KR20180130123A - Robot for real time water quality observation and rapid water improvement - Google Patents

Abstract

The present invention relates to a robot for monitoring and improving water quality in real time, which measures water quality while moving a water surface of a lake, a river, a dam, a reservoir, etc., divides the measured water quality by grade, and differentially introduces microbubbles in accordance with a grade of the water quality to improve the water quality. The robot of the present invention comprises: a step of obtaining a location coordinate matrix for the entire water quality monitoring area by receiving a signal of a GPS receiving module while moving the water quality monitoring area, and obtaining a location coordinate for the entire water quality monitoring area at a predetermined interval while confirming the waterside by an ultrasonic distance meter; a step of obtaining water quality data including dissolved oxygen for each location coordinate while moving the location coordinate matrix of the entire water quality monitoring area at a predetermined cycle; a step of determining a dissolved oxygen grade for each location coordinate using the water quality data for each location coordinate of the entire water quality monitoring area; and a water quality improving step of operating a microbubble generator while sequentially moving the entire location coordinate matrix in order of the location coordinate in which the dissolved oxygen grade is bad, and introducing microbubbles while gradually and differentially reducing an operating time of the microbubble generator as the dissolved oxygen grade is better.

Description

ROBOT FOR REAL TIME WATER QUALITY OBSERVATION AND RAPID WATER IMPROVEMENT

The present invention relates to a real-time water quality monitoring and water quality improvement robot, and more particularly, to a water quality improvement robot that measures water quality while moving the water surface of a lake, a river, a dam, a reservoir, The present invention relates to a real-time water quality monitoring and water quality improvement robot capable of improving water quality by injecting bubbles differentially.

Dissolved oxygen (DO) is the amount of oxygen dissolved in water, usually supplied by oxygen in the air. The amount of dissolved oxygen depends on atmospheric pressure and temperature, and the pure DO at 20 ℃ under atmospheric pressure is about 9ppm based on uncontaminated water. It rises with decreasing temperature to about 13ppm at 4 ℃. The DO of oxygen-depleted water decreases due to the oxidation of organic matter (organic salts such as nitrite, nitrate, ammonia, phosphate, silicate, etc. contained in wastewater and wastewater) and biological respiration.

When the amount of dissolved oxygen and the amount of organic matter to be introduced is appropriate, the organic matter is decomposed by oxygen, so that it can be purified with clean water. However, when the amount of organic matter inflows is larger than the amount of dissolved oxygen, And organic matter (organic salts such as nitrites, nitrates, ammonia, phosphates, and silicates contained in wastewater and the like) are not oxidized and remain, resulting in contamination of water by organic matter.

Water that is too high in dissolved oxygen can sterilize the same bacteria as hydrogen peroxide, but it can increase the concentration of nutrients (phosphorus and nitrogen) The growth and propagation of plankton proceeds very rapidly, resulting in a suddenly large number of phytoplankton appearing in a few days. When algae such as phytoplankton breed, photosynthetic action increases DO to supersaturation. When a green algae suddenly dies in large quantities, poisonous bacteria reproduce, or oxygen deficiency occurs due to oxidative decomposition, resulting in the death of fish and shellfish.

Therefore, the dissolved oxygen can be used as an index for grasping the entire water quality, and it is necessary to maintain the dissolved oxygen at an appropriate level at a certain point in the lake, the river, the dam, the reservoir, etc., Do.

Lakes, rivers, dams, and reservoirs are becoming more and more eutrophicated due to fertilizer components that flow from farm wastewater, farmland using abundant sewage and fertilizer. There are many sewage, wastewater and sewage inflows in lakes, rivers, dams and reservoirs. The inflow of these pollutants is caused by abnormal growth of birds due to eutrophication of water, generation of odor due to the occurrence of hydrogen sulfide or methane, And it causes the loss of the self-cleaning ability at the same time.

Micro bubbles have been widely used for purification of turbid water and wastewater, disinfection of domestic water, and washing of clothes in washing machines with micro bubbles having diameters of 10 μm to 50 μm or less. Recently, however, they have been used in closed waters such as lakes, There has been an increasing use of oxygen as a means for promoting the dissolution of oxygen into water (in water).

For example, the invention of Patent Registration No. 10-1606398 can independently improve the quality of water without being connected to the outside at the inside water side, without supplying energy, and it is possible to perform the water quality improvement work by using the micro bubble to destroy the greenhouse, And water quality improvement devices using micro bubbles. Patent Document 1: Japanese Patent Application No. 10-1606398 DISCLOSURE OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION [0004] The present invention relates to a water level rising part installed in a state floating on a water surface by buoyancy, a deep water rising part rising upwards from the water level rising part and pulling up deep water, A micro bubble spraying part installed on the upper part of the deep water elevating part and generating a micro bubble and spraying the micro bubble sprayed on the deep part raised by the deep water rising part; A bubble mixed water jetting part for injecting water and a positioning part for defining a floating position of the water level rising part.

