AU2021441161B2 - Water quality monitoring device based on microbial fuel cell - Google Patents
Water quality monitoring device based on microbial fuel cell Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 144
- 230000000813 microbial effect Effects 0.000 title claims abstract description 130
- 239000000446 fuel Substances 0.000 title claims abstract description 120
- 238000012806 monitoring device Methods 0.000 title claims abstract description 27
- 229910001385 heavy metal Inorganic materials 0.000 claims abstract description 16
- 238000010248 power generation Methods 0.000 claims description 50
- 239000007788 liquid Substances 0.000 claims description 35
- 230000002572 peristaltic effect Effects 0.000 claims description 35
- 239000012895 dilution Substances 0.000 claims description 17
- 238000010790 dilution Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 15
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 13
- 229910052744 lithium Inorganic materials 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 12
- 230000001276 controlling effect Effects 0.000 claims description 11
- 239000000243 solution Substances 0.000 claims description 11
- 238000013178 mathematical model Methods 0.000 claims description 7
- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 claims description 6
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
- 229910052799 carbon Inorganic materials 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 239000003054 catalyst Substances 0.000 claims description 3
- 229910052697 platinum Inorganic materials 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 32
- 230000008901 benefit Effects 0.000 abstract description 12
- 238000011161 development Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 230000007774 longterm Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 9
- 239000000758 substrate Substances 0.000 description 8
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 150000002500 ions Chemical class 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000003911 water pollution Methods 0.000 description 4
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical compound [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 description 3
- 239000003929 acidic solution Substances 0.000 description 3
- 239000012670 alkaline solution Substances 0.000 description 3
- 239000002551 biofuel Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002378 acidificating effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 244000145845 chattering Species 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 101100518987 Mus musculus Pax1 gene Proteins 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M8/00—Fuel cells; Manufacture thereof
- H01M8/16—Biochemical fuel cells, i.e. cells in which microorganisms function as catalysts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/30—Hydrogen technology
- Y02E60/50—Fuel cells
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Abstract
A water quality monitoring device based on a microbial fuel cell, relating to the technical field of water quality monitoring. A storage battery module is provided in a main machine body (4) to provide power. The main machine body (4) can move in a water environment to detect the water quality of different areas in the water environment. An integrated sensor module (3) and a microbial fuel cell module are provided on the main machine body (4). The integrated sensor module (3) collects a pH value in the water environment. The microbial fuel cell module continuously and stably charges the storage battery module by means of sliding mode control, and collects data of current that is generated in the water environment and changes with time, wherein the data of the current changing with time is used for determining a heavy metal pollution status of the water environment. The water quality monitoring device combines a microbial fuel cell with a water quality monitoring system, improves the quality of water resources, and can also provide stable power supply for a long time to realize long-term real-time monitoring of water quality. The device has large technology and market development space, and has remarkable social benefits, economic benefits and environmental benefits.
Description
The present invention relates to the technical field of water quality monitoring, in particular to a water quality monitoring device based on a microbial fuel cell.
Serious water pollution has increased the contradiction of water resource shortage and is prone to frequent accidents. It not only causes factory shutdowns, crop yield reductions, and even crop failures, but also causes adverse social impacts and significant economic losses, seriously threatening the sustainable development of the society and the survival of humans. Therefore, there is an urgent need for real-time monitoring of water quality to prevent further exacerbation of water pollution and improve the quality of water resources. At present, the existing water quality monitoring related technologies require manual sampling on various occasions, making it difficult to achieve large-scale and long-term detection, so that it is impossible to analyze the quality situation and pollution degree of water and give a timely alert. Therefore, how to reduce manpower and analyze and monitor water quality comprehensively is an urgent problem that needs to be solved. The existing conventional water quality monitoring equipment use solar rechargeable buoys floating on the water surface as energy sources, and cannot monitor water quality under water for long periods and efficient cruise monitoring of water areas. For the existing water quality monitoring system, it cannot carry out real-time monitoring and comprehensive analysis of water quality for long periods of time, which needs to be improved urgently.
The purpose of the present invention is to provide a water quality monitoring device based on a microbial fuel cell to solve at least one technical problem in the background mentioned above. In order to achieve the above objectives, the present invention adopts the following technical solution.
