包括无线通信模块。本发明可以将无人机与水下机器人进行联动，无人机能够为水下机器人提供全局视野，进而可以实现水下机器人的精准投放，达到最佳的除藻效果，从而可以大幅提高除藻效率。

This invention discloses a collaborative algae control system and method based on unmanned aerial vehicles (UAVs) and intelligent underwater robots. The UAV-based collaborative algae control system includes a UAV, an underwater robot, and a collaborative control platform. The UAV is equipped with a monitoring camera and a positioning module. The monitoring camera monitors surface algae using visible light and multispectral light, and the positioning module is used to locate the UAV's position in real time. The underwater robot contains an algae removal module, which includes an algaecide unit and a negative pressure adsorption unit. The algaecide unit releases algaecide, and the negative pressure adsorption unit adsorbs algae-rich water to reduce algae density. The collaborative control platform includes a wireless communication module. This invention enables the UAV and underwater robot to work together. The UAV provides the underwater robot with a global field of view, allowing for precise deployment of the underwater robot and achieving optimal algae removal efficiency, thus significantly improving algae removal efficiency.

Description

Unmanned aerial vehicle-based algae control system and method in cooperation with intelligent underwater robot
Technical Field
The invention belongs to the technical field of water area ecological management, and particularly relates to an unmanned aerial vehicle-based collaborative algae control system and method with an intelligent underwater robot.
Background
The ecological management of the water area is to promote the recovery of the water ecological system of the water area by manual restoration measures, and construct a healthy, complete and stable ecological system. The algae control is an important link of water ecological management, and the algae control technology can inhibit excessive propagation of algae in water by biological, physical or chemical methods, so that the beneficial effects of improving water quality, maintaining ecological balance and reducing water pollution can be achieved.
However, the conventional algae control mainly relies on manual sampling and ship operation, and has the defects of low efficiency, narrow coverage, slow response and the like. With the progressive development of technology, unmanned and underwater robots are used for algae control. The intelligent unmanned aerial vehicle for cleaning the algae on the river surface is disclosed in the Chinese patent with the publication number of CN107264800A, and a cleaning mechanism is arranged on the unmanned aerial vehicle and can clean the algae on the river surface. For another example, the Chinese patent with publication number of CN116331430A discloses an amphibious underwater cleaning robot which can clean strong attachments which are difficult to remove, such as algae, barnacles, shellfish, culture cabins and the like, in a grading manner. However, the unmanned aerial vehicle can only remove surface algae, treat symptoms and not treat the root causes, and the underwater robot lacks a global visual field, is guided by manpower, and does not solve the problems of cooperative control and accurate throwing of the air and water equipment.
Therefore, in order to solve the above technical problems, it is necessary to provide an unmanned aerial vehicle-based algae control system and method in cooperation with an intelligent underwater robot.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle-based collaborative algae control system and method with an intelligent underwater robot, which can solve the problems of the background technology.
In order to achieve the above object, a specific embodiment of the present invention provides the following technical solution:
Unmanned aerial vehicle-based and intelligent underwater robot release cooperative algae control system comprises an unmanned aerial vehicle, an underwater robot and a cooperative control platform. The unmanned aerial vehicle is provided with a monitoring camera and a positioning module, the monitoring camera monitors algae on the water surface based on visible light and multispectral light, and the positioning module is used for positioning the unmanned aerial vehicle in real time. The underwater robot is internally provided with an algae removal module, the algae removal module comprises an algae control agent unit and a negative pressure adsorption unit, the algae control agent unit is used for releasing the algae removal agent, and the negative pressure adsorption unit is used for adsorbing an algae-rich water body to reduce the algae density. The cooperative control platform comprises a wireless communication module, and the cooperative control platform interacts with the unmanned aerial vehicle and the underwater robot through the wireless communication module.
In one or more embodiments of the present invention, a plurality of wind-disturbance-resistant steady-flow covers are provided on the unmanned aerial vehicle, the wind-disturbance-resistant steady-flow covers are provided at the tail ends of the rotor arms of the unmanned aerial vehicle, and the cover surfaces of the wind-disturbance-resistant steady-flow covers are provided with pneumatic diversion trenches.
