CN106125159A - A kind of water pollution is derived from dynamic detection method - Google Patents
A kind of water pollution is derived from dynamic detection method Download PDFInfo
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Abstract
The invention discloses a kind of water pollution and be derived from dynamic detection method, including controller, and controlled by described controller driving means, sampling apparatus, aspect sensor, water quality sensor；(1) pollutant monitoring threshold value S is set0；(2) multiple water quality sensors gather primary pollution substrate concentration every Δ T simultaneously, take maximum S and S of these data0Compare, as S≤S0Time, detection device continues to advance according to inceptive direction；Work as S > S0Time, detection device advances towards the direction at the water quality sensor place corresponding to maximum S, until arriving polluter region.The method of the present invention can automatically cruise in waters, is automatically positioned, unattended, sample is also taken back in the position in automatic searching water pollution source；People can be arrived be difficult to arrive or the waters of high-risk；Automatic real-time monitoring can detect the situation of water area water-quality on a large scale, provide concrete water pollution substrate concentration.
Description
Technical field
The invention belongs to water area water-quality field of detecting, be derived from dynamic detection method more particularly, to a kind of water pollution.
Background technology
Along with industrialization, the continuous quickening of urbanization process, water pollution event is increasing, daily to the people
The sustainable development of life and human society brings serious infringement.Therefore, the protection to water source is strengthened and to water dirt
The punishment of dye behavior has been very urgent.At present, various places generally exist sets up illegally hidden pipe steal row, or directly discharge with flexible pipe or
The outrages such as dilution discharge.If not can determine that the orientation of pollutant in river, pollutant leakage undoubtedly will along with time
Between passage and become the most serious.
Containing a large amount of poisonous and harmful substances in wastewater from chemical industry, although be emitted in water body not necessarily cause black and odorous water,
Eutrophication, but the harm that a lot of colorless and odorless material causes is bigger, such as, the heavy element such as hydrargyrum, lead, arsenic, cadmium, chromium has persistently
Property murder by poisoning pollute.Additionally, organic pollution is also threaten Water quality, such as the dichlorvos contained in common pesticides, refining
Polychlorinated biphenyls that Jiao Yezhong discharges, how containing aromatic hydrocarbons.After these chemical products, side-product enter water body, the hazard ratio richness battalion caused
Fosterization is much harder, and these pollutant are but difficult to find with perusal.
Conventional water quality monitoring method is to arrange substantial amounts of monitoring point in the range of waters, is carried out in real time by manual sampling
Monitor on the spot, monitor and analysis process is complicated, the cycle is long, need to expend a large amount of manpower and materials, also by weather and the hydrology etc. certainly
So restriction of condition, and this method can only understand the surface water quality situation on monitoring section, only has local with typical
Represent meaning.Environmental monitoring and Environmental Management Work " point is many, wide, amount is big ", and have " in all directions, round-the-clock, full-time
System " feature, in order to thoroughly solve the undermanned problem of environmental law enforcement, save executive cost, improve supervision usefulness, need badly
Build polluter and automatically search system, it is achieved water quality parameter is carried out automatic monitor for continuously, signal processing and transmission.
Summary of the invention
The technical problem to be solved is to overcome the defect in the monitoring of existing water pollution source, it is provided that a kind of unmanned
Automatically waters polluter detection method, it is possible at waters automatic searching polluter such as lakes, it is achieved the position in water pollution source is certainly
Dynamic follow the trail of and detection, can automatically detect the situation of water area water-quality on a large scale, monitor and measure the kind of pollutant in water body, all kinds of
The concentration of pollutant and variation tendency, record status of the water area, provide concrete water pollution substrate concentration data.