The present invention provides a water quality monitoring device based on a microbial fuel cell, including: a main body; a storage battery module being arranged in the main body and configured to provide a power supply for the water quality monitoring device based on the microbial fuel cell; the main body being configured to move in a water environment to detect the water quality of different areas in the water environment; an integrated sensor module and a microbial fuel cell module being arranged on the main body; the integrated sensor module being configured to acquire the pH value and temperature of the water environment; the microbial fuel cell module being configured to continuously and stably charge the storage battery module through boundary layer sliding mode control, and acquire data of current varying with time generated through the water environment; and the data of current varying with time being used for determining a heavy metal pollution status of a water body. Preferably, a rotor bracket is fixed above the main body, and a plurality of propeller mechanisms are symmetrically connected to the rotor bracket; and the microbial fuel cell module is connected below the main body, and the integrated sensor module is mounted at a top of the rotor bracket. Preferably, the microbial fuel cell module includes a microbial fuel cell power generation unit and a microbial fuel cell sensor, and the microbial fuel cell power generation unit is configured to continuously and stably charge the storage battery module; and the microbial fuel cell sensor is configured to acquire the data of current varying with time generated through the water environment. Preferably, a liquid inlet peristaltic pump is arranged on one side of the microbial fuel cell power generation unit; a liquid outlet peristaltic pump and a storage tank are fixed on each of two sides of the microbial fuel cell module, and the liquid outlet peristaltic pump is fixed at an outlet of the storage tank; and each storage tank stores solution for regulating the pH value of the water environment. Preferably, the microbial fuel cell power generation unit includes a power generation anode and a power generation cathode, and the microbial fuel cell sensor includes a sensor anode and a sensor cathode. Preferably, the power generation anode, the sensor anode, the power generation cathode and the sensor cathode are all made of carbon cloth, and both the power generation cathode and the sensor cathode are coated with platinum as a catalyst.
Preferably, a microprocessor and a BDS positioning module are further arranged in the main body; the BDS positioning module transmits position information to the microprocessor, and the microprocessor plans a path of the main body based on the received position information and controls the main body to move; and the microprocessor determines whether the acquired pH value exceeds a preset range, and in a case that the acquired pH value exceeds the preset range, the liquid outlet peristaltic pump of the corresponding storage tank is controlled to pump out the solution in the storage tank, so as to regulate the pH value of the water environment. Preferably, the boundary layer sliding mode control keeps output voltage stable by controlling dilution rate, and the microprocessor controls the flow of the external water environment into the microbial fuel cell power generation unit by controlling the opening of the liquid inlet peristaltic pump, so as to control the dilution rate. the boundary layer sliding mode control includes: establishing a mathematical model of the microbial fuel cell through microbial and electrochemical dynamics; determining a sliding mode function in sliding mode control, defining a Lyapunov function as a convergence function to ensure the convergence of the sliding mode function, constructing a sliding mode reaching rate so that the convergence function is not always greater than 0, and solving the sliding mode reaching rate to obtain a sliding mode controller; and performing boundary layer design on a control rate based on the sliding mode controller, and replacing a symbol function in the control rate with a saturation function to finally obtain a boundary layer sliding mode controller. Preferably, the water quality monitoring device based on the microbial fuel cell further includes: a wireless communication module and a remote server; and the wireless communication module is arranged inside the main body, the microprocessor transmits the data of current varying with time to the remote server through the wireless communication module, and the remote server analyzes a curve of current varying with time to determine the heavy metal pollution status of the water environment. Preferably, each propeller mechanism includes a connecting rod connected to the rotor bracket, an end of the connecting rod is connected to a driving motor, and a driving shaft of the driving motor is connected to a propeller.
The present invention has the following beneficial effects: by combining the microbial fuel cell and the water quality monitoring system, the present invention not only can improve the quality of water resources, but also can provide a stable power supply for a long time to achieve the long-term real-time monitoring of water quality, thus having a large technology and market development space, and having remarkable social benefits, economic benefits and environmental benefits. The additional aspects and advantages of the present invention will be set forth in part in the description below, which will become apparent from the description below, or will be understood by the practice of the present invention.
To describe the technical solutions in the embodiments of the present invention more clearly, the following briefly describes the accompanying drawings required for describing the embodiments. Apparently, the accompanying drawings in the following description show merely some embodiments of the present invention, and a person skilled in the art may derive other drawings from these accompanying drawings without contributing any inventive labor. FIG. 1 illustrates a structural diagram of a water quality monitoring device based on a microbial fuel cell according to an embodiment of the present invention. FIG. 2 illustrates a schematic diagram of a working principle of regulating a pH value by a water quality monitoring device based on a microbial fuel cell according to an embodiment of the present invention. FIG. 3 illustrates a schematic diagram of a working principle of performing cruise by a water quality monitoring device based on a microbial fuel cell according to an embodiment of the present invention. In the drawings: 1-propeller; 2-driving motor; 3-sensor module; 4-main body; 5-storage tank; 6-liquid outlet peristaltic pump; 7-power generation cathode; 8-microbial fuel cell power generation unit; 9-liquid inlet peristaltic pump; 10-power generation anode; 11 microbial fuel cell sensor; 12-sensor anode; 13-sensor cathode; 14-rotor bracket; and 15 connecting rod.
