JP2004163123A - Water quality monitoring apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply and easily monitor water quality in a predetermined water area without a restriction on measurement locations. <P>SOLUTION: A water quality monitoring apparatus is provided with a waterproof outer shell, a power supply 1a (a solar cell 11a, a rechargeable battery 12a) in the outer shell, a water inlet provided in the outer shell for collecting water for quality measurement, a water quality measuring apparatus 2a (a MOD measuring instrument 21a, a COD measuring instrument 22a, an SS measuring instrument 23a, etc.) for measuring the quality of the water in the outer shell, a water outlet provided in the outer shell for draining water after quality measurement, a location measuring means 3a for measuring its own location and a wireless communication apparatus 4a for transmitting water quality data measured by the water quality measuring apparatus 2a and location data measured by the location measuring means 3a. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an apparatus for monitoring water quality in a water area such as a river, a lake, a marsh, an ocean, a bay, a dam, and a sewer.
[0002]
[Prior art]
Water quality is measured for various purposes in water bodies such as rivers, lakes and marshes, oceans, bay shores, dams and sewers. Conventionally, as such water quality measurement, at a plurality of positions in the measurement water area, a function of manually measuring water quality, such as collecting water from a stopped ship or a fixed facility, or a function of stopping at a predetermined position in the measurement water area And water quality measurement using a water quality monitoring device provided with a water quality sensor (see Patent Document 1). However, according to these methods, only water quality at a specific measurement point in a target water area could be measured.
As described above, in the conventional water quality measurement method, since measurement points are limited, it is impossible to perform detailed measurements of temperature, water quality, and the like.
[0003]
[Patent Document 1]
Japanese Patent Publication No. 6-103297
[0004]
[Problems to be solved by the invention]
An object of the present invention is to provide a water quality monitoring device that can easily and precisely monitor the water quality of a predetermined water area without being restricted by a measurement point.
[0005]
[Means for Solving the Problems]
As a first aspect, the present invention provides, as a first aspect, a waterproof outer shell, a power supply in the outer shell, a water inlet provided in the outer shell for collecting water for water quality measurement, A water quality measuring device for measuring water quality in the shell, a water outlet provided in the outer shell for discharging water after water quality measurement, and a position measuring means for measuring its own position, There is provided a water quality monitoring device including a water communication device for transmitting water quality data measured by the water quality measurement device and position data measured by the position measurement means.
[0006]
Although not particularly limited, examples of the power source include a solar cell, a rechargeable battery, and a fuel cell. These can be used in combination.
[0007]
Although not particularly limited, items that can be measured by the water quality measuring device include biochemical oxygen demand (BOD) and chemical oxygen demand (COD). , Suspended solids (SS: Suspended Solid), turbidity, water level, endocrine disrupters, temperature, and the like. These measurements can be performed with a known general measuring instrument.
[0008]
In addition, the water quality monitoring device can use GPS as position measurement means. GPS (Global Positioning System) is also called a global positioning system, and the position of a receiver is determined based on the time required for a radio signal from a GPS satellite orbiting the earth to reach each receiver of a user. Is a technology that measures As the GPS receiver according to the present invention, a known general GPS receiver can be used, and thereby, the position of the water quality monitoring device can be measured.
[0009]
The water quality data and the position data thus measured can be transmitted to an external monitoring center by the wireless communication device. In this case, the monitoring center can monitor the water quality data and the position data in real time. Although not particularly limited, a mobile phone, PHS communication, or the like can be used as the wireless communication device. If the wireless communication device also functions as a receiver, the water quality monitoring device can be externally controlled via the wireless communication device.
[0010]
The water quality monitoring device has a configuration in which the power supply device, the water quality measurement device, and the like are built in a waterproof outer shell that forms a closed container, and float on water. Further, the water quality monitoring device includes a water inlet and a water outlet below the surface of the water, and water collected from the water inlet is subjected to water quality measurement with a water quality measuring device, and the water after the water quality measurement is discharged from the water outlet. Discharge. Although not particularly limited, it is preferable that the outer shell be made of plastic from the viewpoint of excellent impact resistance and buoyancy.
[0011]
The water quality monitoring device according to the present invention can measure water quality as follows, for example. That is, when measuring the water quality of a specific water area such as a river, a lake, a sea, a bay, a dam, a sewer, etc., the water quality monitoring device is discharged from a predetermined place in the target water area. At this time, since proper movement may be hindered by the flow of water or obstacles, a plurality of devices can be discharged simultaneously or intermittently. The water quality monitoring device measures the water quality by the water flow or while moving autonomously, and also measures its own position. These water quality data and position data are transmitted to the monitoring center by the wireless communication device. This will be described in detail below.