Patent No. 10-1606398 The invention is advantageous in that microbubbles are sprayed by raising deep seawater. However, since microbubbles are concentrated only at one point fixed at one point such as a lake or the like, The oxygen amount is excessively increased, but the dissolved oxygen amount is difficult to be improved at other points. The microbubbles sprayed in water are fine bubbles, which do not diffuse laterally even after a lapse of time.

On the other hand, Japanese Laid-Open Patent Application No. 10-2016-0044895 discloses a microbubble ozone generating apparatus for generating microbubble ozone at a water depth of 4 m or more, A rudder that is rotated by a propeller operated by a motor and an automatic steering device; and a control unit that controls operation of the motor and the automatic steering apparatus. The ozone generating apparatus includes an ozone generator installed on the ground, a propeller operated by the motor, A hull, a distance measuring sensor unit provided at a bow of the hull and measuring a distance with an inclination toward a bottom surface, a distance measuring sensor unit connected to a lower portion of the hull by a fixing means, And a micro bubble generator that receives ozone from the micro bubble generator and generates micro bubbles, Randomly moving and discloses a water purification device using ozone microbubbles for supplying the microbubbles.

In the case of supplying the microbubble ozone by randomly moving the region where the water to be treated exists while being supplied with ozone through the hose from the ozone generating device installed on the ground as in Patent Document 10-2016-0044895, Since there is a limit to the moving area in the lake, and a large amount of microbubble ozone continuously needs to be continuously supplied while moving randomly in different regions of contamination, a lot of power is consumed, And it is disadvantageous that the amount of dissolved oxygen is over or over depending on the location of a river or a lake because it is randomly injected without considering the degree of contamination at a point where ozone is sprayed. In addition, when the micro bubble generator is installed in the lower part of the hull and the micro bubble is discharged in a large quantity as in the case of the open patent No. 10-2016-0044895, there is a problem that the hull can be overturned.

Japanese Patent Application Laid-Open No. 10-1244272 discloses an unmanned water purifier for water purification, which is configured to divert ultrasonic waves to water while operating an aquamarine remotely using an electric current generated through a self-generating structure while using a water surface . Japanese Patent Application Laid-Open No. 10-1244272 discloses a solar battery module including a housing that floats on the surface of the water. The housing includes a thrust section for generating a thrust according to the operation of the housing, a solar panel for generating current through sunlight, And a battery for storing the generated electric current; at least one ultrasonic transducer for receiving ultrasonic waves in the water under the application of a current generated in the self-generating portion; and a control signal And a controller for controlling the driving of the thrust section and the ultrasonic transducer are respectively disposed. The enclosure is transmitted to the thrust section by the current generated through the self-generating section and the control signal received wirelessly, do.

As disclosed in JP-A-10-1244272, a housing is moved by a thrust section (motor), and a cutting fan and a diffusion fan for cutting and spreading the algae are driven by a pneumatic control module (motor using an air computer) A large amount of electric power is required to generate ultrasonic waves for driving and to remove algae, and to receive and control a control signal from the outside. When the algae are removed by operating the ultrasonic wave, the algae cutting fan and the diffusion fan by the power supplied by the solar cell, only a small amount of algae can be removed in a narrow area. However, JP-A-10-1244272 does not disclose such a problem. In addition, as disclosed in Japanese Patent Application Laid-Open No. 10-1244272, when a bird cutting fan and a diffusion fan are installed at a lower portion of a housing and are driven, there is a problem that the housing easily overturns.

Although there is no such water purification function as described above, Japanese Patent Application No. 10-1145761 discloses a water quality monitoring robot that moves along a predetermined path of a river, a sea, or a lake, measures water quality and environmental conditions during a movement, . Japanese Patent Application Laid-Open No. 10-1145761 DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The present invention relates to a moving unit moving on a surface of a river, a sea, or a lake, a driving unit mounted on the moving unit and providing driving force for moving the moving unit, A communication unit for transmitting measurement results measured by the sensor unit to outside; a positioning unit for receiving a GPS signal and determining a current position; And a control unit for comparing the current position determined by the positioning unit with a predetermined measurement path, and controlling the driving unit according to the difference to move the mobile unit to a predetermined measurement path.