To achieve these goals, the invention provides a kind of unmanned waters polluter detection method automatically, its feature exists
In, detection device includes that data processing module, memory module, timing module, aspect sensor, multiple being distributed in detect device not
The water quality sensor of co-located, detection flow process includes:
(1) in data processing module, pollutant monitoring threshold value S is set0As standard value, detection device is according to initial side
March forward；
(2) under timing module regulates and controls, multiple water quality sensors gather primary pollution concentration data also every Δ T simultaneously
It is uploaded to data processing module, the memory module real time record water quality through path and positional information；
When the pollutant levels data that multiple water quality sensors gather are close or identical simultaneously, detection device is along former direction
Motion；
When multiple pollutant levels data that multiple water quality sensors gather exist a maximum S simultaneously, data
Processing module takes S and S0Compare,
As S≤S0Time, detection device advances along former direction；
Work as S > S0Time, detection device advances towards the direction that the pollutant levels data collected are maximum, until it reaches dirty
Region, dye source, confirms polluter position.
Further, detection device also includes sampling apparatus, and in step (2), after arriving polluter position, sampling apparatus enters
Row sampling.
Further, body is also equipped with obstacle detecting sensor, uploads obstacle detection information to control unit in real time,
Control unit, according to the obstacle detection information received, controls driver element and changes direction with avoidance.
Further, the detection region of obstacle detecting sensor is sector region, and sector region sensitivity can detect barrier
Hinder the width of part of thing not less than the Breadth Maximum detecting device.
Further, water quality sensor has A, B, C, D tetra-, before and after A, B be distributed, about C, D be distributed, the line of A, B with
The line of C, D is vertical；Detection device also includes sampling apparatus；
In step (2), when only one of which maximum in the pollutant levels data of water quality sensor A, B, C, D detection
Time,
A () maximum is B, then gather the sample of B location and return initial position；
B () A sensor is still maximum, then move on；
C () C or D is maximum, detection device is diverted to orientation, greatest contamination substrate concentration place；
When the pollutant levels value having two or more positions to detect in sensor is maximum and equal,
D () A=B or A=B=C or A=B=C=D, gathers the sample of A or B sensing station and returns initial bit
Put；
E () C=D or A=C=D or B=C=D, gathers the sample of C or D sensing station and returns initial position；
F () A=C, then advanced after C deflects 45 ° by A, again judge that the pollutant that A, B, C, D detect are dense after Δ T
Degree maximum；
If (g) A=D, then advanced after D deflects 45 ° by A, after Δ T, again judge the pollution that A, B, C, D detect
Substrate concentration maximum.
Further, detection device also includes communication module, carries out data exchange for real-time and tele-control system, and
Receive the instruction of tele-control system.
Present invention also offers a kind of water pollution and be derived from dynamic detection method, wherein,
Detection device includes
Body, and control unit, driver element, sampling unit and the sensing unit being installed on body；Sensing unit
Including aspect sensor, water quality sensor, it is respectively used to gather orientation, water quality information；Driver element be used for driving body and
The each unit carried on body is transported to target bearing on waters；Sampling unit is used for sampling of water quality；Control unit includes meter
Time module, data processing module, memory module；Between the time that timing module gathers water quality information for controlling water quality sensor
Every；The water quality information that data processing module gathers for comparative analysis water quality sensor；Memory module is used for storage orientation, water quality
Information；Control unit combines positional information that aspect sensor gathers and the water quality information result of data processing module is true
Determine polluter position, control the motion of driver element, the sampling behavior of control sampling unit；
It is characterized in that, detection flow process includes:
(1) operating path of detection device is preset；
(2) detection device is stored by the operating path Real-time Collection pollutant levels preset and coordinate data, real-time typing
Module；
(3) draw water quality scattergram according to the information of storage, confirmed the position of polluter by water quality scattergram.
Further, controller also includes communication module, carries out data exchange for real-time and tele-control system, and connects
Receive the instruction of tele-control system.
Further, in step (2), detection device is by the operating path Real-time Collection pollutant levels preset and number of coordinates
According to, directly it is uploaded on tele-control system.
Further, tele-control system the most automatically draws water quality scattergram according to the information received.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it is possible to show under acquirement
Benefit effect:
1) can be automatically positioned to water pollution source, for the environmental conservation in waters；
2) increase harbour management department monitor Pollution From Ships, other types noxious pollutant and discharge dirt from submarine pipeline
The motility of dye material and adaptability；
3) grasp water area water-quality distribution situation, grasp the source of pollutant, expanding, migrate, react, convert, understand pollution
The thing influence degree to environmental quality；
4) implement pollution monitoring accurately and reliably, provide law enforcement foundation for environmental law enforcement department；
5) can automatically cruise work and monitor water area water-quality, provide one method fast, effortlessly for water quality monitoring.