[0012]
The measurement of the water quality may be performed continuously or intermittently. When the water quality is measured intermittently, the timing may be programmed in advance and incorporated in the water quality monitoring device, or may be controlled from an external monitoring center through the wireless communication device. These settings should be appropriately determined according to the purpose and conditions of the measurement, such as the accuracy required for water quality measurement, the topography of the water area to be measured, and the like.
[0013]
The timing for measuring the position should be appropriately determined according to the purpose and conditions of the measurement, such as the accuracy required for water quality measurement, the topography of the water area to be measured, and the like. The measured water quality data and position data can be associated, for example, in chronological order. In particular, when measuring the position using the GPS, the timing for measuring the position may be programmed in advance and incorporated into the device, or may be controlled from an external monitoring center through a wireless communication device described below. Good.
[0014]
Further, the water quality monitoring device may further include a stopping device including an anchor dropped into water in response to a predetermined signal. That is, the stopping device includes an anchor and means for controlling the timing of dropping the anchor into the water.
[0015]
The timing of dropping the anchor into the water can be controlled by, for example, a signal from a transmitter installed outside. That is, when the water quality monitoring device receives a signal from a transmitter installed outside, the water quality monitoring device drops an anchor into the water. Such transmitters can be installed, for example, under bridges, on ships, buoys, and the like. Further, the timing of dropping the anchor into the water can be controlled by a signal from the monitoring center using a wireless communication device or the like. Further, the timing of dropping the anchor into the water can be controlled by time or position information by GPS. That is, the water quality monitoring device may drop the anchor into the water when a predetermined time elapses after the water quality monitoring device is released, or when the GPS positional information enters a predetermined region.
[0016]
By providing such a stopping device, it is possible to use the water quality monitoring device and stop the water quality monitoring device at a certain place when the measurement of the water quality is completed, so that the water quality monitoring device can be easily collected. Become.
[0017]
Further, the water quality monitoring device is an autonomous mobile device including a screw for obtaining a propulsive force and a rudder for controlling a moving direction, and searches for an area with poor water quality based on the water quality data. An autonomous mobile device that moves based on a program that focuses on measuring water quality. Note that the above program is preferably a program using a reinforcement learning algorithm or a genetic algorithm.
[0018]
The reinforcement learning algorithm and the genetic algorithm are a kind of search algorithm for performing optimization at high speed. The reinforcement learning algorithm refers to a method of learning based on experience obtained as a price of an action, and acquiring an action control rule that obtains a larger reward. Genetic algorithm is based on the fitness of the initial group of behavior patterns, based on the fitness, by performing operations such as selection, mating, mutation, etc., to form a group of behavior patterns with higher fitness, It refers to a method of acquiring a behavior pattern that is more suitable for the environment.
[0019]
The above-mentioned autonomous mobile device is particularly effective when investigating water quality in a water area without a constant water flow, such as a lake, a marsh, an ocean, a bay shore, or a dam. That is, the water quality monitoring device according to the present invention can move autonomously by including the autonomous mobile device. At this time, in the case where it is necessary to particularly focus on a place where the degree of water pollution is large in the target water area, by moving based on a reinforcement learning algorithm, a genetic algorithm, or the like, the target water area is moved. Among them, it is possible to move while searching for a plurality of highly contaminated portions without staying at one place where the concentration of a certain substance is high.
[0020]
Preferably, the water quality monitoring device further includes a sonar or a surveillance camera, and the wireless communication device can transmit data obtained by the sonar or the surveillance camera. The sonar is useful, for example, when it is necessary to mainly measure the water quality of a place where the degree of water pollution is high, and can detect the degree of sludge accumulation. In addition, an image of a target water area can be obtained by the monitoring camera. Further, the monitoring camera is also effective in preventing the water quality monitoring device from being stolen.
The data obtained by the sonar and the surveillance camera can be transmitted to the surveillance center by the wireless communication device, similarly to the water quality data and the position data.
