CN109211243A - A kind of pollution sources localization method and device based on diamond shape network - Google Patents
A kind of pollution sources localization method and device based on diamond shape network Download PDFInfo
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- CN109211243A CN109211243A CN201811196037.0A CN201811196037A CN109211243A CN 109211243 A CN109211243 A CN 109211243A CN 201811196037 A CN201811196037 A CN 201811196037A CN 109211243 A CN109211243 A CN 109211243A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/20—Instruments for performing navigational calculations
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Abstract
The present invention relates to pollution sources field of locating technology, and in particular to a kind of pollution sources localization method and device based on diamond shape network enters water direction as the inceptive direction to advance, the concentration value of real-time detection water pollutant by the way that machine fish is entered water position as starting point；And then advance by setting step-length, and along the Z-shaped road that angle is 60 °；When concentration value change rate is greater than the set value, concentration value difference reduces the step-length that machine fish advances in set interval；It is out of service when machine fish pitch of the laps, and when the step-length advanced is less than minimum step threshold value, and it regard machine fish current location as pollution sources, the present invention provides a kind of more accurate, quick pollution sources positioning approach.
Description
Technical field
The present invention relates to pollution sources field of locating technology, and in particular to a kind of pollution sources localization method based on diamond shape network
And device.
Background technique
With the intensification of industrialization degree, pollution problem becomes topics common concerned by people gradually.Wherein, water pollution
Also it is increasingly taken seriously, the generation of pollution can seriously affect people's lives.When polluting generation, how quickly to position
There is direct realistic meaning in the position of pollution sources to water pollution control work.
With the development of communication technology, wireless sensor has taken in mobile robot and has been widely applied.Wireless sensor
Network (Wireless-Sensor-Networks, WSN) is a kind of distributed sensor, its tip is can to perceive and examine
Look into the sensor in the external world.Sensor in WSN wirelessly communicates, therefore network settings are flexible, and device location can
To change at any time.
The 1990s is originated from using the mobile robot active olfaction positioning of wireless sensor, with science and technology
Development, be gradually generalized on the ground and underwater.As the seed type that mobile robot is applied under water, machine fish is outside one kind
The machine of image fish, the swing part of machine fish body can be considered the connected multi-connecting-rod mechanism of a hinge, by adjusting fish body
Relative position of the link mechanism in movement engineering be fitted moving line.Equipped with the autonomous machine fish energy of chemical sensor
It is enough to swim a few hours in water, it can be used to detect water quality pollutant concentration, convenient for finding and cutting off pollution source, protection water money in time
Source.
Mobile robot searches for the task of target by active olfaction, and important application prospect is suffered from many fields,
Also some valuable achievements are achieved, but there is also some drawbacks simultaneously: 1, track chemical source by concentration information merely,
Ignore actual environment effect, it is easy to go in the wrong direction, detour pitch of the laps, search efficiency is low, or even search failure；2, whole using solid
Fixed step length searching, it is difficult to be accurately positioned chemical substance source；3, iterative steps and decision condition are various, low efficiency.
Therefore, in the investigation of basin pop-up threat, it would be highly desirable to provide it is a kind of using machine fish carry out water quality supervise online
The localization method of survey can more precisely be tracked with less iterative steps in severe water environment, position underwater dirt
Dye source.
Summary of the invention
For the disadvantage of above method exposure, the present invention proposes a kind of more accurate, quick localization method, and the present invention mentions
A kind of pollution sources localization method based on diamond shape network supplied, comprising the following steps:
Step S1, machine fish is entered into water position as starting point, enters water direction as the inceptive direction to advance, real-time detection water
The concentration value of middle pollutant, the concentration value that machine fish is detected at nth point are denoted as C (n)；
Step S2, machine fish advances by setting step-length and steering, and along the diamond shape network that angle is 60 °；
Step S3, judge whether concentration value change rate Crate is greater than the set value, if it is not, step S2 is jumped to, if so, executing
Following steps, wherein change rate of concentration Crate=[C (n)-C (n-1)]/C (n-1)；
Step S4, when the step-length that concentration value difference is in set interval, and reduction machine fish advances；
Step S5, judge machine fish whether pitch of the laps, if it is not, jump to step S2, if so, executing following steps；
Step S6, whether the step-length for judging that machine fish advances is less than minimum step threshold value Stepmin, if it is not, jumping to step
S2, if so, it is out of service, and using machine fish current location as pollution sources.