Detailed description of the embodiments of present invention will be made in the following, and examples thereof are illustrated in the accompanying drawings, throughout which identical or similar elements or elements of identical or similar functions are represented with identical or similar reference numerals. The embodiments that are described with reference to the accompanying drawings are exemplary, and are only intended to interpret the present invention, instead of limiting the present invention. It is to be understood by a person skilled in the art that unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. It is further to be understood that, the terms such as those defined in commonly used dictionaries are to be interpreted as having meanings that are consistent with the meanings in the context of the related art, and are not to be interpreted in an idealized or extremely formalized sense, unless expressively so defined herein. It is to be understood by a person skilled in the art that unless specifically stated, the singular forms "a", "one", "said", and "the" used here may also include the plural forms. It is to be further understood that the terms "include" and/or "comprise" used in this description of the present invention specify the presence of stated features, integers, steps, operations, elements and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or combinations thereof In this description, the description of the reference terms "an embodiment", "some embodiments", "an example", "a specific example", "some examples" and the like means that specific features, structures, materials or characteristics described in combination with the embodiment(s) or example(s) are included in at least one embodiment or example of the present invention. Besides, the specific features, the structures, the materials or the characteristics that are described may be combined in proper manners in any one or more embodiments or examples. In addition, a person skilled in the art may integrate or combine different embodiments or examples described in the specification and features of the different embodiments or examples as long as they are not contradictory to each other. In this description, terms "first" and "second" are used merely for the purpose of description, and shall not be construed as indicating or implying relative importance or implying a quantity of indicated technical features. Therefore, a feature restricted by "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, unless otherwise specifically defined, "a plurality of" means two or more than two.
In this description, orientation or position relationships indicated by the terms such as "center", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on orientation or position relationships illustrated in the accompanying drawings, and are only intended to facilitate the description of the present invention and simplify the description, rather than indicating or implying that the mentioned apparatus or component needs to have a particular orientation or needs to be constructed and operated in a particular orientation. Therefore, such terms should not be construed as limitations on the present invention. Unless otherwise explicitly specified or defined, the terms such as "mount", "connected", "connect", and "arrange" should be understood in a broad sense. For example, it may be fixed connection or arrangement, detachable connection or arrangement, or integral connection or arrangement. A person skilled in the art may understand the specific meanings of the foregoing terms in the present invention according to specific situations. For ease of understanding the present invention, the present invention will be further described in more detail below in combination with the specific embodiments with reference to the accompanying drawings. It is to be understood by a person skilled in the art that the accompanying drawings are only schematic diagrams of embodiments, and the components in the accompanying drawings are not necessarily necessary for implementing the present invention. Embodiment 1 As a clean energy battery, biofuel cells can convert chemical energy into corresponding electrical energy, which has significant economic and social benefits for today's society. The problem we are facing now is how to take certain measures to better apply biofuel cells, in order to achieve a dialectical unity of economic, environmental, and social benefits. For this purpose, embodiment 1 of the present invention provides a water quality monitoring device based on a microbial fuel cell. Referring to FIG. 1, the water quality monitoring device based on the microbial fuel cell includes: a main body 4. A storage battery module is arranged in the main body 4 and configured to provide a power supply for the water quality monitoring device based on the microbial fuel cell. The main body is configured to move in a water environment to detect the water quality of different areas in the water environment. An integrated sensor module 3 and a microbial fuel cell module are arranged on the main body 4.
The integrated sensor module 3 is configured to acquire the pH value and temperature of the water environment. The microbial fuel cell module is configured to continuously and stably charge the storage battery module through boundary layer sliding mode control, and acquire data of current varying with time generated through the water environment. The data of current varying with time is used for determining a heavy metal pollution status of a water body. A rotor bracket 14 is fixed above the main body 4. A plurality of propeller mechanisms are symmetrically connected to the rotor bracket 14. The microbial fuel cell module is connected below the main body. The integrated sensor module 3 is mounted at a top of the rotor bracket 14. Each propeller mechanism includes a connecting rod 15 connected to the rotor bracket 14. An end of the connecting rod 15 is connected to a driving motor 2. A driving shaft of the driving motor 2 is connected to a propeller 1. The microbial fuel cell module includes a microbial fuel cell power generation unit 8 and a microbial fuel cell sensor 11. The microbial fuel cell power generation unit 8 is configured to continuously and stably charge the storage battery module. The microbial fuel cell sensor 11 is configured to acquire the data of current varying with time generated through the water environment. A liquid inlet peristaltic pump 9 is arranged on one side of the microbial fuel cell power generation unit 8. A liquid outlet peristaltic pump 6 and a storage tank 5 are fixed on each of two sides of the microbial fuel cell module. The liquid outlet peristaltic pump 6 is fixed at an outlet of the storage tank 5. Each storage tank 5 stores solution for regulating the pH value of the water environment. The microbial fuel cell power generation unit 8 includes a power generation anode 10 and a power generation cathode 7. The microbial fuel cell sensor 11 includes a sensor anode 12 and a sensor cathode 13. A microprocessor and a BDS positioning module are further arranged in the main body. The BDS positioning module transmits position information to the microprocessor. The microprocessor plans a path of the main body based on the received position information and controls the main body to move. The microprocessor determines whether the acquired pH value exceeds a preset range, and in a case that the acquired pH value exceeds the preset range, the liquid outlet peristaltic pump of the corresponding storage tank is controlled to pump out the solution in the storage tank, so as to regulate the pH value of the water environment.