Accompanying drawing explanation
Fig. 1 is block diagram of system schematic diagram；
Fig. 2 is first embodiment external structure solid schematic top plan view；
Fig. 3 is the elevational schematic view of Fig. 2；
Fig. 4 is the interior layout top view of Fig. 2；
Fig. 5 is the perspective exploded view of Fig. 2；
Fig. 6 is detection device search overall procedure schematic diagram；
Fig. 7 is that pollutant levels measure transducer arrangements and numbering schematic diagram；
Fig. 8 is detection device range searching schematic diagram；
Fig. 9 is detection device precise search flow chart.
In all of the figs, identical reference is used for representing identical element or structure, wherein:
The left and right impeller of control unit 1 driver element 2 21,22
Yielding coupling 23 motor 24 sampling unit 3
Valve 31 sample cell 32 electric magnet 33
Aspect sensor 4 locating module 41 electronic compass 42
Water quality sensor 5 obstacle detecting sensor 6 body 7
Power module 8
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.If additionally, technical characteristic involved in each embodiment of invention described below
The conflict of not constituting each other just can be mutually combined.In the middle of accompanying drawing, simple and clear for expressing, to the conventional line between each parts
Connect and omitted.
Fig. 1 is the block diagram of system schematic diagram of the present invention unmanned waters polluter automatically detection device, and Fig. 2 to Fig. 5 divides
Do not show the outwardly and inwardly structure of the unmanned detection device of waters polluter automatically of first embodiment of the invention.The present invention
One embodiment includes: body, and control unit, driver element, sampling unit and the sensing unit being installed on body；Sensing
Unit includes aspect sensor, water quality sensor, obstacle detecting sensor, is respectively used to gather orientation, water quality, complaint message；
Driver element, for driving each unit carried on body and body to be transported to target bearing on waters；Sampling unit, uses
In sampling of water quality；Control unit, including timing module, data processing module, memory module；Timing module is used for controlling water quality and passes
Sensor gathers the time interval of water quality information；The water quality information that data processing module gathers for comparative analysis water quality sensor；
Memory module is used for storage orientation, water quality information；Control unit combines at positional information and the data of aspect sensor collection
The water quality information result of reason module determines polluter position, the motion controlling driver element, the sampling of control sampling unit
Behavior.
Driver element includes that left and right impeller, yielding coupling and motor, left and right impeller are arranged in the both sides of body.Motor leads to
Crossing yielding coupling and connect impeller, export rotation to impeller, the blade of impeller is immersed in the water in whole or in part.Detection device
Advance, retreat and turn to rely on two impellers rotation direction realize.When the rotating respectively of two impellers, then realize detection dress
That puts turns to, and two impellers rotate forward simultaneously or invert, then realize advance or the retrogressing of detection device.It is appreciated that when detection dress
Putting needs 180 ° when turning to (or reversely advance), direct two impellers invert simultaneously, readvance more than rotation 180 °
Convenient.Steering operation can also be realized by the speed difference of two wheel rotation.
The protected cover in the outside (not shown) of impeller, protective cover is fixed on body, and protective cover is positioned at the outside of impeller,
The lower section of impeller leaves opening so that impeller normally contacts realization and drives with water.Protective cover is to prevent impeller from touching bank, barrier
Hinder thing etc..
Sampling unit is consistent with the quantity of water quality sensor and position one_to_one corresponding, it is ensured that the water quality data of sampling and water
The data consistent that matter sensor reads.In the present embodiment, sampling unit is as the adnexa of water quality sensor.Sampling unit includes
Valve, sample cell, electric magnet, electric magnet controls the folding of valve according to the instruction of control unit, and when valve is opened, water sample enters
Sample cell；After valve closing, stop sampling.Valve has rubber ring (not shown), the water around because of detection device can be prevented
Permeate and affect sampling water quality.As required, sampling unit can arrange multiple, gathers the water quality sample of multiple position simultaneously.
