YANGFan,YANGZhe,HULin-tao,et al.Application of Automatic Sewage-seeking Ship Controlled by Concentration Gradient Algorithm in Concealed Pipe Inspection[J].China Water & Wastewater,2022,38(13):8-14.
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Application of Automatic Sewage-seeking Ship Controlled by Concentration Gradient Algorithm in Concealed Pipe Inspection

China Water & Wastewater[ISSN:1000-4062/CN:12-1073/TU] volume: 第38卷 Number: 第13期 Page: 8-14 Column: Date of publication: 2022-07-01
Author(s):
YANG　Fan1;  YANG　Zhe1;  HU　Lin-tao2;  GUO　Zi-yu3;  WANG　Da1;  SONG　Shuang1;  MA　Jun4
（1. Key Laboratory of Microbial Technology for Industrial Pollution Control of Zhejiang Province， College of Environment， Zhejiang University of Technology， Hangzhou 310032， China； 2. College of Information Engineering， Zhejiang University of Technology， Hangzhou 310032， China； 3. School of Design and Architecture， Zhejiang University of Technology， Hangzhou 310032， China； 4. State Key Laboratory of Urban Water Resource and Environment， School of Environment， Harbin Institute of Technology， Harbin 150090， China）
Keywords:
water quality monitoring;  unmanned ship;  concentration gradient algorithm;  automatically contamination searching;  illegal discharge
Abstract:
Aiming at the potential illegal discharge or sewer leak，a water quality monitoring ship was designed which can automatically seek wastewater discharge. The automatic sewage?seeking ship is equipped with monitoring module, sampling module, automatic sewage-seeking direction control module, automatic obstacle avoidance remote control module and electric drive system, and can obtain real?time water quality monitoring data such as conductivity, pH, ammonia nitrogen, and total phosphorus. The movement of the ship is controlled based on a self?developed concentration gradient algorithm, which can automatically search the exception water quality point within a designated area such as concealed pipe then record and store the monitoring data to the cloud platform together with the positioning coordinates. Furthermore, the equipped sampling module can automatically collect water sample for further analysis and fix evidences for concealed pipe searching. The functions of the boat’s automatic contamination direction control, regional cruise and automatic sampling have been tested and verified in many wetland rivers. Compared with the existing water quality monitoring ships, it has the advantages of automatic pollution search, all?day inspection, safe maneuvering, energy saving and low consumption, etc., and is effective at preventing illegal discharge or sewer leak.
Last Update: 2022-07-01