[0021]
According to a second aspect of the present invention, there is provided a waterproof outer shell, a power supply in the outer shell, a water inlet provided in the outer shell for collecting water for water quality measurement, A water quality measuring device for measuring water quality in the shell, a water outlet provided in the outer shell for discharging water after water quality measurement, and a position measuring means for measuring its own position, Provided is a water quality monitoring device including a data recording device in the outer shell for recording water quality data measured by the water quality measurement device and position data measured by the position measurement means.
[0022]
The power supply, the water quality measurement device, and the like can be the same as the power supply, the water quality measurement device, and the like.
[0023]
The water quality monitoring device can use an ID tag or a tag reader as position measuring means. The ID tag and the tag reader mainly relate to an individual recognition technology that uses a radio wave to recognize a data carrier in a non-contact manner and perform data communication. The ID tag includes an IC chip such as a memory and an antenna, and functions as a data carrier. A tag reader (including a tag reader / writer) includes a tag reader antenna and a controller, reads information recorded on the ID tag, and updates or adds information to the ID tag as necessary. As the ID tag and the tag reader according to the present invention, a known general ID tag and a tag reader can be used, and thereby, the position of the water quality monitoring device can be measured.
[0024]
That is, one of the ID tag and the tag reader is installed in the water quality monitoring device, and the other of the ID tag and the tag reader is installed in a predetermined location in the measurement water area. In this case, for example, when the water quality monitoring device equipped with the tag reader approaches the ID tag, the tag reader recognizes the ID tag and reads the tag information recorded on the ID tag to specify the position of the water quality monitoring device. Can be.
[0025]
In the case of measuring the water quality of a water area having a constant water flow, such as a sewer, without measuring the position, the data of the water flow of the measured water area (flow path, flow analysis information, etc. Based on management information, etc., the position of the water quality monitoring device with respect to time can also be predicted.
[0026]
Further, the measured water quality data and position data can be recorded in a data recording device. In this case, these data can be used after all the measurements are completed and the water quality monitoring device is collected.
[0027]
The water quality monitoring device according to the present invention can measure water quality as follows, for example. That is, when measuring the water quality of a specific water area such as a river, a lake, a sea, a bay, a dam, a sewer, etc., the water quality monitoring device is discharged from a predetermined place in the target water area. At this time, since proper movement may be hindered by the flow of water or obstacles, a plurality of devices can be discharged simultaneously or intermittently. The water quality monitoring device measures the water quality while moving by the water flow, and also measures its own position. These water quality data and position data are recorded in a data recording device provided in the water quality monitoring device. This will be described in detail below.
[0028]
It is preferable that the water quality monitoring device further includes a combination of lighting and a monitoring camera or a gas measuring device, and the data recording device can record data obtained by the monitoring camera or the gas measuring device. As described above, an image of a target water area can be obtained by the monitoring camera. Further, the monitoring camera is effective in preventing the water quality monitoring device from being stolen. Illumination is useful at night or when it is necessary to check an image in darkness, such as inside a sewer. A gas measuring device is effective when measuring water quality in a water area where a specific gas such as methane or ethane is expected to be generated, for example, inside a sewerage system. Can be detected.
Data obtained by these monitoring cameras and gas measuring devices can be recorded in a data recording device provided in the water quality monitoring device, similarly to the water quality data and the position data.
[0029]
It is preferable that the water quality monitoring device further includes an automatic attitude maintaining unit that can automatically correct its own vertical direction. That is, the water quality monitoring device is configured such that a heavier device (an anchor of a stopping device, a driving device for driving a screw of an autonomous moving device, etc.) is disposed closer to the bottom of the water quality monitoring device, It is preferable to lower the center of gravity. In this way, by lowering the center of gravity, the water quality monitoring device can be prevented from being turned upside down, and even if it is turned upside down, it can be naturally turned upside down.
[0030]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the following embodiments according to the present invention do not limit the present invention.
[0031]
[Embodiment 1: River water quality monitoring device]
The water quality monitoring device according to the first embodiment of the present invention is a water quality monitoring device suitable for monitoring the water quality of a river. FIG. 1 shows a block diagram of the river water quality monitoring device. FIG. 2 shows a schematic diagram (A: side view, B: top view) of the river water quality monitoring device.
[0032]
As shown in FIG. 1, the river water quality monitoring device includes a power supply 1a, a water quality measurement device 2a for measuring water quality, and a position measurement device including a GPS receiver 31a for measuring its own position, as main elements. Means 3a, a radio communication device 4a for transmitting the water quality data measured by the water quality measuring device 2a and the position data measured by the position measuring device 3a, and a stop for dropping the anchor 51 into the water in response to a predetermined signal. Device 5. Further, the river water quality monitoring device further includes a control unit 100a for controlling each of these devices and the like.
