A water pollution tracing system and method

Abstract

The present invention discloses a water pollution source tracing system and method, including a source tracing main system and a source tracing subsystem, wherein the source tracing main system is fixedly deployed on a river, and in the case of non-source tracing, the source tracing subsystem docks the source tracing main system, and the source tracing subsystem has the function of moving in the river, and the source tracing subsystem and the source tracing main system both have the function of monitoring water quality parameters and pollutants at the location; the source tracing main system is used for: communicating with a cloud platform with official pollution monitoring data; collecting and analyzing the monitoring data of the source tracing main system and the source tracing subsystem and the official pollution monitoring data, and giving an early warning according to the set early warning conditions; planning a source tracing path, launching and recovering the source tracing subsystem, and controlling the source tracing subsystem to trace the source according to the source tracing path. The present invention adjusts the route according to the on-site detection situation during the inspection process of the source tracing subsystem, so that the source tracing subsystem can find the pollution source more accurately and quickly, and is very suitable for finding the dark pipe sewage discharge point in the river.

Description

Technical Field

[0001] The present invention relates to the technical field of water pollution source tracing, and in particular to a water pollution source tracing system and method. Background Art

[0002] Water pollution is one of the major environmental problems facing the world today, posing a serious threat to water resources. In order to effectively deal with water pollution, an efficient and accurate method for tracing the source of water pollution is needed. Existing water pollution tracing technologies mainly include water quality monitoring and analysis, remote sensing technology, stable isotope technology, mathematical models and simulations, etc. However, these methods have certain limitations in practical applications, such as difficulty in tracing the source and difficulty in accurately locking the source of pollution.

[0003] In order to supervise the pollution problem, the government will set up multiple monitoring stations at intervals in the river. Each monitoring station can monitor the water quality parameters at its location. The monitoring data includes multiple water quality parameter data such as dissolved oxygen concentration and ammonia nitrogen content, as well as location data. The data will be uploaded to the cloud platform to form official water pollution monitoring data.

[0004] The existing sewage discharge points are very secretive, usually set up in the river through underground pipes, and it is difficult for official monitoring stations to find the pollution source. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a water pollution tracing system and method which can accurately locate the pollution source in the river.

[0006] In order to solve the above technical problems, the water pollution tracing system of the present invention includes a tracing main system and a tracing subsystem. The tracing main system is fixedly deployed on the river. In the non-tracing case, the tracing subsystem docks with the tracing main system. The tracing subsystem has the function of moving in the river. The tracing subsystem and the tracing main system both have the function of monitoring the water quality parameters and pollutants at their locations.

[0007] The main traceability system is used to: communicate with the cloud platform with official pollution monitoring data; collect and analyze the monitoring data of the main traceability system and the traceability subsystem and the official pollution monitoring data, and issue warnings based on the set warning conditions; plan the traceability path; launch and recover the traceability subsystem, and control the traceability subsystem to trace along the traceability path.

[0008] Preferably, the tracing subsystem includes a positioning and navigation module and a water quality parameter collection module carried on the unmanned vessel.

[0009] Preferably, the positioning and navigation module adopts GPS or Beidou satellite navigation system.

[0010] The water pollution source tracing method of the present invention adopts any of the water pollution source tracing systems described above, and includes the following steps: (1) preliminarily inferring possible pollution source areas based on official monitoring data of the cloud platform; (2) determining a preliminary tracing path of the tracing subsystem; (3) launching the tracing subsystem; (4) controlling the tracing subsystem to trace the source according to the preliminary tracing path, and adjusting the tracing path according to the monitoring data of the tracing subsystem until the pollution point is found.