Further, pollution sources are unevenly distributed during actual dispersion, and the instantaneous concentration value of same point is also to have wave
Dynamic, therefore after completing concentration sample to pollutant, it is also necessary to it is filtered again.
As the further improvement of the embodiment of the present invention, the step S1 further include:
The concentration value C (n) is filtered, maximum value Cmax, the minimum value Cmin of concentration value are set；
If C (n) > Cmax, C (n)=Cmax；
If C (n) < Cmin, C (n)=Cmin.
Further, the step S2 is specifically included:
Step S201, forward step a length of Step (k-1), Step (k-1)=L of the setting machine fish in downbeam, setting
Machine fish is Step ' (k-1), Step ' (k-1)=2L in the direction of advance step-length of countercurrent direction, wherein L is no more than basin
The value of width；
Step S202, the first difference DELTA C1 is calculated, wherein Δ C1=C (n-1)-C (n-2), and machine fish is detected in n-1
Turn direction at point；
If Δ C1 < 0 and machine fish turn counterclockwise at (n-1)th point or Δ C1 > 0 and machine fish it is suitable at (n-1)th point
Hour hands turning, then machine fish up time at nth point rotates 120 ° and takes a step forward；
If Δ C1 < 0 and machine fish turn clockwise at (n-1)th point or Δ C1 > 0 and machine fish it is inverse at (n-1)th point
Hour hands turning, then machine fish up time at nth point rotates 120 ° and takes a step forward；
Step S203, calculate minimum threshold Δ C, if Δ C1 < Δ C, machine fish along positive countercurrent direction with current step before
Into, and jump to step S202, wherein Δ C=Min { C (n), C (n-1), C (n-2) }.
Further, the step S4 is specifically included:
The second difference DELTA C2, max-thresholds Δ C ' are calculated, if Δ C < Δ C2 < Δ C ', Step (k)=Step (k-1)/
M, otherwise, Step (k)=Step (k-1)；
Wherein, Δ C2=| C (n)-C (n-1) |+| C (n-1)-C (n-2) |, Δ C '=Max { C (n), C (n-1), C (n-
2) }, m is the step change rate of machine fish, and m=f*L (f > 1/L), f is setting value.
Further, judge whether pitch of the laps is specially following manner to machine fish in the step S5:
The number that accumulative machine fish turns in the same direction, if the number continuous integration reaches 4 times, machine fish detours
One circle.
Further, when machine fish, which is hovered, to detour, in order to avoid falling into concentration local optimum, in the step S6, if
The step-length that machine fish advances is greater than minimum step threshold value Stepmin, then machine fish with step-length for Step (k) pitch of the laps after a week, along just
Step (k-1) is swum before countercurrent direction, then jumps to step S2.
Further, the minimum step threshold value StepminFor machine fish fish body lateral displacement ybodyMaximum value, that is,
Stepmin=max (ybody)；
The machine fish fish body lateral displacement ybodyCalculation formula are as follows:
ybody(x, t)=[(a1x+a2x2)][sin(kx+wt)]
Wherein, ybodyIt is the lateral displacement of machine fish fish body, x is the axial displacement of machine fish fish body, a1It is machine fish fish body
The Monomial coefficient of wave amplitude envelope line, a2It is machine fish fish body wave amplitude envelope line two-term coefficient, k is wavelength multiples, k=
2 π/λ, λ are the wavelength of machine fish fish body wave, and w is machine fish fish body wave frequency rate, and w=2 π/T, T are machine fish fish body wave period, t
At the time of being the displacement of machine fish fish body.
A kind of pollution sources positioning device based on diamond shape network provided by the invention, including control module and storage control refer to
The memory module of order, control module read step of the described instruction execution as described in any of the above-described.
