A method and device for locating pollution sources 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, number of iteration steps and numerous judgment conditions, and achieve the effect of avoiding circle behavior and quickly locating routes

Active Publication Date: 2022-03-25
FOSHAN UNIVERSITY
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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

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  • A method and device for locating pollution sources 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 present invention relates to the technical field of pollution source positioning, in particular to a pollution source positioning method and device based on a rhombus network. By taking the position where the robotic fish enters the water as the starting point and the direction of entering the water as the initial direction of progress, the concentration value of pollutants in the water can be detected in real time; and then according to Set the step length and move forward along the Z-shaped line with an included angle of 60°; when the concentration value change rate is greater than the set value and the concentration value difference is within the set range, reduce the step length of the robotic fish; when the robotic fish Going around in a circle, and when the forward step length is less than the minimum step length threshold, stop running, and use the current position of the robotic fish as the pollution source. The present invention provides a more accurate and fast way of locating the pollution source.

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 Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈思琪
Owner FOSHAN UNIVERSITY
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