[0011] The water pollution source tracing method of the present invention adopts any of the water pollution source tracing systems described above, and comprises the following steps:

[0012] Step 1: Taking the location of the main tracing system as the starting point, preliminarily infer the possible pollution source area and determine the preliminary tracing path of the tracing subsystem. The specific method is as follows:

[0013] Step 1.1: If the water flow rate at the location of the tracing main system is greater than or equal to the threshold value X, it is considered that the water pollution comes from the upstream area. The tracing subsystem starts from the location of the tracing main system and patrols in the upstream direction of the water flow, monitors the pollutant concentration of the corresponding monitoring point in real time, and calculates the concentration difference ΔC between the monitoring point and the previous monitoring point;

[0014] When ΔC≤0, the concentration difference ΔC of each monitoring point on the circumference is obtained by taking the position of the monitoring point as the center of the circle and a as the radius for circumferential inspection. 圆 ;

[0015] Step 1.2: If the water flow rate is less than the threshold value X, it is considered that the water pollution comes from the surrounding polluted area, and the following operations are performed:

[0016] ① Based on the official monitoring data obtained from the cloud platform, if the water quality monitoring data of the official monitoring stations closest to the upstream and downstream of the main traceability system is stable and there are no other pollution sources, the traceability subsystem takes the location of the main traceability system as the center and a as the radius to conduct a circumferential inspection to obtain the concentration difference ΔC of each monitoring point on the circumference 圆 ;

[0017] ② According to the official monitoring data obtained from the cloud platform, if the data in a single direction A increases or a suspected pollution source appears: If the data at a certain station in direction A increases or there is a suspected pollution source, the traceability subsystem takes the location of the traceability main system as the starting point, conducts inspections in direction A, monitors the pollutant concentration of the corresponding monitoring point in real time, and calculates the concentration difference ΔC between the monitoring point and the previous monitoring point. When ΔC≤0, the position of this monitoring point is taken as the center of the circle, and a is used as the radius for circumferential inspection to obtain the concentration difference ΔC of each monitoring point on the circumference. 圆 ;

[0018] Step 2: Select the concentration difference ΔC 圆The largest point is taken as the starting point of the next step and the point with the largest concentration difference is taken as the new center of the circle. The circumference is inspected with a as the radius to obtain the concentration difference ΔC of each monitoring point on the circumference. 圆 ;

[0019] Step 3: Concentration difference ΔC 圆 For the largest point, continue to execute step 2 N times. According to the point with the largest concentration difference N times, intelligently fit the traceability route. The traceability subsystem continues to move according to the intelligently fitted traceability route, monitors the pollutant concentration of each monitoring point in real time, and calculates the concentration difference ΔC of each monitoring point.

[0020] When ΔC≤0, the concentration difference ΔC of each monitoring point on the circumference is obtained by taking the position of the monitoring point as the center of the circle and a as the radius for circumferential inspection. 圆 ;

[0021] Step 4: Concentration difference ΔC 圆 At the largest point, continue with steps 2-3 until the concentration difference ΔC of a certain circumferential inspection is 圆 are all less than 0, and the center of the circle is determined to be the pollution source;

[0022] The circular inspection method is: take the point on the circumference opposite to the tracing subsystem at the center of the circle as the first circular monitoring point, conduct a monitoring every time a straight line distance L is walked on the circumference, monitor the pollutant concentration of the corresponding monitoring point in real time and calculate the concentration difference ΔC between the monitoring point and the center of the circle 圆 ;

[0023] Except for the distance from the center of the circle to the first monitoring point on the circumference, the traceability subsystem performs monitoring once every L straight-line distance traveled.

[0024] Preferably, said N≥3.

[0025] Preferably, X is 0.01 m / s, 2m≤a≤25m, 3m≤L≤40m.

[0026] Preferably, step 1 is triggered and executed by an early warning mechanism, and the main tracing system is preset with an early warning line for water quality parameters. When the water quality parameter at the location of the main tracing system reaches the early warning line, the main tracing system triggers the early warning mechanism.

[0027] Preferably, the warning line includes at least one warning line for pollutant concentration, and the pollutant concentrations in steps 1-4 refer to the pollutant concentrations that exceed the standard the most when the warning mechanism is triggered.