The sample cell of the present embodiment is to be set directly on valve, in other embodiments (not shown), and sample cell can also be located at this
Internal, valve is only used as water sample and enters the entrance of sample cell.
Sensing unit, sampling unit and driver element are provided with sealing structure (not shown), it is to avoid it is internal that water enters this
Portion；Control unit and power module are fixed on the inside of body, and power module provides energy for control unit, thus drives other
Parts are operated.
The sensing unit that detection device is used mainly includes that water quality detection sensor, aspect sensor, obstacle detection sense
Device.Water quality sensor is arranged in the front, rear, left and right edge of body.Aspect sensor is arranged at the central upper portion of body,
Including locating module and electronic compass, obstacle detecting sensor is arranged in the orientation that body moves forward and backward.Use to upload
Sensor, can complete the detection required for detection device, location, and the accurate control of traffic direction to be realized in motor process
System and barrier avoiding function.
Water quality sensor carries out water quality detection and detection data is uploaded at the data of control unit the waters of process
Reason module, carries out the analysis of pollutant levels.Water quality sensor can be changed as required, select measure content include water temperature,
The water such as pH value, electrical conductivity, dissolved oxygen, ammonium ion, cryanide ion, nitrate anion, COD, TOC, turbidity, chlorophyll a and blue-green alge pollute
One or more in factor.
Aspect sensor realizes tracking and the determination of polluter position of detection plant running track, and pollution detected
After source, utilizing currently detected positional information to return initial starting point, locating module uses GPS in the present embodiment
Sensor.The direction of the electronic compass detection detection device of aspect sensor, under the regulation and control of control unit, with driver element one
Act the corner controlling detection device.
Body is also equipped with obstacle detecting sensor, detection and the distance of barrier and uploads obstacle to control unit in real time
Detection information, detects after barrier certain distance, and control unit, according to the obstacle detection information received, controls to drive list
Unit changes direction, it is achieved the avoidance of detection device.Obstacle detecting sensor can use laser range finder, it is possible to based on ultrasound wave
The method of range finding carries out distance of obstacle measurement.
In the present embodiment, two ultrasonic sensors lay respectively at the perpendicular bisector two ends of left and right impeller line.Ultrasonic biography
Sensor has large scattering angle degree, and ultrasound examination region is fan-shaped, and sector region sensitive can detect the part of barrier
Width not less than detection device Breadth Maximum, with ensure detection plant running front region in can pass through.Due to barrier
Hindering the uncertainty of thing concrete shape, barrier is also possible to occur from direction of advance both sides, the now sky between barrier
Gap likely allows to detect device directly by without turning to, and sector region sensitive can detect the part of barrier
Width not less than detection device Breadth Maximum, then can ensure that the space of barrier allow by when just do not turn to
Directly pass through, improve detection efficient, save the energy.
Aforesaid way can also be by arranging the less sonac of multiple scattering angle or multiple on detection device
Laser range finder realizes detecting the judgement of barrier in device forward area.Further, according to the detection environment in waters, water
Feelings feature needs, and can install obstacle detecting sensor in the detection top of device, middle part and bottom the most simultaneously, more accurately complete
Ground, face judges the barrier situation of detection device direction of advance.
Control unit also includes: electricity monitoring module, when electricity is relatively low, sends alarm signal and by control unit control
Driver element return processed；Communication module, carries out data exchange for real-time and tele-control system, and receives tele-control system
Instruction.By communication module, in real time and tele-control system exchanges data to the data processing module of control unit, can be real-time
Tele-control system monitors water quality information or real-time rendering water quality scattergram.The memory module real time record water of control unit
Matter information and positional information, above-mentioned information also directly can be derived by the outside of control unit, is used for drawing water area water-quality distribution
Figure.
Body carries solar panel, continues a journey for electric power, increases the working time.
When searching polluter, detection device is with the concentration of water pollutant as foundation, the closer to polluter pollutant
Concentration is the biggest.Detection device is according to the pollutant levels automatic path planning gathered, Automatic-searching polluter.Overall search process
As shown in Figure 6, it is further described below:
(1) in data processing module, pollutant monitoring threshold value S is set0As standard value, detection device is according to initial side
March forward；S0Value be set according to the pollutant detected and pollution norms.