Patent Document 10-1145761 Disclosure of the Invention Problems to be Solved by the Invention The present invention relates to a mobile communication method in which when a user sets a measurement path of a mobile unit in advance and the mobile unit moves out of a predetermined measurement path using a GPS signal, Since the water quality of a river, a sea, or a lake is measured while moving to a path, there is a disadvantage that the user can not measure the water quality at a point where the measurement path is not set in advance. In addition, since pollutants flowing into rivers and lakes move in water, it is not possible to specify at which point a pollutant source or a pollutant source is introduced solely by the water quality measurement result at each point. Therefore, even when the water quality measurement result of the predetermined measurement path is transmitted to the outside as in the invention of Japanese Patent Application No. 10-1145761, it is difficult to detect the pollution source point or the pollution substance inflow point. Japanese Patent Application Laid-Open No. 10-1145761 discloses a method for measuring the quality of water on a predetermined measurement route, but does not provide a means of visually grasping the water quality from the outside. This makes it difficult to promptly respond to influx of pollutants from managers such as rivers, lakes, and dams. In addition, according to the invention of Japanese Patent Application No. 10-1145761, even if the measurement result of the quality of the water quality is not good, the quality of the water quality can not be improved immediately.

Korean Patent Publication No. 10-2016-0044895 (published on April 26, 2016) Korean Patent Registration No. 10-1606398 (Registration date: March 21, 2016) Korean Registered Patent No. 10-1244272 (Registration date: March 11, 2013) Korean Registered Patent No. 10-1145761 (registered on May 07, 2012)

A first object of the present invention is to provide a water quality monitoring robot which divides a water quality monitoring area while moving the entire water quality monitoring area autonomously, And the dissolved oxygen in the water quality monitoring system is compared and compared with the current water quality is improved by performing water quality improvement work to improve the efficiency of power use and the amount of dissolved oxygen in the entire water monitoring area can be kept in excess or not underestimated And to provide water quality monitoring and water quality improvement robots.

A second problem to be solved by the present invention is to provide a real-time water quality monitoring and water quality improvement robot capable of accurately detecting a point of occurrence of a water pollutant source or a point of influx of a water pollutant, which deteriorates water quality.

A third problem to be solved by the present invention is to provide a real-time water quality monitoring and water quality improvement robot that can visually confirm the water quality grade at a point where a robot is located in a lake, a river, a dam,

A fourth problem to be solved by the present invention is to provide a real-time water quality monitoring and water quality improvement robot in which even if a micro bubble is input in a large amount, there is no concern that the robot body will overturn.

The first object of the present invention is to provide a radiator having a hollow portion therein and an upper portion formed on an outer circumferential surface of a hemispherical floating body sealed by a lid so as to be submerged in water in a radial direction, A battery module is installed, and a motor propeller for propelling the hemispheric float underwater is provided under the hemispheric float. In the hemispheric float, a pump for circulating water and an air blower for introducing air into the circulating water A microbubble generator composed of a mixer for mixing the air supplied from the air blower with water supplied from the pump, a GPS receiving module capable of outputting position coordinates, a communication module capable of data communication with a server of the control center, A motor driver for driving the motor propeller, a motor propeller steering device for adjusting the direction of the motor propeller, A main controller that drives the micro bubble generator and drives the motor drive and motor propulsion steering apparatus according to the position coordinates received from the GPS reception module and can communicate data to the control center through the communication module, (EN) An energy storage system (ESS) for charging developed electric power and supplying electric power to each part, a water quality sensor for measuring water quality and transmitting the water quality to the main controller, An air inflow pipe capable of introducing outside air into the micro bubble generator, and a micro bubble generated in the micro bubble generator are put into water A micro bubble injecting pipe is installed, and the water is monitored by the motor propeller Wherein the main controller receives the signal of the GPS receiving module while moving in the water quality monitoring area and confirms the water level by the ultrasonic distance meter while moving the station, Obtaining positional coordinate metrics for the entire water quality monitoring region by obtaining positional coordinates with respect to the whole of the water quality monitoring region, acquiring water quality data including dissolved oxygen for each positional coordinate while moving the positional coordinate metrics of the entire water quality monitoring region at regular intervals Determining a dissolved oxygen level of each positional coordinate by using the water quality data of each of the positional coordinates of the entire water quality monitoring region, and operating the microbubble generator while sequentially moving the entire positional coordinate matrix in order of the position coordinates The operation time of the micro bubble generator is And the water quality improvement step of injecting the minute bubbles while gradually decreasing as the dissolved oxygen grade is better.