The boundary layer sliding mode control keeps output voltage stable by controlling dilution rate. The microprocessor controls the flow of the external water environment into the microbial fuel cell power generation unit 8 by controlling the opening of the liquid inlet peristaltic pump 9, so as to control the dilution rate. The boundary layer sliding mode control includes: establishing a mathematical model of the microbial fuel cell through microbial and electrochemical dynamics; determining a sliding mode function in sliding mode control, defining a Lyapunov function as a convergence function to ensure the convergence of the sliding mode function, constructing a sliding mode reaching rate so that the convergence function is not always greater than 0, and solving the sliding mode reaching rate to obtain a sliding mode controller; and performing boundary layer design on a control rate based on the sliding mode controller, and replacing a symbol function in the control rate with a saturation function to finally obtain a boundary layer sliding mode controller. The water quality monitoring device based on the microbial fuel cell further includes: a wireless communication module and a remote server. The wireless communication module is arranged inside the main body. The microprocessor transmits the data of current varying with time to the remote server through the wireless communication module. The remote server analyzes a curve of current varying with time to determine a heavy metal pollution status of a water body. Embodiment 2 Referring to FIG. 1, embodiment 2 of the present invention provides a water quality monitoring device based on a microbial fuel cell. The device has better performance and higher monitoring efficiency. By combining the biofuel cell and the water quality monitoring system, the present invention not only can improve the quality of water resources, but also can achieve long-term real-time monitoring under water, thus having a large technology and market development space, and having remarkable social benefits, economic benefits and environmental benefits. The water quality monitoring device based on the microbial fuel cell includes a main body, a microprocessor arranged inside the main body, a lithium battery module (storage battery module), a boost module, a wireless communication module, and a BDS positioning module.
A rotor bracket 14 is fixed above the main body. An integrated sensor module 3 is fixed at the center above the rotor bracket 14. The integrated sensor module 3 includes a pH sensor and a temperature sensor, which respectively acquire the pH value and temperature of water. Propeller mechanisms are respectively arranged at four corners of the rotor bracket 14. Each propeller mechanism includes a connecting rod 15, a propeller 1, a driving motor (driving motor 2), and a matching electronic speed controller. Below the main body 4 is a microbial fuel cell module of the same size as the main body. The microbial fuel cell module includes a microbial fuel cell power generation unit 8 and a microbial fuel cell sensor 11, which are separated from each other. A liquid outlet peristaltic pump 6 and a storage tank 5 are fixed on each of two sides of the microbial fuel cell module. The liquid outlet peristaltic pump 6 is fixed at an outlet of the storage tank 5. One side of the microbial fuel cell power generation unit 8 is communicated with a liquid inlet peristaltic pump 9. The rotor bracket 14 has a square structure. Through holes are formed in an inner side of the rotor bracket and are configured to connect the propeller mechanisms. Through the through holes, the connecting rods 15 are connected by using bolts. The driving motors are connected to ends of the connecting rods 15. The propellers are connected to driving shafts of the driving motors. The lithium battery module provides energy for the water quality monitoring robot. The microbial fuel cell generates power by decomposing organic matters through anaerobic microbes between an anode and a cathode. The difference between the microbial fuel cell power generation unit and the microbial fuel cell sensor is that the function of the microbial fuel cell power generation unit is to continuously charge the lithium battery. The function of the microbial fuel cell sensor is to estimate the heavy metal content in the water area by observing a curve of current varying with time generated thereby. The voltage generated between the cathode and the anode of the microbial fuel cell power generation unit is unstable, so it is impossible to achieve direct charging of the lithium battery. Therefore, it is necessary to design a boundary layer sliding mode control method to keep voltage stable in embodiment 2. The design of the boundary layer sliding mode control method includes: In step 1, a mathematical model of the microbial fuel cell is established through microbial and electrochemical dynamics:
KS + x,
KS + x,
3 Sax + X2
V = E, - Rnln xi-19 n x],
where both E, and R,, are constants in the model, V represents the output voltage of
the microbial fuel cell, xi , x2 , X 3 and x4 are state variables in the model, xi represents
substrate concentration, x 2 represents microbial concentration, x 3 represents HCO 3 ion
concentration, x1 represents H* concentration, So represents initial substrate concentration,
Ks represents half-saturation constant, u represents dilution rate, ma. represents maximum
substrate consumption rate, and pmax represents microbial growth rate.