(2), under the timing module in control unit regulates and controls, multiple water quality sensors gather primary pollution every Δ T simultaneously
Concentration data is also uploaded to data processing module, the memory module real time record water quality through path and positional information；
When the pollutant levels data that multiple water quality sensors gather are close or identical simultaneously, detection device is along former direction
Motion；Close referring to, according to the general standard of this area, owing to water is flowing, pollutant levels typically will not be the most uniform
Unanimously, therefore the fluctuation of concentration in the range of certain numerical value would generally be considered as normal phenomenon, the numerical value in the range of this is considered as closely
Like value；
When the pollutant levels that multiple water quality sensors gather exist a maximum S simultaneously, data processing module takes S
With S0Compare,
As S≤S0Time, detection device uses range searching pattern to scan for；
Work as S > S0Time, detection device uses precise search pattern to scan for, until it reaches polluter region, confirms
Polluter position.
More specifically detection process, as shown in Fig. 7～Fig. 9.In the present embodiment, at detection device four direction cloth respectively
Having put water quality sensor, be respectively designated as A, B, C, D, wherein A is the direction advanced, as shown in Figure 7.
When detecting device and being range searching pattern, travel forward all the time, until meeting barrier or S being detected S0,
Process shown in it is as shown in Figure 8.The solid circles of outside represents detection waters, such as reservoir.Detection device is from starting point, to presetting
Fixed inceptive direction advances.When search starts, set pollutant monitoring threshold value S0.When scanning for, gather every Δ T and remember
(specific substance concentration, temperature, pH value etc., these are all the characteristic quantities of the corresponding pollutant levels of reflection, system to record a concentration data
It is referred to as concentration data), the maximum of the data taking current location record is S, as S≤S0Time, illustrate from polluter farther out, this
Time detection device be in cruise mode, continue to advance along former direction, as shown in dotted arrow a；When detecting near barrier one
After set a distance, detect device auto-steering, as shown in dotted arrow b；When running to border, waters also auto-steering (because water
Border, territory is also to stop detection plant running " obstacle "), as shown in dotted arrow c, d；Until S being detected > S0.Work as S > S0Time,
Enter precise search pattern.
Spermatic cord search pattern can have two kinds, and the first is as follows.
Detection device advances towards the direction at the water quality sensor place corresponding to maximum S all the time, until entering close
The nucleus of polluter, such as dashed circle region in Fig. 8, now detection device can show as within a certain period of time, in this district
Territory comes and goes, if only needing rough estimate polluter position, now can estimate polluter (i.e. dashed region in Fig. 8 in this region
Territory).As needed accurately detecting polluter position, when detection device repeatedly comes and goes (dashed region in such as Fig. 8) in a certain region, then
Utilize the data that memory module is recorded, the maximum S of this region internal contamination substrate concentration to be detectedmaxPosition is (red in figure
Point position) it is polluter position.After determining polluter position, detection device arrives polluter position and samples, basis subsequently
The azimuth information of aspect sensor and memory module record finds home position, and straight line returns.
The second search procedure of precise search pattern is as shown in Figure 9.Under this search pattern, detection device all the time to
The maximum direction of pollutant levels to advance, specifically can have following several judgment rule,
When only one of which maximum in the pollutant levels value of detection:
A () maximum is B sensor, then gather the sample of B sensing station and return initial position；
B () A sensor is still maximum, then can move on；
C () C or D sensor is maximum, detection device is diverted to orientation, greatest contamination substrate concentration place.
When the pollutant levels value having two or more positions to detect in sensor is maximum and equal:
D () A=B or A=B=C or A=B=C=D, gathers the sample of A or B sensing station and returns initial bit
Put；
E () C=D or A=C=D or B=C=D, gathers the sample of C or D sensing station and returns initial position；
F () A=C, then advanced after C deflects 45 ° by A, again judge that the pollutant that A, B, C, D detect are dense after Δ T
Degree maximum；
If (g) A=D, then advanced after D deflects 45 ° by A, after Δ T, again judge the pollution that A, B, C, D detect
Substrate concentration maximum.