In one or more embodiments of the present invention, the algicide unit includes an algicide bin, a piezoelectric ceramic micropump, and a spray head, the piezoelectric ceramic micropump is installed in the algicide bin, and the spray head is installed at a liquid outlet of the piezoelectric ceramic micropump.
In one or more embodiments of the invention, the negative pressure adsorption unit comprises a coaxial double-stage impeller and a filter screen, wherein the pore diameter of the filter screen is smaller than 50 μm, and the outer side of the filter screen is covered with an algae-repellent coating.
In one or more embodiments of the present invention, an algae identification module is further disposed in the cooperative control platform, and the algae identification module establishes an algae classification model based on multispectral features.
In one or more embodiments of the invention, the algae identification module can combine the monitoring camera monitoring data with historical hydrologic data to generate an algal bloom diffusion prediction thermodynamic diagram.
In one or more embodiments of the present invention, a laser ranging module is installed at the bottom of the unmanned aerial vehicle, and the laser ranging module is used for calibrating the operation start coordinates of the underwater robot.
In one or more embodiments of the present invention, an obstacle avoidance module and an energy efficiency management module are further disposed in the underwater robot, and the energy efficiency management module dynamically adjusts the travelling speed according to the residual electric quantity of the underwater robot.
In one or more embodiments of the invention, the cooperative control platform employs a dynamic grid partitioning algorithm for partitioning a water area into prioritized differentiated working grids.
The algae control method is applied to the unmanned aerial vehicle-based algae control system cooperated with the intelligent underwater robot, and comprises the following steps:
s1, the unmanned aerial vehicle cruises through a monitoring camera to scan a water area, and returns multispectral images in real time;
s2, the cooperative control platform utilizes an algae identification module to identify the algal bloom region and generate a dynamic operation grid;
s3, hovering the unmanned aerial vehicle above the target grid, and calibrating an operation point through a laser ranging module;
s4, receiving coordinates by the underwater robot, and starting double-mode treatment of throwing and adsorption through the algicide control unit and the negative pressure adsorption unit;
s5, the unmanned aerial vehicle verifies the treatment effect and feeds back the treatment effect to the cooperative control platform for iterative optimization strategy.
Compared with the prior art, the unmanned aerial vehicle-based and intelligent underwater robot throwing collaborative algae control system and method can link the unmanned aerial vehicle with the underwater robot, the unmanned aerial vehicle can provide a global visual field for the underwater robot, further accurate throwing of the underwater robot can be achieved, the best algae removal effect is achieved, and therefore algae removal efficiency can be greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a system block diagram of an unmanned aerial vehicle-based collaborative algae control system with an intelligent delivery underwater robot in an embodiment of the invention;
FIG. 2 is a flowchart of a method for controlling algae cooperatively with an intelligent underwater robot based on an unmanned aerial vehicle in an embodiment of the invention;
FIG. 3 is a schematic diagram of collaborative algae control operation with an intelligent underwater robot based on an unmanned aerial vehicle in an embodiment of the present invention;
FIG. 4 is a first angular perspective view of the unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of FIG. 4A;
FIG. 6 is a second angular perspective view of the drone according to one embodiment of the present invention;
FIG. 7 is a cross-sectional view of a portion of a unmanned aerial vehicle according to an embodiment of the present invention;
Fig. 8 is a schematic diagram of the structure at B in fig. 7.
The main reference numerals illustrate:
The unmanned aerial vehicle comprises a 1-unmanned aerial vehicle main body, a 101-monitoring camera, a 2-wind disturbance resisting steady flow cover, a 201-pneumatic diversion trench, a 3-laser ranging probe, a 4-rollover prevention mechanism, a 401-counterweight tank, 402-counterweight liquid, 403-liquid pump, 404-distribution pipe, 405-connecting pipe and 406-liquid outlet pipe.