[0028] Preferably, the water quality parameters used to trigger the early warning mechanism are obtained through detection by the main tracing system.

[0029] The beneficial effect of the present invention is that by setting up a fixed tracing main system and a mobile tracing subsystem, the tracing main system can plan an initial inspection route according to the officially monitored water quality data, dispatch the tracing subsystem to do on-site inspections, and adjust the route according to the on-site detection conditions during the inspection of the tracing subsystem, so that the tracing subsystem can find the pollution source more accurately and quickly, which is very suitable for finding concealed pipe discharge points in rivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a control principle diagram of the water pollution source tracing system of the present invention;

[0031] Figure 2 This is the traceability roadmap for Example 1 of the present invention. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. All directional indications in the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. Example 1

[0033] like Figure 1 As shown, the water pollution tracing system of this embodiment includes a tracing main system and a tracing subsystem. The tracing main system is fixedly deployed on the river. In the non-tracing case, the tracing subsystem is docked at the tracing main system. The tracing subsystem has the function of moving in the river. Both the tracing subsystem and the tracing main system have the function of monitoring the water quality parameters and pollutants at their locations.

[0034] The main traceability system is used to: communicate with the cloud platform with official pollution monitoring data; collect and analyze the monitoring data of the main traceability system and traceability subsystem and official pollution monitoring data, and issue warnings based on the set warning conditions; plan the traceability path; launch and recover the traceability subsystem; and control the traceability subsystem to trace along the traceability path.

[0035] This system will use official pollution monitoring data and communicate with the cloud platform through the traceability main system. The cloud platform has official water pollution monitoring data from multiple monitoring stations that are regularly fixed in the river.

[0036] Main traceability system:

[0037] Collect and analyze the monitoring data of the main traceability system and the traceability subsystem and the official pollution monitoring data, which can monitor the changes of water quality parameters in real time, analyze the monitoring data, and determine the water pollution status. Integrate advanced wireless communication technologies (such as 4G / 5G, LoRa, NB-IoT, etc.) to quickly and stably transmit monitoring data to the cloud platform.

[0038] Responsible for the automatic deployment and recovery of the traceability subsystem to ensure efficient and safe operation processes.

[0039] Real-time data analysis, intelligent planning of the traceability subsystem's operating path, and optimization of traceability efficiency and coverage.

[0040] Realize two-way communication with the traceability subsystem, including sending control instructions and receiving return data (location, monitoring results, etc.).

[0041] The traceability subsystem includes the following modules carried on the unmanned ship:

[0042] The positioning and navigation module uses GPS or Beidou satellite navigation system to provide accurate location information for the tracing subsystem, ensuring accurate positioning and tracing analysis of pollution sources. The unmanned hull is launched and recovered by the tracing main system;

[0043] The water quality parameter collection module is used to monitor the water quality parameters at the inspection location.

[0044] The main traceability system can transmit the collected and analyzed data to the cloud platform to automatically generate a traceability report, which contains key information such as the exact location of the pollution source, pollution type, pollution degree, and provides governance suggestions. The main traceability system can remotely monitor the traceability subsystem and the traceability subsystem can respond immediately.

[0045] The water quality parameters monitored by the traceability subsystem and the traceability main system include multiple pollutant concentrations. The following step 1 is triggered by the early warning mechanism. The traceability main system has preset early warning lines for water quality parameters. When the traceability main system detects that the water quality parameters at the location reach the early warning line, the traceability main system triggers the early warning mechanism. The early warning line includes at least one early warning line for the concentration of a pollutant. When the concentration of a certain pollutant reaches the early warning line, an early warning is triggered. There are also cases where the concentrations of multiple pollutants reach or exceed the early warning line at the same time and an early warning is triggered. The pollutant concentrations in the following steps 1-4 refer to the concentration of the pollutant that exceeds the early warning line the most when the early warning mechanism is triggered.