The second object of the present invention is to provide a method for controlling a water quality of a water quality monitoring system, the method comprising the steps of: acquiring water quality data including dissolved oxygen by position coordinates while moving a position coordinate matrix of the entire water quality monitoring area in a next cycle after the water quality improvement step; Determining a dissolved oxygen level of each positional coordinate by using the water quality data of each of the positional coordinates of the entire surveillance region and comparing the dissolved oxygen level of the previous cycle with the dissolved oxygen level of the corresponding period; And a water pollutant source detection step of determining a point where the dissolved oxygen level is lower than the previous cycle and determining a point where the dissolved oxygen level is lowered as a water pollutant source point and a water pollutant source notification providing the detected water pollutant source point to the control center Can be solved by further performing the steps.

According to a third aspect of the present invention, the LED array is further provided on the cover, and the main controller differs the light emitted from the LED array according to the water quality grade of the current position coordinates, Can be solved.

The fourth problem of the present invention described above can be solved by providing at least two micro bubble injection pipes and installing each micro bubble injection pipe in a radiation pipe arranged in a symmetrical direction with respect to each other.

According to the present invention having the above-described configuration, since a signal of the GPS receiving module is received while the water quality monitoring region is moved and positional coordinates of the entire water quality monitoring region are obtained at regular intervals while confirming the water level by the ultrasonic distance meter, It is possible to perform the water quality inspection and the water quality improvement work in units of each metric by obtaining the position coordinates of the entire water quality monitoring area as well as the preset path as a metric structure, It is possible to detect a new pollutant or pollutant inflow area and immediately implement the water quality improvement work corresponding to the pollutant or the pollutant inflow area by using the water quality data according to the location coordinates of the entire water quality monitoring area, Determine the star-dissolved oxygen level, The water quality improvement work and the pollution source detection work can be effectively performed and the micro bubble generator is operated while sequentially moving the entire position coordinate matrix in order of the position coordinates in which the dissolved oxygen level is bad, Since the operation time of the generator is gradually decreased and the minute bubbles are injected while the dissolved oxygen grade is better, the power obtained from the solar electron can be efficiently used and operated by the power of the solar electron, and the dissolved oxygen There is an effect that the excessive point and the underexposed point of dissolved oxygen do not occur because the difference in the injection time is set.

Also, by using the water quality grade as in the present invention, if the water quality is not improved in a specific area after the water quality improvement work, it is possible to determine the pollution source occurrence area or the pollutant entry area. That is, after the water quality improving step, the main controller acquires the water quality data including dissolved oxygen for each position coordinate while moving the position coordinate matrix of the entire water quality monitoring area in the next cycle, determines the dissolved oxygen level for each position coordinate, The location of the point where the dissolved oxygen level is lower than the previous cycle is found as a point of occurrence of the water pollution source.

According to the present invention, the LED array is further provided on the lid, and the main controller makes the luminous light of the LED array different according to the water quality grade of the current position coordinate, In the river, dams, etc., the manager can visually confirm the water quality grade at the location where the robot is located, and immediately check the pollutant source and take necessary water quality improvement measures.

According to the present invention, there are provided a plurality of radiation tubes extending in a radial direction so as to be submerged on the outer circumferential surface of a hemispherical floating body sealed by a lid and having a hollow portion therein, Since at least two tubes are installed and each micro bubble introducing tube is installed in a radiation tube arranged in a symmetrical direction with respect to each other, there is no fear that the robot body will overturn even when a micro bubble is inputted in a large amount.

1 is an external perspective view of a real-time water quality monitoring and water quality improvement robot according to the present invention.
FIG. 2 is a plan view of the real-time water quality monitoring and water quality improvement robot shown in FIG. 1. FIG.
3 is a block diagram of an internal configuration of a real-time water quality monitoring and water quality improvement robot according to the present invention.
4 is a vertical cross-sectional view showing a method of real-time water quality monitoring and a water quality improvement robot spraying micro bubbles according to the present invention.
5 is a use state diagram of a real-time water quality monitoring and water quality improvement robot according to the present invention.
6 is a block diagram of a water quality monitoring system comprising a real-time water quality monitoring and water quality improvement robot and a control center according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a real-time water quality monitoring and water quality improvement robot according to the present invention will be described in detail with reference to the accompanying drawings.

1 and 2, the real-time water quality monitoring and water quality improving robot 1 according to the present invention is capable of immersing the hemispheric float 9 and the hemispherical float 9 in the radial direction on the outer circumferential surface thereof. And has a structure made up of extended radiation tubes 11a to 11f. The hemispherical lifting body (9) has a hollow portion inside and the upper portion is sealed by a lid (3). It is preferable that the radiation tubes 11a to 11f are formed by a plurality of numbers such as six or eight. The radiation tubes 11a to 11f not only balance the hemispherical lifting body 9 but also facilitate the measurement of water quality and prevent the hemispherical float 9 from being out of balance when the microbubble is injected . The hemispherical lifting body 9 has a circular shape (UFO shape) and a solar cell module 5 is installed on the upper surface of the lid, and the energy source necessary for water quality monitoring is self-produced and operated. The solar cell module 5 is installed as wide as possible on the top surface of the lid 3 so that the required power of all the constituent parts can be supplied only by the power generated by the self-power generation.