[0033]
As shown in FIG. 2, the river water quality monitoring device includes a solar battery 11a and a rechargeable battery 12a as a power source 1a, and these power sources 1a supply electricity to other devices and the like.
[0034]
In addition, the river water quality monitoring device includes a BOD measuring device 21a, a COD measuring device 22a, an SS measuring device 23a, a turbidity measuring device (not shown), a water level measuring device (not shown), an environmental hormone amount as the water quality measuring device 2a. A measuring device (not shown) and a temperature measuring device (not shown) are provided. The river water quality monitoring device further includes a water inlet 24a at the front and a water outlet 25b at the back. With the movement of the river water quality monitoring device, water as a sample is supplied to the water quality measurement device 2a through the water inlet 24a, and various water qualities such as MOD, COD, and SS are measured by the water quality measurement device 2a. The water after the measurement is discharged through the water discharge port 25b.
[0035]
Further, the river water quality monitoring device includes a GPS receiver 31a as the position measuring means 3a. It is possible to accurately measure its own position by GPS. The position where the water quality was measured can be specified based on the position data measured by GPS.
[0036]
Further, the river water quality monitoring device includes a wireless communication device 4a. The water quality data measured by the water quality measuring device 2a and the position data measured by the position measuring means 3a are sent to an external monitoring center by the wireless communication device 4a as needed.
[0037]
Further, the river water quality monitoring device includes an anchor 51 (including a weight 52, a hook 53, a thread 54, and a thread winding device 55) and a radio wave receiving device 56 as the stopping device 5. When the radio wave receiving device 56 receives a signal from a transmitter installed outside, the water quality monitoring device opens the automatic opening door 57 and drops the anchor 51 into the water. The transmitter will be installed on the bridge downstream of the measurement area.
[0038]
The river water quality monitoring device can measure water quality as follows. That is, when measuring the water quality of a specific water area of a river, the river water quality monitoring device is discharged from a predetermined place of the target water area. At this time, a plurality of devices are discharged at the same time because appropriate movement may be hindered by a flow or an obstacle.
The river water quality monitoring device measures the water quality while moving by the flow of the river, and at the same time measures its own position. That is, various water qualities such as MOD, COD, and SS are measured by the water quality measuring device 2a such as the MOD measuring device 21a, the COD measuring device 22a, and the SS measuring device 23a, and the own position is measured by the GPS receiver 31a. . These water quality data and position data are transmitted to the monitoring center by the wireless communication device 4a.
[0039]
The river water quality monitoring device that has achieved the purpose of water quality measurement can be collected as follows. That is, a predetermined transmitter is provided on a bridge or the like downstream of a target water area of a river, and a predetermined signal is transmitted. When the radio wave receiver 56 receives this signal, the river water quality monitoring device can drop the anchor 51 into the water and stop moving. Thus, the river water quality monitoring device can be stopped at a predetermined place.
[0040]
[Embodiment 2: Lake water quality monitoring device]
The water quality monitoring device according to the second embodiment of the present invention is a water quality monitoring device suitable for monitoring the water quality of a lake. FIG. 3 shows a block diagram of the lake water quality monitoring device. FIG. 4 is a schematic diagram (A: side view, B: top view) of the lake water quality monitoring device.
As shown in FIG. 3, the lake water quality monitoring device includes a power measurement device 2b for measuring water quality and a GPS receiver 31b for measuring its own position as main components. Means 3b, a radio communication device 4b for transmitting water quality data measured by the water quality measuring device 2b and position data measured by the position measuring device 3b, and an autonomous mobile device 6 for moving based on a reinforcement learning algorithm. Including. The lake water quality monitoring device further includes a control unit 100b for controlling each of these devices.
[0041]
The power supply 1b, the water quality measuring device 2b, the position measuring means 3b, the wireless communication device 4b, and the control unit 100b of the lake water quality monitoring device may be the same as the river water quality monitoring device according to the first embodiment. The description is omitted here.
[0042]
As shown in FIG. 4, the lake water quality monitoring device includes an autonomous moving device 6 for moving based on a reinforcement learning algorithm. The autonomous moving device 6 includes a screw 61 (including a driving device 62) for obtaining a propulsive force, and a rudder 63 for controlling a moving direction. The reinforcement learning algorithm is a program for searching for an area having a high degree of water pollution in a target water area, and measuring the water quality of the area with particular emphasis.