[0046] This embodiment divides water into Class I-V according to the national standard GB3838-2002 "Surface Water Environmental Quality Standard". The tracing subsystem and the tracing main system monitor the concentrations of multiple pollutants. When the concentrations of one or several pollutants exceed the Class V index, the tracing main system triggers the early warning mechanism.

[0047] The main tracing system preliminarily infers the possible area of ​​the pollution source, starts tracing path planning, and automatically releases the tracing subsystem. The tracing subsystem executes tracing. Through in-depth monitoring by the tracing subsystem, it further confirms the existence of abnormal data and accurately locks the specific location of the abnormal data (pollution discharge point). After tracing is completed, the tracing subsystem is recycled.

[0048] like Figure 2 As shown, the specific tracing method is:

[0049] Step 1: Taking the location of the main tracing system as the starting point, preliminarily infer the possible pollution source area and determine the preliminary tracing path of the tracing subsystem. The specific method is as follows:

[0050] Step 1.1: If the water flow rate at the location of the main tracing system is greater than or equal to the threshold value X, it is considered that the water pollution comes from the upstream area. The tracing subsystem starts from the direct alarm position and conducts inspections in the upstream direction of the water flow. The pollutant concentration of the corresponding monitoring point is monitored in real time and the concentration difference ΔC between the monitoring point and the previous monitoring point is calculated; the direct alarm position is the location of the main tracing system.

[0051] During the tracing process, the traceability subsystem of the present invention performs monitoring once for every L straight-line distance traveled, except from the center of the circle to the first monitoring point on the circumference.

[0052] When ΔC≤0, the concentration difference ΔC of each monitoring point on the circumference is obtained by taking the position of the monitoring point as the center of the circle and a as the radius for circumferential inspection. 圆 ;

[0053] The circular inspection method is: take the point on the circumference opposite to the tracing subsystem at the center of the circle as the first circular monitoring point, conduct a monitoring every time a straight line distance L is walked on the circumference, monitor the pollutant concentration of the corresponding monitoring point in real time and calculate the concentration difference ΔC between the monitoring point and the center of the circle 圆 ;

[0054] Step 1.2: If the water flow rate is less than the threshold value X, it is considered that the water pollution comes from the surrounding polluted area, and the following operations are performed:

[0055] ① Based on the official monitoring data obtained from the cloud platform, if the water quality monitoring data of the nearest official monitoring station upstream and downstream of the location of the traceability main system is stable and there are no other pollution sources, the traceability subsystem will conduct a circular inspection with the location of the traceability main system as the center and a as the radius; monitor the pollutant concentration of each monitoring point in real time, and calculate the concentration difference ΔC between these monitoring points and the center of the circle 圆 .

[0056] ② According to the official monitoring data obtained from the cloud platform, if the data in a single direction A increases or a suspected pollution source appears: If the data at a certain station in direction A increases or there is a suspected pollution source, the traceability subsystem takes the location of the traceability main system as the starting point, conducts inspections in direction A, monitors the pollutant concentration of the corresponding monitoring point in real time, and calculates the concentration difference ΔC between the monitoring point and the previous monitoring point. When ΔC≤0, the position of this monitoring point is taken as the center of the circle, and a is used as the radius for circumferential inspection to obtain the concentration difference ΔC of each monitoring point on the circumference. 圆 ;

[0057] Step 2: Select the concentration difference ΔC 圆 The largest point is taken as the starting point of the next step as the intelligent path, and the point with the largest concentration difference is taken as the new center of the circle, and a is used as the radius for circular inspection; the pollutant concentration of the corresponding monitoring point is monitored in real time and the concentration difference ΔC between the monitoring point and the corresponding center of the circle is calculated 圆 .

[0058] Step 3: Concentration difference ΔC 圆 The largest point is executed N times according to step 2 (in this specific embodiment, N=3, and N can also be other numbers greater than 3). According to the point with the largest concentration difference N times, the tracing route is intelligently fitted. The tracing subsystem continues to move according to the intelligently fitted tracing route, monitors the pollutant concentration of each monitoring point in real time, and calculates the concentration difference ΔC of each monitoring point.