A round LED array (7) is installed around the solar cell module (5) of the lid (3). The LED array 7 is a color-variable LED array 7 capable of emitting light with various colors.

3 and 4, an energy storage system (ESS) 33 is installed in the hemispherical lifting body 9 for charging the power generated from the solar cell module 5 and supplying power to each part. do. The energy storage system (ESS) 33 includes a lithium ion secondary battery cell and a charge and discharge circuit, charges the power generated by the solar cell module 5 during the daytime, and supplies the charged power to each part. When the diameter of the hemispherical lifting body 9 is 2300 mm and the height is 600 to 800 mm, the solar cell module 5 installed in the lid 3 can produce a maximum output of 280 Wh (12 V) per hour . The robot 1 can be operated not only at night but also in cloudy weather and rainy weather through electric power charged in the energy storage system (ESS) The main controller 27 acquires data on the power generation amount and the power remaining amount, and controls the operation of each part of the robot 1 according to the power generation amount and the power remaining amount.

4, a motor propeller 39 is provided below the hemispherical lifting body 9 to propel the hemispherical float 9 in water. Although not shown in the drawing, the energy storage system 33 can be installed at the center of the hemispherical floating body 9 to perform the center of gravity function because the mass thereof is relatively large.

3 and 4, the hemispherical lifting body 9 is divided into upper and lower spaces. The upper space is provided with a micro bubble generator 15 (FIG. 3) A GPS receiving module 29, a communication module 31, a motor driver 35, a motor propeller steering device 37, and a main controller 27.

The micro bubble generator 15 includes a pump 17 for sucking and circulating water through a water suction pipe 24 and an air inlet pipe 23 connected to the air inlet 12 for sucking air, A mixer 21 for mixing microbubbles with air supplied from the air blower 19 to the water supplied from the pump 17 and an air blower 19 for introducing air are connected to the mixer 21 And a micro bubble feeding pipe 25 for discharging water containing micro bubbles. The end nozzles of the water suction pipe 24 and the micro bubble feed pipe 25 are always immersed in water.

The GPS receiving module 29 generates position coordinates and outputs them to the main controller 27. The communication module 31 is a CDMA terminal or a Wifi terminal capable of data communication with a server of the control center.

The motor driver 35 is an inverter that inverts the DC power supplied from the energy storage system (ESS) with the AC pulse power and inputs the inverted power to the motor propeller.

The motor propeller steering device 37 adjusts the direction of the motor propeller 39 under the control of the main controller 27.

The main controller 27 drives the micro bubble generator 15 and drives the motor drive 35 and the motor propeller steering device 37 according to the position coordinates received from the GPS reception module 29, (31) to the control center.

The plurality of radiation tubes 11a to 11f are provided with ultrasonic distance meters 13a to 13f capable of measuring distances between water depth and water depth. If only the outermost limit coordinates of the entire water quality monitoring area are given, the robot 1 according to the present invention can detect the distance between the ultrasonic distance meters 13a to 13f and the GPS reception module (Position coordinates obtained by dividing the water quality monitoring area at regular intervals in the direction of the upper slaughter and the lowering axis, see Fig. 5) are obtained while confirming the boundaries or facilities of the lake, dam, And the water quality of the entire water quality monitoring area is measured while autonomously moving the position coordinate matrix.

The plurality of radiation tubes 11a to 11f are provided with water quality sensors 41a and 41b for measuring the water quality and transmitting the measured water quality to the main controller 27. [ The water quality sensor essentially includes a dissolved oxygen amount sensor and may include a temperature sensor, a salinity sensor, and a PH concentration sensor. The water quality sensor may further include one or more water quality sensors selected from a turbidity sensor, a BOD (biochemical oxygen demand) sensor, a COD (chemical oxygen demand) sensor, a TOC .

Some of the plurality of radiation tubes 11a to 11f are provided with a water inflow pipe 21 for allowing water to flow into the micro bubble generator 15 and a water inflow pipe 21 for introducing outside air into the micro bubble generator 15. [ The air inlet pipe 23 is provided. The air inlet pipe 23 is connected to the air inlet 12 formed in the radiation tube 11f. In some of the plurality of radiation tubes 11a to 11f, a micro bubble injecting tube 25 capable of injecting micro bubbles generated in the micro bubble generator 15 into water is provided.

