[1]杨帆,杨喆,胡林涛,等.基于浓度梯度算法控制的自动寻污船应用于暗管排查[J].中国给水排水,2022,38(13):8-14.
　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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基于浓度梯度算法控制的自动寻污船应用于暗管排查

中国给水排水[ISSN:1000-4062/CN:12-1073/TU] 卷: 第38卷 期数: 2022年第13期 页码: 8-14 栏目: 出版日期: 2022-07-01
Title:
Application of Automatic Sewage-seeking Ship Controlled by Concentration Gradient Algorithm in Concealed Pipe Inspection
作者:
杨帆1， 杨喆1， 胡林涛2， 郭子瑜3， 汪达1， 宋爽1， 马军4
（1.浙江工业大学环境学院 浙江省工业污染微生物控制技术重点实验室，浙江 杭州 310032；2.浙江工业大学 信息工程学院，浙江 杭州 310032；3.浙江工业大学 设计与建筑学院，浙江 杭州 310032；4.哈尔滨工业大学环境学院 城市水资源与水环境国家重点实验室，黑龙江 哈尔滨 150090）
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）
关键词:
水质监测;  无人船;  浓度梯度算法;  自动寻污;  偷排
Keywords:
water quality monitoring;  unmanned ship;  concentration gradient algorithm;  automatically contamination searching;  illegal discharge
摘要:
针对我国水域潜在的暗管偷排漏排污水问题，设计了一款自动寻污水质监测船。船体搭载监测模块、采样模块、自动寻污方向控制模块、自动避障模块以及动力系统，可实时获取电导率、pH、氨氮、总磷等水质监测数据。行船方向控制基于自行编写的浓度梯度算法，可在指定水域范围内自动搜寻偷排暗管等水质指标异常区域并记录监测数据，与定位坐标一并传输储存至云平台。船体搭载的采样模块可自动采集异常水样用于进一步分析，为暗管排查固定证据。小船的自动寻污方向控制、区域巡航及自动采样等功能在多处湿地河道内完成测试验证。与现有水质监测船相比，其具有自动寻污、全天巡查、安全机动、节能低耗等优势，可有效排查污水偷排漏排问题。
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.

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更新日期/Last Update: 2022-07-01