In step 2, a sliding mode function s = ce in sliding mode control is designed, where s is a sliding mode surface, C is an adaptive constant, e is a tracking error, e= V- Z, and Z is a tracking value of the system. In step 3, the convergence of the sliding mode function means the convergence of the
tracking error, so a Lyapunov function VL is designed to ensure the convergence of the
sliding mode function. The Lyapunov function VL isdesignedas:
V 1 2 2
Taking the derivative of Vyields:
YL = sS = s( CX R,(-qmax x fi+ux f2),
xxx S -x 1 S -x 1 where fi = 2 +a 2 , =2 -- +a S , and a is a specific constant. Ks + x1 x3(Ks + x) x2x
In step 4, a suitable sliding mode controller u is designed to ensure that VL is not always
greater than 0. The design of the sliding mode controller can be achieved through specific sliding mode reaching rate. The selected reaching rate is:
s=-c-sgn(s)-k-s (c>O,k>O), where C is the rate at which system's moving points reach the sliding mode function. The sliding mode controller is obtained by solving the reaching rate: u = c x sgn(s)+k-s-Z+c- Rr-q.- fi c- R, - f 2 In step 5, based on the sliding mode control described above, in order to reduce chattering, boundary layer design is performed on a control rate, and a saturation function sat(s /P) is adopted to replace a symbol function sgn(s) in the control rate, where ( > 0 is a boundary layer thickness saturation function defined as:
[sgn(s), S 99 sat(s/y)=
[s /y, s 9
Through the above design steps, a controller with a boundary layer is designed. There are state variables x1 , x2 and x 3 that are difficult to obtain directly. Therefore, the following method is designed in embodiment 2 to estimate their values indirectly. The initial concentrations of x3 and x 4 in a state equation model are both 0. It can be
obtained that x3 and x 4 have a function relationship x= ax x 4 , where x 4 represents H'
concentration. H* concentration can be obtained from the pH value. The two have the following relationship: pH=-lgc H* .
Therefore, H' concentration can be obtained through a pH sensor, and according to the relationship between x3 and x 4 , x 3 can be estimated as follow:
x3 -- -pH.
xi represents substrate concentration. Based on the expression equation of voltage V in
the mathematical model, with x3 already known, the following can be inferred:
+19n 1 nX3
x2 represents microbe concentration. In the process of monitoring water quality, assuming that the microbe concentration is only influenced by the controller u, i.e., the dilution rate, then based on the state equationof x 2 , the following can be obtained:
x2 = Pmax X -b-u(-1) 2. Ks +zx Solving it yields: b X2 =
- pmax -b-u(-1) Ks +)
where u(-1) is the control effect of the last dilution rate, the initial value of x 2 is b , and
t is time.
Through the above estimation method, the values of xi, x 2 and x3 can be estimated only
by measuring the pH and voltage, and then the stability of the output voltage of the microbial cell power generation module can be ensured through the sliding mode controller. The sliding mode controller u keeps the stability of the output voltage specifically by controlling the dilution rate. The specific control device of the dilution rate is the liquid inlet peristaltic pump, which is connected between the microbial fuel cell power generation module and the external water area. The opening of the liquid inlet peristaltic pump has a linear relationship with the controller u. The microbial fuel cell power generation module obtains stable output voltage through sliding mode control. The stable voltage generated by the microbial fuel cell is relatively small, and is boosted by the boost module to continuously charge the lithium battery. The energy of the water quality monitoring robot comes entirely from the lithium battery, which can achieve charging and discharging at the same time. After the water quality monitoring robot receives a stable energy supply, the integrated sensor starts working to obtain the pH and water temperature data of the water area, which are cached in the microprocessor and transmitted to a remote server every 2 h by the wireless communication module. After the water quality monitoring robot receives the stable energy supply, it drives the microbial fuel cell sensor. Data of current varying with time generated thereby is cached in the microprocessor and transmitted to the remote server by the wireless communication module every once in a while. The remote server analyzes a curve of current varying with time to obtain the heavy metal pollution status of the water area. The remote server learns about the heavy metal pollution status of the water area through a positive correlation between the current generated by the microbial fuel cell and the content of heavy metal ions. The higher the current, the more serious the water pollution. The pH sensor measures the specific pH value of the water. The water quality monitoring robot neutralizes the water based on the measured pH value of the water, sets a normal threshold of pH, and in a case that the measured pH value is more than the normal threshold, controls the left liquid outlet peristaltic pump to release acidic solution in the left water storage tank until the pH reaches the normal threshold, and turns off the liquid outlet peristaltic pump. In a case that the measured pH is less than the normal threshold, it controls the right liquid outlet peristaltic pump to release alkaline solution in the right water storage tank until the pH reaches the normal threshold. In order to ensure the measurement accuracy of pH, the pH value is read every other period of time. In a case that the mean square deviation of the recent results is less than a certain value, current pH is read as a final pH detection result. After the water quality in the current area is measured, the BDS positioning module is utilized to find the current position and the position of a next measurement point. The BDS positioning module transmits position information to the microprocessor. The microprocessor plans a path based on the received position information. The microprocessor further controls the four motors according to the planned path to rotate the propellers to reach the next water quality monitoring position. The horizontal and vertical movement of the water quality monitoring robot is achieved by controlling the forward and reverse rotation and rotating speed of the four motors. Embodiment 3 Referring to FIG. 1 to FIG. 3, embodiment 3 of the present invention provides a water quality monitoring device based on a microbial fuel cell, which includes a main body 4, a microprocessor arranged inside the main body, a lithium battery module, a boost module, a wireless communication module, and a BDS positioning module. A rotor bracket 14 is fixed above the main body. An integrated sensor module 3 is fixed at the center above the rotor bracket. The integrated sensor module includes a pH sensor and a temperature sensor. Propeller mechanisms are respectively arranged at four corners of the rotor bracket. Each propeller mechanism includes a propeller 1, a driving motor 2, and a matching electronic speed controller. Below the main body is a microbial fuel cell of the same size as the main body. The microbial fuel cell includes a microbial fuel cell power generation unit 8 and a microbial fuel cell sensor 11, which are separated from each other. A liquid outlet peristaltic pump 6 and a water storage tank 5 are fixed on each of two sides of the microbial fuel cell. The liquid outlet peristaltic pump 6 is fixed at a water outlet of the water storage tank 5. One side of the microbial fuel cell power generation unit is communicated with a liquid inlet peristaltic pump 9.