As shown in FIG. 4, at least two micro bubble injection pipes 25 are installed, and when the micro bubble injection pipes 25 are installed in the radiation tubes 11b and 11e arranged in the mutually symmetrical directions, Even when a large amount of micro bubbles is injected and the repulsive force acts on the hemispherical float body 9, the hemispherical float body 9 does not overturn. However, when the micro bubble supplying pipe 25 is provided only in one of the radiation tubes or a plurality of micro bubble supplying pipes 25 are provided asymmetrically, the hemispherical float body 9 can be rolled over when the micro bubble is injected.

In the robot 1 according to the present invention, the water quality is measured while moving the water quality monitoring area autonomously by the motor propeller 39, and then the water quality grade is divided and the microbubbles are inputted in real time according to the water quality grade.

The micro bubbles (bubbles having a bubble diameter of 10 탆 to 50 탆) injected for improving water quality by the micro bubble generator 15 generate active micro bubbles for water purification and disperse them in water, and a large amount of air Is used to purify the solution.

The microbubbles produced by the microbubble generator are more effective in improving the quality of water such as removal and prevention of the algae and promoting the activity of the aerobic microorganisms, because the microbubbles increase the specific surface area and the residence time in the water by increasing the dissolved oxygen. In addition, microbubbles reduce bottom contaminants and deposited sediments and help prevent water stagnation by helping the flow of water. Normal bubbles rise rapidly in water, but micro bubbles rise by several millimeters at 1 minute due to low buoyancy, stay in water for 3 to 7 minutes, gradually decrease to become nano bubbles (bubbles of less than 10 μm) It is completely dissolved when it disappears. Therefore, it is of limited effectiveness to supply a micro bubble by installing a micro bubble generator at a specific point such as a river, a lake, or a dam. The present invention generates microbubbles to move the entire water quality monitoring area, and injects microbubbles without risk of rollover depending on the water quality grade.

Microbubbles in the water are reduced to nano-sized bubbles and disappear, generating free radicals. Free radicals are excellent in disinfecting power and chemical decomposition ability, and are also very effective in suppressing and eliminating the occurrence of green algae. Free radicals are highly effective for purification of water because they can be easily attached to contaminants in the water by charging and maximize the transfer of dissolved oxygen required for microbial growth, thereby improving purification efficiency.

According to the present invention, microbubbles of 1.0 to 1.5 m3 / hr can be generated by using a 1 hp pump employing a 220 V three-phase motor dedicated to the solar cell as the pump of the micro bubble generator 15. [ A general pump is used and a micro bubble is generated in a swirl mode in the mixer 21. [ This method is a method in which the power consumption is small, the micro bubble generation amount is large, and the foreign matter is not clogged.

5, when the robot 1 is inserted into a water quality monitoring area such as a lake dam for the first time, the main controller 27 controls the GPS The position coordinates of the entire water quality monitoring area are obtained at regular intervals and the position coordinate metrics are obtained for the entire water quality monitoring area while receiving signals of the receiving module 29 and confirming the water level by the ultrasonic distance meters 13a to 13f. This makes it possible to accurately locate the boundary and location coordinates of the water quality monitoring area based on the GPS. The position coordinate matrix is a position coordinate obtained by dividing the water quality monitoring area at regular intervals in the directions of the upper and the lower axes, and the water quality measurement point may be the midpoint of the area divided by the intersection of each matrix line or the matrix line.

The main controller 27 includes a step of acquiring water quality data including dissolved oxygen for each position coordinate by moving the position coordinate matrix of the entire water quality monitoring region at a predetermined cycle of the robot 1, And the step of determining the dissolved oxygen level according to the position coordinates is performed using the water quality data.

For example, the dissolved oxygen level can be divided into 7 levels as follows.

Rating

One
2
3
4
5
6
7
DO (m / L)

7.5 or more
6.0 or higher
5.0 or higher
4.0 or higher
3.0 or higher
2.0 or higher
Less than 2.0

Class 1 is a clean ecosystem that is rich in dissolved oxygen and free of contaminants. It is a water quality state that can be used as drinking water after simple water treatment such as filtration and sterilization.

Class 2 is an ecosystem that is close to a clean state with a lot of dissolved oxygen and little contaminants. It is a water quality state that can be used as drinking water after general water treatment such as filtration, sedimentation, and sterilization.

The third grade is a somewhat good ecosystem with some pollutants but a lot of dissolved oxygen. It is a water quality state that can be used as drinking water or swimming water after general water treatment such as filtration, sedimentation, and sterilization.