Detailed Description
In order that those skilled in the art will better understand the technical solutions in the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
As shown in fig. 1 to 3, the unmanned aerial vehicle-based collaborative algae control system with an intelligent underwater robot in an embodiment of the invention comprises an unmanned aerial vehicle, an underwater robot and a collaborative control platform. The unmanned aerial vehicle is provided with a monitoring camera 101 and a positioning module, wherein the monitoring camera 101 monitors algae on the water surface based on visible light and multispectral light, and the positioning module is used for positioning the unmanned aerial vehicle in real time. The underwater robot is internally provided with an algae removal module, the algae removal module comprises an algae control agent unit and a negative pressure adsorption unit, the algae control agent unit is used for releasing the algae removal agent, and the negative pressure adsorption unit is used for adsorbing the algae-enriched water body so as to reduce the algae density. The cooperative control platform comprises a wireless communication module, and the cooperative control platform interacts with the unmanned aerial vehicle and the underwater robot through the wireless communication module.
As shown in fig. 3, the invention performs cooperative coordination with the underwater robot through unmanned plane recognition, and at the unmanned plane end, the algae on the water surface is recognized by using the monitoring camera 101 based on visible light and multispectral light, and related data is transmitted to the cooperative control platform through the wireless communication module. At the underwater robot end, the data transmitted by the cooperative control platform are received, algae removal is realized through the mutual cooperation of the algae control agent unit and the negative pressure adsorption unit, namely the algae control agent unit can spray the algae removal agent, and the negative pressure adsorption unit can adsorb the algae-rich water body to reduce the algae density.
In this embodiment, the band range monitored by the monitoring camera 101 is 450-900nm, so that the monitoring accuracy can be ensured. The underwater robot adopts a flat streamline cabin body, so that the resistance during underwater operation is reduced. The cooperative control platform forms a star network with the unmanned aerial vehicle and the underwater robot through the LoRa+5G dual-mode communication module.
As shown in fig. 4 to 8, the unmanned aerial vehicle includes an unmanned aerial vehicle body 1, and a monitoring camera 101 is mounted on a side wall of the unmanned aerial vehicle body 1. The application recognizes algae on the water surface by utilizing the monitoring camera 101 based on visible light and multispectral light, and has the advantages of high recognition rate and high precision.
Wherein, install a plurality of anti-wind-disturbance stationary flow covers 2 on the unmanned aerial vehicle main part 1, the rotor arm end of unmanned aerial vehicle main part 1 is located to anti-wind-disturbance stationary flow cover 2, as shown in fig. 4. The surface of the anti-wind-disturbance steady flow cover 2 is provided with a pneumatic diversion trench 201. The anti-wind-disturbance steady flow cover 2 can improve stability of the unmanned aerial vehicle main body 1 when hovering on the water surface so as to ensure image acquisition precision. Simultaneously, through the setting of pneumatic guiding gutter 201, can further increase the wind-resistant effect of preventing wind of anti-wind interference stationary flow cover 2 to unmanned aerial vehicle main part 1 rotor, guarantee unmanned aerial vehicle main part 1's stability in use.
In this embodiment, the cover body of the anti-wind-disturbance steady flow cover 2 adopts a carbon fiber honeycomb structure, so that the overall strength of the anti-wind-disturbance steady flow cover 2 can be ensured, and the service life of the anti-wind-disturbance steady flow cover can be ensured.
In addition, the depth to width ratio of pneumatic channel 201 is 1.5:1.
As shown in fig. 4 to 8, a gyroscope is further installed on the unmanned aerial vehicle body 1, and is used for monitoring the flight attitude of the unmanned aerial vehicle body 1.
Meanwhile, in order to avoid rollover of the unmanned aerial vehicle main body 1, an anti-rollover mechanism 4 is further installed on the unmanned aerial vehicle main body 1 in the embodiment.
The rollover prevention mechanism 4 includes a plurality of weight tanks 401, weight liquid 402, a liquid pump 403, and a plurality of connection pipes 405. The plurality of weight tanks 401 are fixedly installed at the lower sides of the rotor wings of the unmanned aerial vehicle body 1, that is, at positions shown in fig. 4, respectively. The counterweight liquid 402 can get into one or more counterweight tanks 401 through a plurality of connecting pipes 405 respectively under the action of the liquid pump 403 to be used for increasing the counterweight of unmanned aerial vehicle main body 1 rotor, avoid unmanned aerial vehicle main body 1 to appear turning on one's side.