The rotor bracket 14 has a square structure. Through holes for accommodating the propeller mechanisms are formed in an inner side of the rotor bracket. The propellers 1 and the driving motors 2 are accommodated in the through holes. The lithium battery module provides energy for the water quality monitoring robot. The microbial fuel cell generates power by decomposing organic matters through anaerobic microbes between an anode and a cathode. The difference between the microbial fuel cell power generation unit 8 and the microbial fuel cell sensor 11 is that the function of the microbial fuel cell power generation unit 8 is to continuously charge the lithium battery. The function of the microbial fuel cell sensor 11 is to estimate the heavy metal content in the water area by observing a curve of current varying with time generated thereby. The microbial fuel cell power generation unit 8 and the microbial fuel cell sensor 11 both select carbon cloth as the anode and cathode. The cathode carbon cloth is coated with a small amount of platinum as a catalyst. The voltage generated between the cathode and the anode of the microbial fuel cell power generation unit 8 is unstable, so it is impossible to achieve direct charging of the lithium battery. Therefore, it is necessary to design a boundary layer sliding mode control method to keep voltage stable in embodiment 3, which includes: In step 1, a mathematical model of the microbial fuel cell is established through microbial and electrochemical dynamics:
Ks + xi
2 2 Pma x -Xbx-u(Soxi xi
i4 =9 qa - x2 -u(S' - xI) Ks + xi
V = E - R ln x-19 ln x3],
where both E, and R,, are constants in the model, V represents the output voltage of
the microbial fuel cell, x1 , x2 , x 3 and x4 are state variables in the model, x, represents
substrate concentration, x 2 represents microbial concentration, x 3 represents HCO 3 ion
concentration, 4 represents H* concentration, So represents initial substrate concentration,
Ks represents half-saturation constant, u represents dilution rate, q.. represents maximum
substrate consumption rate, and pm. represents microbial growth rate.
In step 2, a sliding mode function s = ce in sliding mode control is designed, where s is a sliding mode surface, c is an adaptive constant, e is a tracking error, e= V- Z, and Z is a tracking value of the system. In step 3, the convergence of the sliding mode function means the convergence of the
tracking error, so a Lyapunov function VL is designed to ensure the convergence of the
sliding mode function. The Lyapunov function V isdesignedas:
V 1 2 2
Taking the derivative of Vyields:
PL = ss = s( cX R,(- qma x f + u x f2)
x, xx So0 -x 1 So0 -x 1 where fi 2= +a , f2 = +a , and a is a specific constant. Ks + x1 x3(Ks + x) x x3
In step 4, a suitable sliding mode controller u is designed to ensure that VL is not always
greater than 0. The design of the sliding mode controller can be achieved through specific sliding mode reaching rate. The selected reaching rate is:
s=-c-sgn(s)-k-s (c>O,k>O), where C is the rate at which system's moving points reach the sliding mode function. The sliding mode controller is obtained by solving the reaching rate:
= x sgn(s)+-k-s- Z+c-Rn -x. f c- R, -f2
In step 5, based on the sliding mode control described above, in order to reduce chattering, boundary layer design is performed on a control rate, and a saturation function
sat(s/P) is adopted to replace a symbol function sgn(s) in the control rate, where P > 0 is a
boundary layer thickness saturation function defined as:
[sgn(s), S>99 sat(s /y)= .
[s/y, s >9
Through the above design steps, a controller with a boundary layer is designed. There are
state variables x1 , x2 and x 3 that are difficult to obtain directly. Therefore, the following
method is designed in embodiment 2 to estimate their values indirectly.