The lake water quality monitoring device including such an autonomous mobile device 6 can move even in a lake with no water flow and measure the water quality at a plurality of places. Furthermore, by moving based on the reinforcement learning algorithm, as described above, it is possible to move while searching for a plurality of high-concentration portions without staying at one high-concentration portion in the target water area. it can.
[0043]
Further, the lake water quality monitoring device further includes a sonar 81. The sonar 81 makes it possible to detect the degree of accumulation of sludge and the like, so that the water quality at such a place can be measured more intensively.
Further, the lake water quality monitoring device further includes a monitoring camera 82b. As described above, the video of the target water area can be obtained by the monitoring camera 82b. Further, the monitoring camera is effective in preventing the water quality prevention device from being stolen.
[0044]
The lake water quality monitoring device can measure water quality as follows. That is, when measuring the water quality of a specific water area of a lake, the lake water quality monitoring device is discharged from a predetermined place of the target water area. At this time, a plurality of devices are discharged at the same time because appropriate movement may be hindered by a flow or an obstacle.
The lake water quality monitoring device measures water quality while moving autonomously, and also measures its own position. That is, various water qualities such as MOD, COD, and SS are measured by the water quality measuring device 2b such as the MOD measuring device 21b, the COD measuring device 22b, and the SS measuring device 23b, and the own position is measured by the GPS receiver 31b. . At the same time, the surroundings are photographed by the monitoring camera 82b. These water quality data, position data, and video data are transmitted to the monitoring center by the wireless communication device 4b.
[0045]
[Embodiment 3: Sewer water quality monitoring device]
The water quality monitoring device according to the third embodiment of the present invention is a water quality monitoring device suitable for monitoring the quality of sewer water. FIG. 5 shows a block diagram of the sewer water quality monitoring device. FIG. 6 shows a schematic diagram (A: side view, B: top view) of the sewer water quality monitoring device.
As shown in FIG. 5, the sewer water quality monitoring device includes, as main components, a power supply 1c, a water quality measurement device 2c for measuring water quality, and a position measuring unit 3c including a tag reader 32 for measuring its own position. And a data recording device 7 for recording the water quality data measured by the water quality measuring device 2c and the position data measured by the position measuring means 3c. Further, the sewer water quality monitoring device further includes a control unit 100c for controlling each of these devices and the like.
[0046]
Since the water quality measuring device 2c and the control unit 100c of the sewer water quality monitoring device can be the same as the river water quality monitoring device according to the first embodiment, the description is omitted here.
[0047]
As shown in FIG. 6, the sewer water quality monitoring device includes a rechargeable battery 12c as a power supply 1c, and the power supply supplies electricity to other devices.
[0048]
Further, the sewer water quality monitoring device includes a tag reader 32 as the position measuring means 3c. Also, an ID tag is installed on the ceiling or side wall of the target sewer. When the sewer water quality monitoring device equipped with the tag reader 32 approaches the ID tag, the tag reader 32 recognizes the ID tag and reads the information recorded on the ID tag to identify the position of the sewer water quality monitoring device. it can. The measured water quality data and position data can be related in time series based on the time at which each was measured. As described above, the position where the water quality is measured is specified based on the position data measured by the tag reader and the ID tag.
[0049]
The sewer water quality monitoring device includes a data recording device 7. The water quality data measured by the water quality measuring device 2c and the position data measured by the position measuring means 3c are recorded in the data recording device 7.
[0050]
The sewer water quality monitoring device further includes a monitoring camera 82c and a lighting 83. As described above, the video of the target water area can be obtained by the monitoring camera 82c. Further, the monitoring camera 82c is effective in preventing the water quality monitoring device from being stolen. The illumination 83 is useful at night or when it is necessary to check an image in darkness, such as inside a sewer. This makes it possible to grasp the situation such as a failure in the sewer pipe. This video data is also recorded in the data recording device 7 in the same manner as the water quality data and the like.
[0051]
Further, the sewer water quality monitoring device further includes a gas measuring device 84. In the sewer, digestive gas such as methane and ethane may be generated, and there is a danger of corrosion and explosion of the sewer equipment. At the same time as measuring the water quality of the sewer, these gases are also measured and recorded in the data recording device 7 in the same manner as the water quality data.