[0059] When ΔC≤0, the position of this monitoring point is taken as the center of the circle and a is the radius for circular inspection; the pollutant concentration of the corresponding monitoring point is monitored in real time and the concentration difference ΔC between the monitoring point and the corresponding center of the circle is calculated. 圆 .

[0060] Step 4: Concentration difference ΔC 圆 At the largest point, continue with steps 2-3 until the concentration difference ΔC of a certain circumferential inspection is 圆 are all less than 0, and the center of the circle is determined to be the pollution source.

[0061] Step 5: After the pollution source is determined, the main system automatically generates a traceability report based on the data monitored by the traceability subsystem at the pollution source, including key information such as the exact location of the pollution source, pollution type, and pollution degree. Based on the data analysis results, targeted governance suggestions and preventive measures are proposed, providing a strong scientific basis for subsequent pollution control and environmental governance work.

[0062] In this embodiment: X is 0.01m / s, 2m≤a≤25m, 3m≤L≤40m, a and L are determined according to the width of the river, and the wider the river, the larger the value. For example, when the width of the river is 50m, a is 12.5m and L is 10m.

[0063] During the tracing process, the tracing subsystem starts a circular inspection whenever the concentration of pollutants stops increasing, finds the point with the maximum concentration of pollutants on the circumference, and then performs another circular inspection. After multiple circular inspections, the tracing route is intelligently fitted. The tracing subsystem continues to move along the intelligently fitted tracing route, and starts a circular inspection whenever the concentration of pollutants stops increasing. The above method is repeated until the source of pollution is found. The circular inspection avoids the tracing subsystem from getting lost when the concentration of pollutants stops increasing, and the inspection is highly accurate. Example 2

[0064] This embodiment adopts the same water pollution source tracing system as that of Embodiment 1. The source tracing method of this embodiment includes the following steps: (1) preliminarily inferring possible pollution source areas based on official monitoring data of the cloud platform; (2) determining a preliminary source tracing path of the source tracing subsystem; (3) launching the source tracing subsystem; (4) controlling the source tracing subsystem to trace the source along the preliminary source tracing path, and adjusting the source tracing path according to the monitoring data of the source tracing subsystem until the pollution point is found.