The initial concentrations of x3 and x 4 in a state equation model are both 0. It can be
obtained that x 3 and x 4 have a function relationship x 3 = axx 4 , where x4 represents H'
concentration. H* concentration can be obtained from the pH value. The two have the following relationship:
pH=-lgc H*
. Therefore, H' concentration can be obtained through a pH sensor, and according to the
relationship between x3 and x 4 , x 3 can be estimated as follow:
x3 = ae-pH
xi represents substrate concentration. Based on the expression equation of voltage V in
the mathematical model, with x3 already known, the following can be inferred:
E V+ 19 nX 3
x2 represents microbe concentration. In the process of monitoring water quality,
assuming that the microbe concentration is only influenced by the controller u, i.e., the
dilution rate, then based on the state equation of x 2 , the following can be obtained:
=K Pax 1 -b-u(-1) 2. Ks +zx
Solving it yields: b X 2
iK- p x -b-u(-1)' Ks + X
where u(-1) is the control effect of the last dilution rate, the initial value of x 2 is b , and
t is time.
Through the above estimation method, the values of xi, x 2 and x3 can be estimated only
by measuring the pH and voltage, and then the stability of the output voltage of the microbial cell power generation module can be ensured through the sliding mode controller. The sliding mode controller u keeps the stability of the output voltage specifically by controlling the dilution rate. The specific control device of the dilution rate is the liquid inlet peristaltic pump, which is connected between the microbial fuel cell power generation module and the external water area. The opening of the liquid inlet peristaltic pump has a linear relationship with the controller u.
The microbial fuel cell power generation module 8 obtains stable output voltage through sliding mode control. The stable voltage generated by the microbial fuel cell is relatively small, and is boosted by the boost modules S-882Z24 and S-83378AJA to continuously charge the lithium battery. The energy of the water quality monitoring robot comes entirely from the lithium battery, which can achieve charging and discharging at the same time. After the water quality monitoring robot receives a stable energy supply, the integrated sensor 3 starts working to obtain the pH and water temperature data of the water area, which are cached in the microprocessor and transmitted to a remote server every 2 h by a 2.4G wireless communication module. After the water quality monitoring robot receives the stable energy supply, it drives the microbial fuel cell sensor 11 to start working. A sensor anode 12 and a sensor cathode 13 respectively serve as an anode and cathode of the microbial fuel cell sensor. Data of current varying with time generated thereby is cached in the microprocessor and transmitted to the remote server by the 2.4G wireless communication module every 2 h. The remote server analyzes a curve of current varying with time to obtain the heavy metal pollution status of the water area. The remote server learns about the heavy metal pollution status of the water area through a positive correlation between the current generated by the microbial fuel cell and the content of heavy metal ions. In a case that the water quality is normal, the current is basically maintained between 0.014-0.015 mA. The higher the current, the more serious the water pollution. In a case that the current is more than 0.015 mA but not more than 0.04 mA, it is considered mild pollution. In a case that the current is more than 0.04 mA, it is considered serious pollution. The water quality monitoring robot neutralizes the water based on the measured pH value of the water, sets a normal threshold of pH to 6.5-8.5, and in a case that the measured pH value is more than 8.5, controls the left liquid outlet peristaltic pump 6 to release HCL solution in the left water storage tank 5 until the pH reaches 7-8, and turns off the liquid outlet peristaltic pump. In a case that the measured pH is less than 6.5, it controls the right liquid outlet peristaltic pump 6 to release NaOH solution in the right water storage tank 5 until the pH reaches 7-8. In order to ensure the measurement accuracy of pH, the pH value is read every 10 min. In a case that the mean square deviation of the recent five results is less than 0.3, current pH is read as a final pH detection result.
After the water quality in the current area is measured, the BDS positioning module is utilized to find the current position and the position of a next measurement point. The BDS positioning module transmits position information to the microprocessor. The microprocessor plans a path based on the received position information. The microprocessor further controls the four driving motors 2 according to the planned path to rotate the propellers 1 to reach the next water quality monitoring position. The horizontal and vertical movement of the water quality monitoring robot is achieved by controlling the forward and reverse rotation and rotating speed of the four motors. To sum up, the water quality monitoring device based on the microbial fuel cell in the embodiments of the present invention utilizes the microbial fuel cell to generate power, achieves recovery of energy in the water area without causing pollution to the water area, and extends the working time of the water quality monitoring robot under water. The stability of the output voltage of the microbial fuel cell is ensured through the boundary layer sliding mode control. The microbial fuel cell, as the underwater heavy metal sensor, is easy to build, is cost-effective, and also ensures the detection accuracy. A water quality improvement device configured to adaptively control release of acidic and alkaline solution is designed for small-sized and medium-sized water areas, which effectively improves water quality by releasing acidic and alkaline solution based on the pH of the water. The foregoing descriptions are merely exemplary embodiments of the present disclosure, but are not intended to limit the present disclosure. The present disclosure may include various modifications and changes for a person skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure shall fall within the protection scope of the present disclosure. The specific implementations of the present disclosure are described above with reference to the accompanying drawings, but are not intended to limit the scope of protection of the present disclosure. A person skilled in the art should understand that various modifications or variations may be made without contributing any inventive labor based on the technical solution of the present invention, which, however, shall fall within the scope of protection of the present invention.