[0052]
The sewer water quality monitoring device can measure water quality as follows. That is, when measuring the water quality of a specific water area of the sewer, the sewer water quality monitoring device is discharged from a predetermined place in the target water area. At this time, since proper movement may be hindered by the flow of water or obstacles, a plurality of devices can be discharged simultaneously or intermittently.
The sewer water quality monitoring device measures the water quality while moving by the water flow, and also measures its own position. That is, various water qualities such as MOD, COD, and SS are measured by the water quality measuring device 2c such as the MOD measuring device 21c, the COD measuring device 22c, and the SS measuring device 23c, and the own position is measured by the tag reader 32. At the same time, the surroundings are photographed by the monitoring camera 82c. The surrounding gas is measured by the gas measuring device 84. These water quality data, position data, video data, gas data, etc. are recorded in the data recording device 7, and after all measurements have been completed and the water quality monitoring device has been collected, these data are used to perform necessary analysis. Do.
[0053]
【The invention's effect】
As is apparent from the above description, according to the present invention, a water quality monitoring device that can easily and precisely monitor the water quality of a predetermined water area without being restricted by a measurement point is provided.
[Brief description of the drawings]
FIG. 1 is a block diagram of a river water quality monitoring device according to a first embodiment of the present invention.
FIG. 2 shows a schematic diagram of a river water quality monitoring device according to the first embodiment of the present invention.
FIG. 3 is a block diagram of a lake water quality monitoring device according to a second embodiment of the present invention.
FIG. 4 is a schematic view of a lake water quality monitoring device according to a second embodiment of the present invention.
FIG. 5 shows a block diagram of a sewer water quality monitoring device according to a third embodiment of the present invention.
FIG. 6 is a schematic diagram of a sewer water quality monitoring device according to a third embodiment of the present invention.
[Explanation of symbols]
1a-c power supply
2a-c Water quality measurement device
3a-c Position measuring means
4a, b wireless communication device
5 Stop device
6 Autonomous mobile devices
7 Data recording device
11a, b solar cells
12a-c rechargeable battery
21a-c MOD measuring instrument
22a-c COD measuring instrument
23a-c SS measuring instrument
24a-c water inlet
25a-c water outlet
31a, b GPS receiver
32 Tag Reader
51 Anchor
52 Weight
53 hook
54 yarn
55 Yarn winding device
56 Automatic door
57 Radio wave receiver
61 screw
62 Drive
63 rudder
81 Sonar
82b, c surveillance camera
83 Lighting
84 Gas measuring instrument
100a-c control unit

Claims (8)

With a waterproof outer shell,
A power source within the outer shell;
A water inlet for collecting water for water quality measurement provided in the outer shell,
A water quality measurement device for measuring water quality in the outer shell,
A water outlet provided in the outer shell for discharging water after water quality measurement,
Position measuring means for measuring its own position,
A water quality monitoring device comprising: a wireless communication device that transmits water quality data measured by the water quality measurement device and position data measured by the position measurement unit. The water quality monitoring device according to claim 1, further comprising a stop device including an anchor dropped into water in response to a predetermined signal. An autonomous mobile device including a screw for obtaining propulsion and a rudder for controlling a moving direction, wherein an area with poor water quality is searched based on the water quality data, and the water quality of the area is mainly measured. The water quality monitoring device according to claim 1, further comprising an autonomous mobile device that moves based on a program. The water quality monitoring device according to claim 3, wherein the program is a program using a reinforcement learning algorithm or a genetic algorithm. The water quality monitoring device according to any one of claims 1 to 4, further comprising a sonar or a monitoring camera, wherein the wireless communication device can transmit data obtained by the sonar or the monitoring camera. With a waterproof outer shell,
A power source within the outer shell;
A water inlet for collecting water for water quality measurement provided in the outer shell,
A water quality measurement device for measuring water quality in the outer shell,
A water outlet provided in the outer shell for discharging water after water quality measurement,
Position measuring means for measuring its own position,
A water quality monitoring device comprising: a data recording device provided in the outer shell for recording water quality data measured by the water quality measurement device and position data measured by the position measurement means. The water quality monitoring device according to claim 6, further comprising a combination of a lighting and a monitoring camera, or a gas measuring device, wherein the data recording device can record data obtained by the monitoring camera or the gas measuring device. The water quality monitoring device according to any one of claims 1 to 7, further comprising an automatic posture maintaining means capable of automatically correcting its own vertical direction.

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