Grade 4 is a general ecosystem that consumes dissolved oxygen owing to common pollutants. It is a water quality state that can be used as drinking water after high water treatment such as filtration, sedimentation, activated carbon injection, sterilization, or as general industrial water after general water treatment.

Grade 5 is an ecosystem in which dissolved oxygen is consumed due to a considerable amount of pollutants. It is used as agricultural water, or it can be used as industrial water after highly purified water treatment such as filtration, sedimentation, activated carbon injection, sterilization.

Grade 6 is an ecosystem in which dissolved oxygen is consumed due to a large amount of pollutants. It does not cause discomfort to people's daily life, such as walking, and is a water quality state that can be used as industrial water after special water treatment such as activated carbon injection and reverse osmosis .

Class 7 is a polluted water with little oxygen dissolved, making it difficult for fish to live.

When the dissolved oxygen class is determined, the main controller 27 sequentially moves the entire positional coordinate matrix in order of the position coordinates of the dissolved oxygen class, and operates the micro bubble generator to measure the operating time of the micro bubble generator, The water quality improvement step of injecting minute bubbles is performed while decreasing gradually.

At this time, it is necessary to classify the dissolved oxygen levels into two classes (for example, 1, 2, 3, 4, 4,5, 6 and 7 grades) (For example, less than 1, 2, 3, or less than 4) microbubble injection time can be differentiated.

For this purpose, the correlation between the microbubble injection time, the microbubble generation amount, and the dissolved oxygen improvement degree supplied from the nozzle of the microbubble generator is converted into a database and the microbubble injection time can be adjusted using the data base.

The main controller 27 may further include the steps of acquiring water quality data including dissolved oxygen for each position coordinate while moving a position coordinate matrix of the entire water quality monitoring area in the next period after the water quality improving step, A step of comparing the dissolved oxygen level of each cycle with the dissolved oxygen level of the cycle, comparing the dissolved oxygen level of each cycle with the dissolved oxygen level of the cycle, A water pollutant source detection step of determining a point where the oxygen level is lowered and a point where the dissolved oxygen level is lowered as a water pollutant source occurrence point and a water pollutant source notification step of providing the control center with the detected water pollutant source occurrence point. According to the present invention and the water quality grade according to the location coordinates, if the water quality is not improved in a specific area after the water quality improvement work, it is possible to determine the pollution source occurrence area or the pollutant entry area.

As shown in FIG. 6, when the control center receives the notification of the water pollution source from the robot 1, the control center emits the emergency and performs the water pollution source identification and removal work.

The main controller 27 not only notifies the water pollution source to the control center but also can transmit the measured water quality data measured in real time to the control center at a predetermined period (10 seconds to 10 minutes). For this, a CDMA terminal or a Wifi terminal is provided in the hemispherical lifting body 9 as described above. It is also possible to transmit all the water quality measurement data according to the identified position coordinates only in the section or water quality range designated by the real-time control center. The control center sends a special water quality measurement command to the main controller 27 through the communication module to suspend autonomous travel in the control center and move to the position coordinates designated by the control center to measure the water quality and transmit the measured water quality to the control center . The control center server can database the movement information of the robot 1 and the real-time water quality information according to the position coordinates by using the position coordinates of the GPS module and the water quality information.

The server of the control center is provided with a water quality data comparison module for comparing the present measurement value and the past measurement value of each water quality item at each point and a data quality data comparison module for comparing the water quality data after the water quality improvement operation before the microbubble- A microbubble and water quality correlation module for acquiring correlation information between the bubble input and each water quality item, and a microbubble input time acquiring correlation information between microbubble input time and water quality improvement degree and a water quality improvement degree And a correlation analysis module. When the water quality data value is worse than the previous water quality measurement result, the micro bubble injection time period at which the water quality measurement value of the previous cycle can be calculated is calculated. At the next water quality improvement step, Water quality item Micro bubbles are injected for the time to obtain the measured value.

In addition, it is preferable that a separate mobile terminal capable of communicating with the main controller 27 is provided so that the mobile terminal can transmit the position coordinates of the robot 1 to adjust the position of the robot 1. When the water quality measurement value is out of a certain range, the main controller 27 can send an alarm signal to the control center or the mobile terminal through the communication module 31.

The main controller 27 can visually check the water quality of the exterior by making the light emitted from the LED array 7 different according to the water quality grade of the current position coordinates at which the robot 1 is located. The LED array (7) has a built-in LED for illumination for night scenery, and can perform a role as a light sculpture in a lake or a river. To this end, the cover may be provided with an LED array for illumination and an illuminance sensor, and when the output value of the illuminance sensor is at night, the illumination LED array may be illuminated. It is preferable that the water quality grade display and illumination lighting by the LED array 7 are made only when the remaining power of the energy storage system ESS is equal to or more than a predetermined value.