Claims (5)
1. A water quality monitoring device based on a microbial fuel cell, comprising a main body (4); a storage battery module being arranged in the main body (4) and configured to provide a power supply for the water quality monitoring device based on the microbial fuel cell; the main body being configured to move in a water environment to detect the water quality of different areas in the water environment; wherein a rotor bracket (14) is fixed above the main body, and a plurality of propeller mechanisms are symmetrically connected to the rotor bracket (14); wherein each propeller mechanism comprises a connecting rod (15) connected to the rotor bracket (14), an end of the connecting rod (15) is connected to a driving motor (2), and a driving shaft of the driving motor (2) is connected to a propeller (1); a microbial fuel cell module is connected below the main body, and an integrated sensor module (3) is mounted at a top of the rotor bracket (14); the integrated sensor module (3) being configured to acquire the pH value and temperature of the water environment; the microbial fuel cell module being configured to continuously and stably charge the storage battery module through a boundary layer sliding mode control, and acquire data of current varying with time generated through the water environment; and the data of current varying with time being used for determining a heavy metal pollution status of a water body; wherein, the microbial fuel cell module comprises a microbial fuel cell power generation unit (8) and a microbial fuel cell sensor (11), and the microbial fuel cell power generation unit (8) is configured to continuously and stably charge the storage battery module; and the microbial fuel cell sensor (11) is configured to acquire the data of current varying with time generated through the water environment; a microprocessor and a BDS positioning module are further arranged in the main body; wherein, the BDS positioning module transmits position information to the microprocessor, and the microprocessor plans a path of the main body based on the received position information and controls the main body to move; a liquid inlet peristaltic pump (9) is arranged on one side of the microbial fuel cell power generation unit (8), and is connected between the microbial fuel cell power generation unit (8) and the external water area; the microprocessor controls the flow of the external water into the microbial fuel cell power generation unit (8) by controlling an opening of the liquid inlet peristaltic pump (9), so as to control a dilution rate to keep an output voltage generated by the microbial fuel cell power generation unit (8) stable; wherein, the opening of the liquid inlet peristaltic pump (9) has a linear relationship with a sliding mode controller, and the output voltage is relatively small, and is boosted by a boost module to continuously charge a lithium battery; and a liquid outlet peristaltic pump (6) and a storage tank (5) are fixed on each of two sides of the microbial fuel cell module, and the liquid outlet peristaltic pump (6) is fixed at an outlet of the storage tank (5); and each storage tank (5) stores solution for regulating the pH value of the water environment; wherein, the microprocessor determines whether the acquired pH value exceeds a preset range, and in a case that the acquired pH value exceeds the preset range, the liquid outlet peristaltic pump of the corresponding storage tank is controlled to pump out the solution in the storage tank, so as to regulate the pH value of the water environment.
2. The water quality monitoring device based on the microbial fuel cell according to claim 1, wherein the microbial fuel cell power generation unit (8) comprises a power generation anode (10) and a power generation cathode (7), and the microbial fuel cell sensor (11) comprises a sensor anode (12) and a sensor cathode (13).
3. The water quality monitoring device based on the microbial fuel cell according to claim 1, wherein the power generation anode (10), the sensor anode (12), the power generation cathode (7) and the sensor cathode (13) are all made of carbon cloth, and both the power generation cathode (7) and the sensor cathode (13) are coated with platinum as a catalyst.
4. The water quality monitoring device based on the microbial fuel cell according to claim 1, wherein the boundary layer sliding mode control keeps output voltage stable by controlling the dilution rate, and the microprocessor controls the flow of the external water environment into the microbial fuel cell power generation unit (8) by controlling the opening of the liquid inlet peristaltic pump (9), so as to control the dilution rate; and the boundary layer sliding mode control comprises: establishing a mathematical model of the microbial fuel cell through microbial and electrochemical dynamics; determining a sliding mode function in sliding mode control, defining a Lyapunov function as a convergence function to ensure the convergence of the sliding mode function, constructing a sliding mode reaching rate so that the convergence function is not always greater than 0, and solving the sliding mode reaching rate to obtain a sliding mode controller; and performing boundary layer design on a control rate based on the sliding mode controller, and replacing a symbol function in the control rate with a saturation function to finally obtain a boundary layer sliding mode controller.
5. The water quality monitoring device based on the microbial fuel cell according to claim 1, wherein the water quality monitoring device based on the microbial fuel cell further comprises: a wireless communication module and a remote server; and the wireless communication module is arranged inside the main body, the microprocessor transmits the data of current varying with time to the remote server through the wireless communication module, and the remote server analyzes a curve of current varying with time to determine the heavy metal pollution status of the water environment.
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| PCT/CN2021/099785 WO2022217734A1 (en) | 2021-04-14 | 2021-06-11 | Water quality monitoring device based on microbial fuel cell |
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