It can be seen that the core of above-mentioned rule is, finds the maximum direction of pollutant levels accurately and advance, directly towards the direction
To the most no longer there is pollutant levels change, polluter position can be accurately positioned.
In order to improve polluter location efficiency, save electricity thus extend cruising time, the present embodiment selects the second essence
Really search pattern.
In above process, the steering angle that detection device is each, can be default fixed value, it is also possible to be to preset one
Individual random scope, it is also possible to directly manual intervention in tele-control system.
The detection device of the present invention can also be used for the water quality distribution measuring in waters, can the operation road of advance planning detection device
Footpath, detection device presses the operating path preset by water quality sensor and aspect sensor Real-time Collection pollutant levels and number of coordinates
According to, directly it being uploaded on tele-control system, automatic or manual drafting water quality scattergram, or be stored in memory module, environment is supervised
Survey staff's information drafting water quality scattergram further according to storage.If there is multiple polluter in this waters, then can also lead to
Cross water quality scattergram and confirm the position of each polluter.
In other embodiments (not shown), sampling unit can also be independently arranged, and does not has directly with water quality sensor
Position corresponding relation, does not affect the sampling accuracy in the stable region of pollutant levels.
In other embodiments (not shown), obstacle detecting sensor can also be positioned at body upper part center, Xiang Si
Week or only direction transmitting and reception detectable signal before and after traffic direction.
In other embodiments (not shown), the quantity of water quality sensor is not limited to four, as long as being evenly distributed on body
Around, the corresponding different azimuth of energy, be conducive to comparing according to pollutant levels, confirming the orientation at maximum S place.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it is possible to show under acquirement
Benefit effect:
1) can be automatically positioned to water pollution source, owing to being automatic Detection location, can arrive the mankind cannot directly arrive
Though or can directly arrive but the area of environmental hazard；
2) water quality sensor can be integrated, replaceable, increases harbour management department and monitors the harmful dirt of Pollution From Ships, other types
Dye thing and from the motility of submarine pipeline exhaust emission material and adaptability；
3) mutual by communication module and tele-control system, can grasp water area water-quality distribution situation, grasp in real time
The source of pollutant, expanding, migrate, react, convert, understand the pollutant influence degree to environmental quality；Pass through memory module
The information of storage, also can grasp the above-mentioned situation specifying the time period.
4) owing to can detect or carry out data storage in real time, and can sample, it is possible to implement pollute accurately and reliably
Monitoring, provides strong law enforcement foundation for environmental law enforcement department；
5) carrying obstacle detecting sensor, upload obstacle detection information to control unit in real time, control unit is according to reception
Obstacle detection information, control driver element and change direction, can effective avoidance, it is ensured that the stability of detection process and continuous
Property；
6) can automatically cruise work and monitor water area water-quality, provide the most novel dress of one for water quality monitoring
Standby.
As it will be easily appreciated by one skilled in the art that and the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should comprise
Within protection scope of the present invention.
Claims (10)
1. a water pollution is derived from dynamic detection method, it is characterised in that detection device includes data processing module, storage mould
Block, timing module, aspect sensor, multiple water quality sensors being distributed in detection device diverse location, detection flow process includes:
(1) in data processing module, pollutant monitoring threshold value S is set0As standard value, before detection device is according to inceptive direction
Enter；
(2) under timing module regulates and controls, multiple water quality sensors gather primary pollution concentration data every Δ T simultaneously and upload
To data processing module, the memory module real time record water quality through path and positional information；
When the pollutant levels data that multiple water quality sensors gather are close or identical simultaneously, detection device is transported along former direction
Dynamic；
When there is a maximum S in multiple pollutant levels data that multiple water quality sensors gather simultaneously, data process
Module takes S and S0Compare,
As S≤S0Time, detection device advances along former direction；
Work as S > S0Time, detection device advances towards the direction that the pollutant levels data collected are maximum, until it reaches polluter institute
In region, confirm polluter position.