The beneficial effects of the present invention are: the present invention discloses a kind of pollution sources localization method and device based on diamond shape network,
By the concentration value of real-time detection water pollutant, the direction and step-length that machine fish advances are adjusted according to concentration value, and effectively advise
The pitch of the laps behavior of machine fish is kept away, to more precisely be tracked with less iterative steps, position underwater pollution sources, the present invention is mentioned
A kind of more accurate, quick pollution sources positioning approach is supplied.
Detailed description of the invention
The invention will be further described with example with reference to the accompanying drawing.
Fig. 1 is a kind of flow chart of pollution sources localization method and installation method based on diamond shape network of the embodiment of the present invention.
Specific embodiment
With reference to Fig. 1, a kind of pollution sources localization method based on diamond shape network provided in an embodiment of the present invention, including following step
It is rapid:
Step S1, machine fish is entered into water position as starting point, enters water direction as the inceptive direction to advance, real-time detection water
The concentration value of middle pollutant, the concentration value that machine fish is detected at nth point are denoted as C (n)；
Step S2, machine fish advances by setting step-length and steering, and along the diamond shape network that angle is 60 °；
Step S3, judge whether concentration value change rate Crate is greater than the set value, if it is not, step S2 is jumped to, if so, executing
Following steps, wherein change rate of concentration Crate=[C (n)-C (n-1)]/C (n-1), the setting value is according in practical basin
The concentration difference situation of pollution sources is set, and the value interval of the setting value is (0,1)；
Step S4, when the step-length that concentration value difference is in set interval, and reduction machine fish advances, otherwise, machine fish advances
Step-length it is constant；
Step S5, judge machine fish whether pitch of the laps, if it is not, jump to step S2, if so, executing following steps；
Step S6, whether the step-length for judging that machine fish advances is less than minimum step threshold value Stepmin, if it is not, jumping to step
S2, if so, it is out of service, and using machine fish current location as pollution sources.
By the concentration value of real-time detection water pollutant, the direction and step-length that machine fish advances are adjusted according to concentration value,
And effectively evade the pitch of the laps behavior of machine fish, thus more efficiently tracked with less iterative steps, position underwater pollution sources,
So that pollution sources positioning is more accurate, quick.
Further, pollution sources are unevenly distributed during actual dispersion, and the instantaneous concentration value of same point is also to have wave
Dynamic, therefore after completing concentration sample to pollutant, it is also necessary to it is filtered again.
As the further improvement of the embodiment of the present invention, the step S1 further include:
The concentration value C (n) is filtered, maximum value Cmax, the minimum value Cmin of concentration value are set；
If C (n) > Cmax, C (n)=Cmax；
If C (n) < Cmin, C (n)=Cmin.
Further, the step S2 is specifically included:
Step S201, forward step a length of Step (k-1), Step (k-1)=L of the setting machine fish in downbeam, setting
Machine fish is Step ' (k-1) in the direction of advance step-length of countercurrent direction, and in the present embodiment, L is set by Step ' (k-1)=2L
For basin width；
Step S202, the first difference DELTA C1 is calculated, wherein Δ C1=C (n-1)-C (n-2), and machine fish is detected in n-1
Turn direction at point；
If Δ C1 < 0 and machine fish turn counterclockwise at (n-1)th point or Δ C1 > 0 and machine fish it is suitable at (n-1)th point
Hour hands turning, then machine fish up time at nth point rotates 120 ° and takes a step forward；
If Δ C1 < 0 and machine fish turn clockwise at (n-1)th point or Δ C1 > 0 and machine fish it is inverse at (n-1)th point
Hour hands turning, then machine fish up time at nth point rotates 120 ° and takes a step forward；
Step S203, during detecting pollution sources, the concentration variation of pollutant is smaller, by setting a minimum
Threshold value Δ C judges the first difference DELTA C1 and the minimum threshold Δ C, is less than institute in the first difference DELTA C1
It when stating minimum threshold Δ C, first traces to the source according to countercurrent direction, then jumps to step S201 circulation and execute；Taken in the present embodiment C (n),
Minimum value in C (n-1), C (n-2) is as minimum threshold Δ C, i.e. Δ C=Min { C (n), C (n-1), C (n-2) }, if Δ C1
< Δ C, machine fish is advanced along positive countercurrent direction with current step, and jumps to step S202.