When the gyroscope monitors that the unmanned aerial vehicle main body 1 has a rollover trend or the inclination is overlarge, the liquid pump 403 runs rapidly and extracts the counterweight liquid 402, the extracted counterweight liquid 402 enters into one or more counterweight tanks 401 on the lower side of a rotor wing of the tilted unmanned aerial vehicle main body 1 through the connecting pipe 405 and is used for increasing counterweights corresponding to the counterweight tanks 401, further rolling of the unmanned aerial vehicle main body 1 is avoided, rollover of the unmanned aerial vehicle main body 1 can be effectively avoided, stability of the unmanned aerial vehicle main body 1 when hovering on the water surface is guaranteed, and image acquisition precision and safety are guaranteed.
In addition, a storage cavity is formed in the unmanned aerial vehicle main body 1, and the counterweight liquid 402 and the liquid pump 403 are both arranged in the storage cavity.
Specifically, be equipped with the trading liquid pipe at unmanned aerial vehicle main part 1 lateral wall, trade liquid pipe and storage chamber and be linked together, be convenient for change weight liquid 402.
In this embodiment, the connection tube 405 is made of metal, and the surface thereof is coated with an anti-corrosion coating. The connecting pipe 405 made of metal can avoid swinging around in a strong wind environment, so that stability and safety of the unmanned aerial vehicle main body 1 during flight cannot be affected. Through the setting of anticorrosive coating, can avoid unmanned aerial vehicle main part 1 when the surface of water hovers effectively, connecting pipe 405 is corroded by the moisture, and then can improve connecting pipe 405's life by a wide margin.
As shown in fig. 4 to 8, a dispensing tube 404 is mounted at the liquid outlet end of the liquid pump 403, the dispensing tube 404 is disposed in the storage chamber, one end of a connecting tube 405 is connected to the dispensing tube 404, and a control valve is mounted on the connecting tube 405.
When the pump 403 is operated, the pump 403 pumps the weight fluid 402 from the storage chamber, and the pumped weight fluid 402 passes through the distribution pipe 404. When the gyroscope monitors that the unmanned aerial vehicle body 1 inclines to one side, the control valve on the corresponding side connecting pipe 405 is opened, and the rest control valves are closed. In the balance weight jar 401 of the unmanned aerial vehicle main part 1 rotor downside of distributing pipe 404 interior counter weight liquid 402 entering perk through connecting pipe 405 for increase the counter weight that corresponds counter weight jar 401, avoid unmanned aerial vehicle main part 1 to appear further to roll, thereby can avoid unmanned aerial vehicle main part 1's roll on one's side effectively, guarantee unmanned aerial vehicle main part 1's stability when the surface of water hovers, in order to ensure image acquisition precision and security.
When the unmanned aerial vehicle body 1 no longer rolls or gradually tends to be horizontal, the liquid pump 403 stops running, and the counterweight liquid 402 is not conveyed to the counterweight tank 401 any more, so that excessive roll correction of the unmanned aerial vehicle body 1 is avoided.
The dispensing pipe 404 is provided with a liquid outlet pipe 406, the liquid outlet pipe 406 is communicated with the storage cavity, and the liquid outlet pipe 406 is provided with a check valve, so that the weight liquid 402 in the dispensing pipe 404 can only flow unidirectionally to the storage cavity through the liquid outlet pipe 406.
When the counterweight liquid 402 in the counterweight tank 401 needs to be discharged, the control valve is opened, and the counterweight liquid 402 in the counterweight tank 401 enters the distributing pipe 404 through the connecting pipe 405 under the action of gravity and enters the storage cavity through the liquid outlet pipe 406 because the height of the counterweight tank 401 is higher than that of the distributing pipe 404, so that the counterweight liquid can be reused later.