2. a kind of water pollution as claimed in claim 1 is derived from dynamic detection method, it is characterised in that: detection device also includes adopting
Sampling device, in step (2), after arriving polluter position, sampling apparatus is sampled.
3. a kind of water pollution as claimed in claim 1 is derived from dynamic detection method, it is characterised in that:
Body is also equipped with obstacle detecting sensor, uploads obstacle detection information to control unit in real time, and control unit is according to connecing
The obstacle detection information received, controls driver element and changes direction with avoidance.
4. a kind of water pollution as claimed in claim 3 is derived from dynamic detection method, it is characterised in that:
The detection region of obstacle detecting sensor is sector region, and sector region sensitive can detect the part of barrier
Width is not less than the Breadth Maximum of detection device.
5. water pollution as claimed in claim 1 a kind of is derived from dynamic detection method, it is characterised in that: water quality sensor have A, B,
C, D tetra-, is distributed before and after A, B, and about C, D are distributed, and the line of A, B is vertical with the line of C, D；Detection device also includes sampling cartridge
Put；
In step (2), when only one of which maximum in the pollutant levels data of water quality sensor A, B, C, D detection,
A () maximum is B, then gather the sample of B location and return initial position；
B () A sensor is still maximum, then move on；
C () C or D is maximum, detection device is diverted to orientation, greatest contamination substrate concentration place；
When the pollutant levels value having two or more positions to detect in sensor is maximum and equal,
D () A=B or A=B=C or A=B=C=D, gathers the sample of A or B sensing station and returns initial position；
E () C=D or A=C=D or B=C=D, gathers the sample of C or D sensing station and returns initial position；
F () A=C, then deflected to C by A and advance after 45 °, again judge that pollutant levels that A, B, C, D detect are after Δ T
Big value；
If (g) A=D, then advanced after D deflects 45 ° by A, after Δ T, again judge that the pollutant that A, B, C, D detect are dense
Degree maximum.
6. a kind of water pollution as claimed in claim 1 is derived from dynamic detection method, it is characterised in that: detection device also includes leading to
News module, carries out data exchange for real-time and tele-control system, and receives the instruction of tele-control system.
7. water pollution is derived from a dynamic detection method, wherein,
Detection device includes
Body, and control unit, driver element, sampling unit and the sensing unit being installed on body；Sensing unit includes
Aspect sensor, water quality sensor, be respectively used to gather orientation, water quality information；Driver element is used for driving body and body
The each unit of upper lift-launch is transported to target bearing on waters；Sampling unit is used for sampling of water quality；Control unit includes timing mould
Block, data processing module, memory module；Timing module gathers the time interval of water quality information for controlling water quality sensor；Number
The water quality information gathered for comparative analysis water quality sensor according to processing module；Memory module is used for storage orientation, water quality information；
The water quality information result of positional information and data processing module that control unit combines aspect sensor collection determines dirt
Dye source position, the motion of control driver element, the sampling behavior of control sampling unit；
It is characterized in that, detection flow process includes:
(1) operating path of detection device is preset；
(2) detection device is by the operating path Real-time Collection pollutant levels preset and coordinate data, real-time typing memory module；
(3) draw water quality scattergram according to the information of storage, confirmed the position of polluter by water quality scattergram.
8. a kind of water pollution as claimed in claim 7 is derived from dynamic detection method, it is characterised in that: controller also includes communication
Module, carries out data exchange for real-time and tele-control system, and receives the instruction of tele-control system.
9. a kind of water pollution as claimed in claim 8 is derived from dynamic detection method, it is characterised in that: in step (2), detection dress
Put by default operating path Real-time Collection pollutant levels and coordinate data, be directly uploaded on tele-control system.
10. a kind of water pollution as claimed in claim 9 is derived from dynamic detection method, it is characterised in that: tele-control system root
The most automatically water quality scattergram is drawn according to the information received.
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| CN114002403B (en) * | 2021-10-19 | 2023-09-01 | 上海科泽智慧环境科技有限公司 | Ammonia nitrogen automatic analysis method, ammonia nitrogen automatic analysis device, computer equipment and storage medium |
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