Further, the step S4 is specifically included:
The second difference DELTA C2, max-thresholds Δ C ' are calculated, if Δ C < Δ C2 < Δ C ', Step (k)=Step (k-1)/
M, otherwise, Step (k)=Step (k-1)；
Wherein, Δ C2=| C (n)-C (n-1) |+| C (n-1)-C (n-2) |, Δ C '=Max { C (n), C (n-1), C (n-
2) }, m is the step change rate of machine fish, and m=f*L (f > 1/L), f is setting value；
The step change rate m of the machine fish is determined by basin width L and setting value f；
When basin, width L is bigger, then the step change rate m of the machine fish is bigger；
When basin, width L is smaller, then the step change rate m of the machine fish is smaller；
Likewise, being adjusted by the size to setting value f, the step change rate m of the machine fish also can change
Size；
The size of setting value f is adjusted according to the width in different basins and contaminated situation, to adjust machine fish
Step change rate, and then adjust machine fish advance step number, improve machine fish carry out pollution source detection efficiency.
Further, judge whether pitch of the laps is specially following manner to machine fish in the step S5；
The number that accumulative machine fish turns in the same direction is determined as machine if the number continuous integration reaches 4 times
One circle of fish detour.
In the present embodiment, add up the pitch of the laps number of robot using revolution meter, using R- and R+ as clockwise
Rotation and the number rotated counterclockwise；
If rotation is primary counterclockwise at n-1, R+ is accumulative primary, and R- is constant；
If rotating clockwise at n-1 once, R- is accumulative primary, and R+ is constant；
When R+ or R- continuous integration reaches 4 times, show one circle of machine fish inverse time or up time detour.
Further, when machine fish hovers pitch of the laps, in order to avoid falling into concentration local optimum, in the step S6, if
The step-length that machine fish advances is greater than minimum step threshold value Stepmin, then machine fish with step-length for Step (k) pitch of the laps after a week, along just
Step (k-1) is swum before countercurrent direction, then jumps to step S2.
Further, the minimum step threshold value StepminFor machine fish fish body lateral displacement ybodyMaximum value, that is,
Stepmin=max (ybody)；
The matched curve of machine fish fish body can regard fish body wave amplitude envelope line and sinusoidal synthesis as, and the fitting is bent
Line starts from the center of inertia of machine fish fish body, extends to machine fish caudal peduncle, the calculation formula of the matched curve are as follows:
ybody(x, t)=[(a1x+a2x2)][sin(kx+wt)]
Wherein, ybodyIt is the lateral displacement of machine fish fish body, x is the axial displacement of machine fish fish body, a1It is machine fish fish body
The Monomial coefficient of wave amplitude envelope line, a2It is machine fish fish body wave amplitude envelope line two-term coefficient, k is wavelength multiples, k=
2 π/λ, λ are the wavelength of machine fish fish body wave, and w is machine fish fish body wave frequency rate, and w=2 π/T, T are machine fish fish body wave period, t
At the time of being the displacement of machine fish fish body.
A kind of pollution sources positioning device based on diamond shape network provided in an embodiment of the present invention, including control module and storage
The memory module of control instruction, control module read step of the described instruction execution as described in any of the above-described.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all should belong to protection scope of the present invention.
Claims (8)
1. a kind of pollution sources localization method based on diamond shape network, which comprises the following steps:
Step S1, machine fish is entered into water position as starting point, enters inceptive direction of the water direction as advance, dirt in real-time detection water
The concentration value of object is contaminated, the concentration value that machine fish is detected at nth point is denoted as C (n)；
Step S2, machine fish advances by setting step-length and steering along the diamond shape network that angle is 60 °；
Step S3, judge whether concentration value change rate Crate is greater than the set value, if it is not, step S2 is jumped to, if so, executing following
Step, wherein change rate of concentration Crate=[C (n)-C (n-1)]/C (n-1)；
Step S4, when the step-length that concentration value difference is in set interval, and reduction machine fish advances；
Step S5, judge machine fish whether pitch of the laps, if it is not, jump to step S2, if so, executing following steps；
Step S6, whether the step-length for judging that machine fish advances is less than minimum step threshold value Stepmin, if it is not, step S2 is jumped to, if
It is, it is out of service, and using machine fish current location as pollution sources.