[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A water pollution tracing system, characterized by: It includes a main tracing system and a sub-tracing system. The main tracing system is fixedly deployed on the river. When not tracing the source, the sub-tracing system docks with the main tracing system. The sub-tracing system has the function of moving in the river. Both the sub-tracing system and the main tracing system have the function of monitoring water quality parameters and pollutants at their locations. The main traceability system is used to: communicate with the cloud platform with official pollution monitoring data; collect and analyze the monitoring data of the main traceability system and traceability subsystem and official pollution monitoring data, and issue warnings according to the set warning conditions; plan the traceability path; launch and recover the traceability subsystem, and control the traceability subsystem to trace the source along the traceability path; The water pollution source tracing method of the water pollution source tracing system comprises the following steps: Step 1: Taking the location of the main tracing system as the starting point, preliminarily infer the possible pollution source area and determine the preliminary tracing path of the tracing subsystem. The specific method is as follows: Step 1.1: If the water flow rate at the location of the tracing main system is greater than or equal to the threshold value X, it is considered that the water pollution comes from the upstream area. The tracing subsystem starts from the location of the tracing main system and patrols in the upstream direction of the water flow, monitors the pollutant concentration of the corresponding monitoring point in real time, and calculates the concentration difference ΔC between the monitoring point and the previous monitoring point; When ΔC≤0, the concentration difference ΔC of each monitoring point on the circumference is obtained by taking the position of the monitoring point as the center of the circle and a as the radius for circumferential inspection. 圆 ; Step 1.2: If the water flow rate is less than the threshold value X, it is considered that the water pollution comes from the surrounding polluted area, and the following operations are performed: ① Based on the official monitoring data obtained from the cloud platform, if the water quality monitoring data of the official monitoring stations closest to the upstream and downstream of the main traceability system is stable and there are no other pollution sources, the traceability subsystem takes the location of the main traceability system as the center and a as the radius to conduct a circumferential inspection to obtain the concentration difference ΔC of each monitoring point on the circumference 圆 ; ② According to the official monitoring data obtained from the cloud platform, if the data in a single direction A increases or a suspected pollution source appears: If the data at a certain station in direction A increases or there is a suspected pollution source, the traceability subsystem takes the location of the traceability main system as the starting point, conducts inspections in direction A, monitors the pollutant concentration of the corresponding monitoring point in real time, and calculates the concentration difference ΔC between the monitoring point and the previous monitoring point. When ΔC≤0, the position of this monitoring point is taken as the center of the circle, and a is used as the radius for circumferential inspection to obtain the concentration difference ΔC of each monitoring point on the circumference. 圆 ; Step 2: Select the concentration difference ΔC 圆 The largest point is taken as the starting point of the next step and the point with the largest concentration difference is taken as the new center of the circle. The circumference is inspected with a as the radius to obtain the concentration difference ΔC of each monitoring point on the circumference. 圆 ; Step 3: Concentration difference ΔC 圆 For the largest point, continue to execute step 2 N times. According to the point with the largest concentration difference N times, intelligently fit the traceability route. The traceability subsystem continues to move according to the intelligently fitted traceability route, monitors the pollutant concentration of each monitoring point in real time, and calculates the concentration difference ΔC of each monitoring point. When ΔC≤0, the concentration difference ΔC of each monitoring point on the circumference is obtained by taking the position of the monitoring point as the center of the circle and a as the radius for circumferential inspection. 圆 ; Step 4: Concentration difference ΔC 圆 At the largest point, continue with steps 2-3 until the concentration difference ΔC of a certain circumferential inspection is 圆 are all less than 0, and the center of the circle is determined to be the pollution source; The circular inspection method is: take the point on the circumference opposite to the tracing subsystem at the center of the circle as the first circular monitoring point, conduct a monitoring every time a straight line distance L is walked on the circumference, monitor the pollutant concentration of the corresponding monitoring point in real time and calculate the concentration difference ΔC between the monitoring point and the center of the circle 圆 ; Except for the distance from the center of the circle to the first monitoring point on the circumference, the traceability subsystem performs monitoring once every L straight-line distance traveled.

2. The water pollution tracing system according to claim 1 is characterized in that: The traceability subsystem includes a positioning and navigation module carried on the unmanned vessel and a water quality parameter collection module.

3. The water pollution tracing system according to claim 2 is characterized in that: The positioning and navigation module adopts GPS or Beidou satellite navigation system.

4. A method for tracing the source of water pollution, characterized in that: Use the water pollution tracing system as described in claim 1.

5. The method for tracing the source of water pollution according to claim 4, characterized in that: Said N≥3.

6. The method for tracing the source of water pollution according to claim 4, characterized in that: The X is 0.01m / s, 2m≤a≤25m, 3m≤L≤40m.

7. The method for tracing the source of water pollution according to claim 4, characterized in that: Step 1 is triggered and executed by the early warning mechanism. The main traceability system has preset early warning lines for water quality parameters. When the water quality parameters at the location of the main traceability system reach the early warning line, the main traceability system triggers the early warning mechanism.

8. The method for tracing the source of water pollution according to claim 7, characterized in that: The warning line includes at least one warning line for pollutant concentration, and the pollutant concentrations in steps 1-4 refer to the pollutant concentrations that exceed the standard the most when the warning mechanism is triggered.

9. The method for tracing the source of water pollution according to claim 7, characterized in that: The water quality parameters used to trigger the early warning mechanism are obtained through detection by the main traceability system.

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