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Pollution source positioning method and device based on diamond network

A positioning method and pollution source technology, applied in the field of pollution source positioning, can solve problems such as search failure, low search efficiency, and neglect of actual environmental effects, so as to achieve the effect of avoiding circle behavior and quickly locating paths

Active Publication Date: 2019-01-15
FOSHAN UNIVERSITY
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] The task of mobile robots searching for targets through active sense of smell has important application prospects in many fields and has achieved some valuable results, but there are also some disadvantages: 1. Only rely on concentration information to track chemical sources, ignoring the actual environmental effects , it is easy to go in the wrong direction, go round and round, the search efficiency is low, and even the search fails; 2. The whole process uses a fixed step size search, which makes it difficult to accurately locate the chemical source; 3. There are many iteration steps and determination conditions, and the efficiency is low

Method used

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  • Pollution source positioning method and device based on diamond network

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Embodiment Construction

[0039] refer to figure 1 , a method for locating pollution sources based on a rhombus network provided in an embodiment of the present invention, comprising the following steps:

[0040] Step S1, take the position where the robot fish enters the water as the starting point, and the direction of entering the water as the initial direction of progress, detect the concentration value of the pollutant in the water in real time, and record the concentration value detected by the robot fish at the nth point as C(n);

[0041] Step S2, the robot fish advances along the rhombus network with an included angle of 60° according to the set step size and steering direction;

[0042] Step S3, determine whether the concentration value change rate Crate is greater than the set value, if not, jump to step S2, if so, perform the following steps, wherein, the concentration change rate Crate=[C(n)-C(n-1)] / C(n-1), the set value is set according to the concentration difference of pollution sources...

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Abstract

The invention relates to the technical field of pollution source positioning, and in particular relates to a pollution source positioning method and device based on diamond network. The method comprises the steps of detecting the concentration value of pollutant in water in real time through using the entering position of a machine fish as a start and an entering direction as an initial directionof progress; then going forward along a Z-shaped route with included angles of 60 degrees according to a set step length; when the change rate of the concentration value is more than a ser value, andthe concentration value difference is within a set section, reducing the forward step length of the machine fish; and when the machine fish winds, and the forward step length is less than a minimum step length threshold, stopping running, and using the current position of the machine fish as a pollution source. The invention provides a more accurate and quick pollution source positioning approach.

Description

technical field [0001] The invention relates to the technical field of pollution source positioning, in particular to a diamond network-based pollution source positioning method and device. Background technique [0002] With the deepening of industrialization, pollution has gradually become a common topic of concern. Among them, the pollution of water area has also been paid more and more attention, and the generation of pollution will seriously affect people's life. When pollution occurs, how to quickly locate the location of the pollution source has direct practical significance for water pollution control. [0003] With the development of communication technology, wireless sensors have been widely used in mobile robots. Wireless Sensor Networks (Wireless-Sensor-Networks, WSN) is a distributed sensor network, the end of which is a sensor that can perceive and inspect the external world. The sensors in the WSN communicate wirelessly, so the network setting is flexible an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈思琪
Owner FOSHAN UNIVERSITY
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