2. a kind of pollution sources localization method based on diamond shape network according to claim 1, which is characterized in that the step
S1 further include:
The concentration value C (n) is filtered, maximum value Cmax, the minimum value Cmin of concentration value are set；
If C (n) > Cmax, C (n)=Cmax；
If C (n) < Cmin, C (n)=Cmin.
3. a kind of pollution sources localization method based on diamond shape network according to claim 1, which is characterized in that the step
S2 is specifically included:
Step S201, forward step a length of Step (k-1), Step (k-1)=L of the setting machine fish in downbeam, sets machine
Fish is Step ' (k-1), Step ' (k-1)=2L in the direction of advance step-length of countercurrent direction, wherein L is no more than basin width
Value；
Step S202, the first difference DELTA C1 is calculated, wherein Δ C1=C (n-1)-C (n-2), and machine fish is detected at n-1 point
Turn direction；
If Δ C1 < 0 and machine fish turn counterclockwise at (n-1)th point or Δ C1 > 0 and machine fish it is clockwise at (n-1)th point
Turning, then machine fish up time at nth point rotates 120 ° and takes a step forward；
If Δ C1 < 0 and machine fish turn clockwise at (n-1)th point or Δ C1 > 0 and machine fish it is counterclockwise at (n-1)th point
Turning, then machine fish up time at nth point rotates 120 ° and takes a step forward；
Step S203, minimum threshold Δ C is calculated, if Δ C1 < Δ C, machine fish are advanced along positive countercurrent direction with current step, and
Jump to step S202, wherein Δ C=Min { C (n), C (n-1), C (n-2) }.
4. a kind of pollution sources localization method based on diamond shape network according to claim 3, which is characterized in that the step
S4 is specifically included:
The second difference DELTA C2, max-thresholds Δ C ' are calculated, if Δ C < Δ C2 < Δ C ', Step (k)=Step (k-1)/m, no
Then, Step (k)=Step (k-1)；
Wherein, Δ C2=| C (n)-C (n-1) |+| C (n-1)-C (n-2) |, Δ C '=Max { C (n), C (n-1), C (n-2) }, m
For the step change rate of machine fish, m=f*L (f > 1/L), f is setting value.
5. a kind of pollution sources localization method based on diamond shape network according to claim 1, which is characterized in that the step
Judge whether pitch of the laps is specially following manner to machine fish in S5:
The number that accumulative machine fish turns in the same direction, if the number continuous integration reaches 4 times, be determined as machine fish around
Row one encloses.
6. a kind of pollution sources localization method based on diamond shape network according to claim 4, which is characterized in that in step S6
In, if the step-length that machine fish advances is greater than minimum step threshold value Stepmin, then machine fish is Step (k) pitch of the laps one week with step-length
Afterwards, Step (k-1) is swum before positive countercurrent direction, then jumps to step S2.
7. a kind of pollution sources localization method based on diamond shape network according to claim 1, which is characterized in that the step
Minimum step threshold value Step in S6minFor machine fish fish body lateral displacement ybodyMaximum value, that is, Stepmin=max (ybody)；
The machine fish fish body lateral displacement ybodyCalculation formula are as follows:
ybody(x, t)=[(a1x+a2x2)][sin(kx+wt)]
Wherein, ybodyIt is the lateral displacement of machine fish fish body, x is the axial displacement of machine fish fish body, a1It is machine fish fish body wave wave
The Monomial coefficient of width envelope, a2It is machine fish fish body wave amplitude envelope line two-term coefficient, k is wavelength multiples, k=2 π/
λ, λ are the wavelength of machine fish fish body wave, and w is machine fish fish body wave frequency rate, and w=2 π/T, T are machine fish fish body wave periods, and t is machine
At the time of device fish fish body is displaced.
8. a kind of pollution sources positioning device based on diamond shape network, which is characterized in that including control module and control store instruction
Memory module, control module reads described instruction and executes step as described in claim 1~7 is any.
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| CN201811196037.0A CN109211243B (en) | 2018-10-15 | 2018-10-15 | Pollution source positioning method and device based on diamond network |
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