As shown in FIG. 1, the algicide control unit comprises an algicide control bin, a piezoelectric ceramic micropump and a spray head, wherein the piezoelectric ceramic micropump is arranged in the algicide control bin, the spray head is arranged at the liquid outlet end of the piezoelectric ceramic micropump, and the piezoelectric ceramic micropump can be operated to extract the medicament in the algicide control bin and discharge the medicament through the spray head so as to achieve the algae removal effect. Meanwhile, accurate fixed-point injection of the medicament can be realized through the spray head, and water diffusion waste is avoided.
Wherein, the pulse frequency (f) of the piezoelectric ceramic micropump and the algae density (rho) are controlled in a correlated way, f=50+0.2rho (Hz) is satisfied, so as to ensure that the concentration of the medicament in the high algae area is constant.
In this embodiment, the algicide cabin includes a slow-release type medicament cabin and a quick-acting type medicament cabin, and can monitor the result monitored by the camera 101 to selectively release different types of medicaments, so as to avoid the waste of medicaments.
In addition, the spray head is a conical focusing spray head controlled by an electromagnetic switch, the diffusion angle of the spray head is less than or equal to 15 degrees, the medicament spraying precision can be greatly improved, and the medicament waste is avoided.
As shown in FIG. 1, the negative pressure adsorption unit comprises a coaxial two-stage impeller and a filter screen, the rotating speed of the impeller is more than or equal to 3000rpm, the pore diameter of the filter screen is less than 50 mu m, and the outer side of the filter screen is covered with an algae-repellent coating.
Preferably, the filter screen adopts a microporous ceramic filter screen, the pore diameter of the filter screen is 20 mu m, the porosity is 85%, the adsorption efficiency of algae cells can be greatly improved, and meanwhile, the filter screen is prevented from being blocked.
As shown in FIG. 1, an algae identification module is further arranged in the cooperative control platform, and the algae identification module establishes an algae classification model based on multispectral characteristics, so that algae types, such as blue algae/green algae/diatom, can be automatically identified, and differential treatment is guided.
The algae classification model takes ResNet-18 as a backbone network, and inputs the characteristics including normalized algae index and fluorescence excitation, so that the algae classification model can improve the accuracy of identifying algae and is used for distinguishing harmful algae such as microcystis and tremella.
In addition, the algae identification module can combine the monitoring data of the monitoring camera 101 and the historical hydrologic data to generate an algae bloom diffusion prediction thermodynamic diagram, so that the algae bloom explosion trend can be predicted, and the deployment path of the underwater robot is optimized.
As shown in fig. 1 to 8, a laser ranging module is installed at the bottom of an unmanned aerial vehicle main body 1, the laser ranging module comprises a laser ranging probe 3, the laser ranging probe 3 is used for calibrating operation starting coordinates of an underwater robot, namely, the laser ranging probe 3 of the unmanned aerial vehicle and the underwater robot are subjected to kalman filtering fusion positioning, and can generate a three-dimensional point cloud map of a water area and label coordinates of a high-risk operation area.
As shown in fig. 1, an obstacle avoidance module and an energy efficiency management module based on a sonar technology are further arranged in the underwater robot, and the energy efficiency management module dynamically adjusts the travelling speed according to the residual electric quantity of the underwater robot. The energy efficiency management module dynamically adjusts the propulsion power P (W) according to the water flow speed v (m/s), wherein P=10v2+50.
The cooperative control platform adopts a dynamic grid partitioning algorithm for partitioning a water area into operation grids with different priorities. Namely, the dynamic grid partitioning algorithm establishes a Markov decision process model, and a reward function R=alpha rho-beta E-gamma S (alpha, beta, gamma are weight coefficients), wherein rho (cells/mL) is algae density, E (%) is equipment residual electric quantity, S (m 2) is area, and the method is used for improving global treatment efficiency and avoiding repeated coverage.