According to the present invention, citizens can recognize the consciousness of maintaining a clean lake at all times with real-time water quality measurement (4 ~ 9 items), and the activities of the robot (1) It is possible to create a better future city function. By transmitting real-time measured water quality information to the control center, it can be used to manage water quality of rivers and lakes of other cities in the next time, and it can be used autonomously Water quality monitoring and water quality improvement.

1: robot 3: cover
5: solar cell module 7: LED array
9: hemispherical floats 11a to 11f:
12: Air inlet 13a to 13f: Ultrasonic distance meter
15: micro bubble generator 17: pump
19: air blower 21: mixer
23: air inlet pipe 24: water suction pipe
25: Micro bubble input pipe 27: Main controller
29: GPS receiving module 31: communication module
33: Energy Storage System (ESS) 35: Motor Driver
37: Motor propeller steering device 39: Motor propeller
41a, 41b: a water quality sensor

Claims (4)

A plurality of radiation tubes 11a to 11f extending in the radial direction so as to be immersed in water are formed on the outer peripheral surface of the hemispherical floating body 9 sealed by the lid 3,
A solar cell module 5 is installed on the upper surface of the lid 3,
A motor propeller 39 capable of propelling the hemispheric float 9 in the water is provided below the hemispherical lifting body 9,
The hemispherical lifting body 9 is provided with a pump 17 for circulating water, an air blower 19 for injecting air into the circulating water, and an air blower 19 for supplying water supplied from the pump 17 to the air blower 19 A microbubble generator 15 composed of a mixer 21 for mixing supplied air, a GPS receiving module 29 capable of outputting position coordinates, a communication module 31 capable of data communication with a server of a control center, A motor driver 35 for driving the motor propeller 39, a motor propeller steering device 37 for adjusting the direction of the motor propeller 39, A main controller 27 for driving the motor drive 35 and the motor propeller steering device 37 according to the position coordinates received from the receiving module 29 and for communicating data to the control center through the communication module 31, And a controller (not shown) for charging the power generated by the solar cell module 5 And an energy storage system (ESS) 33 for supplying electric power to the battery,
The plurality of radiation tubes 11a to 11f are provided with water quality sensors 41a and 41b for measuring the water quality and transmitting the water quality to the main controller 27 and ultrasonic distance meters 13a to 13f A water inflow pipe 21 for allowing water to flow into the micro bubble generator 15, an air inflow pipe 23 for allowing external air to flow into the micro bubble generator 15, A micro bubble injecting pipe 25 capable of injecting microbubbles generated in the generator 15 into water is provided,
So that water quality measurement and micro bubble injection can be performed in real time while moving the water quality monitoring area by the motor propeller 39,
The main controller 27 receives the signal of the GPS receiving module 29 while moving in the water quality monitoring area and confirms the water level by the ultrasonic distance meters 13a to 13f, Acquiring water quality data including dissolved oxygen for each position coordinate while moving a position coordinate matrix of the entire water quality monitoring area at regular intervals; Determining a dissolved oxygen level for each positional coordinate by using the water quality data for each positional coordinate; operating the microbubble generator while sequentially moving the entire positional coordinate matrix in order of position coordinates having a low dissolved oxygen level, The better the dissolved oxygen level, the more gradually Real-time water quality monitoring and water quality improvement robot which comprises the steps of performing a water quality improvement.
The method according to claim 1,
The main controller 27 may further include the steps of acquiring water quality data including dissolved oxygen for each position coordinate while moving a position coordinate matrix of the entire water quality monitoring area in the next period after the water quality improving step, A step of comparing the dissolved oxygen level of each cycle with the dissolved oxygen level of the cycle, comparing the dissolved oxygen level of each cycle with the dissolved oxygen level of the cycle, A water pollution source detection step of determining a point where the oxygen level is lowered and a point where the dissolved oxygen level is lowered as a water pollution source occurrence point and a water pollution source notification step of providing the control center with the detected water pollution source occurrence point A real-time water quality monitoring and water quality improvement robot.
The method according to claim 1,
An LED array 7 is further provided in the lid 3. The main controller 27 differs the light emitted from the LED array 7 according to the water quality grade of the current position coordinates Time monitoring of water quality and improvement of water quality.
The method according to claim 1,
At least two micro bubble supplying pipes 25 are provided and each micro bubble supplying pipe 25 is installed in the radiation tubes 11b and 11e arranged in the mutually symmetrical directions so that the repulsive force Wherein the semi-spherical floating body (9) is not rolled up even when it acts on the hemispherical lifting body (9).

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