As shown in fig. 2, the algae control method in an embodiment of the present invention is applied to the above-mentioned unmanned plane-based algae control system in cooperation with an intelligent underwater robot, and includes the following steps:
S1, cruising the unmanned aerial vehicle along a Z-shaped path, wherein the flying height is 30m, scanning a water area through a monitoring camera 101, returning multispectral images to a cooperative control platform in real time, and calculating a normalized algae index by an algae identification module;
s2, when the normalized algae index is more than 0.25, dividing a dynamic variable grid by the cooperative control platform, wherein the size of the grid is inversely related to the algae density;
s3, hovering the unmanned aerial vehicle to a high-risk grid center, calibrating an operation base point of the underwater robot by the laser ranging probe 3, and monitoring the flight attitude of the unmanned aerial vehicle by a gyroscope;
S4, if the unmanned aerial vehicle has a rollover trend or is large in rolling, the liquid pump 403 runs and pumps the counterweight liquid 402 in the storage cavity, and the pumped counterweight liquid 402 enters the distribution pipe 404;
S5, a control valve on a corresponding side connecting pipe 405 is opened, other control valves are in a closed state, and counterweight liquid 402 in a distributing pipe 404 enters a counterweight tank 401 at the lower side of a rotor wing of an unmanned aerial vehicle main body 1 through the connecting pipe 405 and is used for increasing counterweight corresponding to the counterweight tank 401, so that the unmanned aerial vehicle main body 1 is prevented from further rolling, rollover of the unmanned aerial vehicle main body 1 can be effectively avoided, and stability of the unmanned aerial vehicle main body 1 when hovering on the water surface is guaranteed, so that image acquisition precision and safety are guaranteed.
S6, the underwater robot receives the instruction of the cooperative control platform and intelligently puts the instruction into a high-risk grid center, and algae removal is carried out according to an algae type selective medicament mode, such as a blue algae start slow-release bin and a green algae start quick-acting bin;
And S7, after the underwater robot treatment is completed, the unmanned plane secondarily scans the water area, and the effect is evaluated through the chlorophyll fluorescence attenuation rate and the grid parameters are iterated.
It will be apparent to those skilled in the art that the present disclosure is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1.基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，包括：1. A drone-based collaborative algae control system with an intelligent underwater robot, characterized in that it comprises: 无人机，所述无人机上设有监控摄像头和定位模块，所述监控摄像头基于可见光和多谱光监测水面藻类，所述定位模块用于实时定位无人机位置；The drone is equipped with a monitoring camera and a positioning module. The monitoring camera monitors algae on the water surface based on visible light and multispectral light, and the positioning module is used to locate the drone's position in real time. 水下机器人，内设有除藻模块，所述除藻模块包括控藻剂单元和负压吸附单元，所述控藻剂单元用于释放除藻剂，所述负压吸附单元用于吸附富藻水体以降低藻密度；An underwater robot is equipped with an algae removal module, which includes an algae control agent unit and a negative pressure adsorption unit. The algae control agent unit is used to release algae removal agent, and the negative pressure adsorption unit is used to adsorb algae-rich water to reduce algae density. 协同控制平台，包括无线通信模块，所述协同控制平台通过无线通信模块与所述无人机和所述水下机器人数据交互。The collaborative control platform includes a wireless communication module, which interacts with the UAV and the underwater robot via the wireless communication module. 2.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述无人机上设有多个抗风扰稳流罩，所述抗风扰稳流罩设于无人机的旋翼臂末端，所述抗风扰稳流罩的罩体表面设有气动导流槽。2. The algae control system based on UAV and intelligent underwater robot according to claim 1, characterized in that the UAV is provided with multiple wind disturbance stabilizing fairings, the wind disturbance stabilizing fairings are located at the ends of the rotor arms of the UAV, and the surface of the wind disturbance stabilizing fairings is provided with aerodynamic guide grooves. 3.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述控藻剂单元包括控藻剂仓、压电陶瓷微泵和喷头，所述压电陶瓷微泵安装于控藻剂仓内，所述喷头安装于压电陶瓷微泵出液端。3. The algae control system based on UAV and intelligent underwater robot according to claim 1, characterized in that the algae control agent unit includes an algae control agent tank, a piezoelectric ceramic micropump and a nozzle, wherein the piezoelectric ceramic micropump is installed in the algae control agent tank and the nozzle is installed at the liquid outlet end of the piezoelectric ceramic micropump. 4.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述负压吸附单元包括同轴双级叶轮和滤网，所述滤网孔径小于50μm，且滤网外侧覆盖有疏藻涂层。4. The algae control system based on UAV and intelligent underwater robot according to claim 1, characterized in that the negative pressure adsorption unit includes a coaxial two-stage impeller and a filter screen, the filter screen having a pore size of less than 50 μm and an algae-reducing coating on the outside of the filter screen. 5.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述协同控制平台内还设有藻类识别模块，所述藻类识别模块基于多光谱特征建立藻种分类模型。5. The algae control system based on UAV and intelligent underwater robot according to claim 1, characterized in that the collaborative control platform is further provided with an algae identification module, which establishes an algae species classification model based on multispectral features. 6.根据权利要求5所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述藻类识别模块能结合所述监控摄像头监控数据与历史水文数据生成藻华扩散预测热力图。6. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 5, characterized in that the algae identification module can generate an algae bloom diffusion prediction heat map by combining the monitoring data from the monitoring camera with historical hydrological data. 7.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述无人机底部安装有激光测距模块，所述激光测距模块用于标定水下机器人的作业起始坐标。7. The algae control system based on unmanned aerial vehicles (UAVs) and intelligent underwater robots according to claim 1, characterized in that a laser ranging module is installed on the bottom of the UAV, and the laser ranging module is used to calibrate the starting coordinates of the underwater robot's operation. 8.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述水下机器人内还设有避障模块与能效管理模块，所述能效管理模块根据水下机器人剩余电量动态调整行进速度。8. The algae control system based on unmanned aerial vehicles and intelligent underwater robots according to claim 1, characterized in that the underwater robot is further provided with an obstacle avoidance module and an energy efficiency management module, wherein the energy efficiency management module dynamically adjusts the travel speed according to the remaining power of the underwater robot. 9.根据权利要求1所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，所述协同控制平台采用动态网格分区算法，用于将水域划分为优先级差异化的作业网格。9. The UAV-based collaborative algae control system with intelligent underwater robot deployment according to claim 1, characterized in that the collaborative control platform adopts a dynamic grid partitioning algorithm to divide the water area into priority-differentiated operation grids. 10.一种控藻方法，应用于权利要求1-9任意一项所述的基于无人机的与智能投放水下机器人协同控藻系统，其特征在于，包括以下步骤：10. A method for controlling algae, applied to the algae control system based on unmanned aerial vehicles and intelligent underwater robots as described in any one of claims 1-9, characterized in that it includes the following steps: S1、无人机通过监控摄像头巡航扫描水域，实时回传多光谱影像；S1. The drone scans the waters using a monitoring camera and transmits multispectral images back in real time. S2、协同控制平台利用藻类识别模块识别藻华区域并生成动态作业网格；S2. The collaborative control platform uses the algae identification module to identify algal bloom areas and generate dynamic work grids. S3、无人机悬停至目标网格上方，通过激光测距模块标定作业点；S3. The drone hovers above the target grid and marks the work point using the laser ranging module; S4、水下机器人接收坐标，通过控藻剂单元和负压吸附单元，启动投放与吸附的双模式治理；S4. The underwater robot receives the coordinates and initiates a dual-mode treatment process of algae control agent and negative pressure adsorption through the algae control agent unit and the negative pressure adsorption unit. S5、无人机验证治理效果，反馈至协同控制平台迭代优化策略。S5. The effectiveness of the governance is verified by drones, and the feedback is sent to the collaborative control platform to iteratively optimize the strategy.
CN202511122593.3A 2025-08-12 2025-08-12 Unmanned aerial vehicle-based algae control system and method in cooperation with intelligent underwater robot Pending CN120864636A (en)

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Publication number Priority date Publication date Assignee Title
CN218810982U (en) * 2022-08-10 2023-04-07 佛山市南海区苏科大环境研究院 Water surface algae collecting device with adsorption function
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