CN107918395A - City river sewage draining exit visiting method and inspection system - Google Patents
City river sewage draining exit visiting method and inspection system Download PDFInfo
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- CN107918395A CN107918395A CN201711129031.7A CN201711129031A CN107918395A CN 107918395 A CN107918395 A CN 107918395A CN 201711129031 A CN201711129031 A CN 201711129031A CN 107918395 A CN107918395 A CN 107918395A
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- 239000010865 sewage Substances 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000007689 inspection Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 239000000523 sample Substances 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 5
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 claims description 4
- 238000011109 contamination Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 12
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
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- 229910052744 lithium Inorganic materials 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000003911 water pollution Methods 0.000 description 2
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- 230000002153 concerted effect Effects 0.000 description 1
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- 230000036541 health Effects 0.000 description 1
- 239000010842 industrial wastewater Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of city river sewage draining exit visiting method and inspection system, including Waterborne movable base station and sewage draining exit sniffing robot, it can communicate between the two and be provided with alignment system between the two, Waterborne movable base station with adjustmenting management sewage draining exit sniffing robot and can obtain the data of sewage draining exit sniffing robot, the seeking of Drain contamination for river channel mouth can efficiently be completed by the work of both collaborations and position work and feed data back in user's hand, it is efficient；Waterborne movable base station includes cruise carrier, and control centre, locating module and base station power are provided with the carrier that cruises；Sewage draining exit sniffing robot includes underwater robot, and obstacle avoidance system, sewage draining exit probe unit, robot power supply and robot controller are provided with underwater robot.The sewage draining exit sniffing robot that the city river sewage draining exit inspection system of the present invention includes can carry out the position of automatic cruising detection sewage draining exit under water, and the system is outstanding for river regulation work meaning.
Description
Technical field
The present invention relates to inspection system field, more particularly to a kind of sewage draining exit visiting method and inspection system.
Background technology
Urban water pollution has severely impacted daily life and the health of river two sides resident, and water correction is compeled in eyebrow
Eyelash.However, currently manually investigating and draining river two ways with detecting also to rely primarily on to the investigation of underwater sewage draining exit, arrange
The investigation of dirty mouth and detection cost are higher, less efficient, time-consuming longer, can not become blanket investigation mode.Therefore,
The research and development of city river sewage draining exit inspection system have great social effect, it precisely can effectively provide river and get dirty letter
Breath, once cruise can find most of sewage draining exit of cruise region, and information is fed back in user's hand, and help solves long-term
Since river pollution problem.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides one kind and detects sewage draining exit and obtain
Take the city river sewage draining exit visiting method and inspection system of its elaborate position information.
Technical solution：To achieve the above object, city river sewage draining exit visiting method of the invention, including Waterborne movable base
Stand and at least one sewage draining exit sniffing robot；
Include the following steps：
Step 1：Navigated by water with sewage draining exit sniffing robot in river Waterborne movable base station；
Step 2：Waterborne movable base station, which distributes detection mission for sewage draining exit sniffing robot and discharges sewage draining exit, detects machine
People performs detection mission to underwater, and the Waterborne movable base station can keep in communication between sewage draining exit sniffing robot and can obtain
Obtain the position of each sewage draining exit sniffing robot；
Step 3：Automatic path planning navigates by water and detects water quality data sewage draining exit sniffing robot under water, Waterborne movable
Base station or sewage draining exit sniffing robot judge the specific location of sewage draining exit according to the water quality data of detection；
Step 4：Sewage draining exit sniffing robot completes detection mission, and all sewage draining exit detections are recycled in Waterborne movable base station
Robot.
Further, obstacle avoidance module and turbidity transducer are equipped with Waterborne movable base station, it relies on the obstacle avoidance module
Navigated by water in river automatically according to obstacle avoidance algorithm, and it primarily determines that the approximate location of sewage draining exit by the turbidity transducer,
When turbidity transducer detects that the turbidity of current location exceedes certain threshold value, Waterborne movable base station release sewage draining exit detection
Robot removes underwater further detection Location for Sewage.
Further, the step of sewage draining exit sniffing robot searching sewage draining exit is：First, the water of current location is detected
Prime number evidence, then, navigation to subsequent point simultaneously continue to detect water quality data, if the water quality data of the position is better than prior location
Water quality data, then return to prior location, then is moved from prior location to other direction, until it is poor to find water-quality ratio prior location
Position, then the next worse point of water quality is found based on this position, circulation according to this gradually finds the worst position of water quality and is then
The position of sewage draining exit.
Further, the sewage draining exit sniffing robot carries out motion planning navigation according to Artificial Potential Field Method under water.
Based on the inspection system of above-mentioned city river sewage draining exit visiting method, the Waterborne movable base station and the sewage draining exit
Communication system and alignment system are provided between sniffing robot；The Waterborne movable base station includes cruise carrier, the cruise
Control centre, locating module, obstacle avoidance module, turbidity transducer and base station power are provided with carrier；The sewage draining exit detection
Robot includes the underwater robot that can be moved under water, and obstacle avoidance system, sewage draining exit detection are provided with the underwater robot
Unit, robot power supply and robot controller.
Further, the communication system is Underwater Acoustic Communication System, and the Underwater Acoustic Communication System includes being arranged on cruise load
Receiver on body and the transmitter being arranged on underwater robot.
Further, the alignment system is ultra short baseline locating system, and alignment system includes being arranged on the cruise load
Transmitting transducer and reception basic matrix and the transponder being arranged on the underwater robot on body.
Further, the sewage draining exit probe unit includes pH value sensor, COD sensors and ammonia nitrogen sensor.
Further, the Cloud Server of data communication can be carried out with the Waterborne movable base station by further including.
Further, the underwater robot includes robot body and the power of the driving robot body movement
Unit, the power unit includes steering motor, pitching motor and be connected with propeller promote mainly motor.
Beneficial effect：The city river sewage draining exit visiting method of the present invention is based on Waterborne movable base station to arrange with inspection system
Dirty mouth sniffing robot, sewage draining exit sniffing robot can carry out the position of automatic cruising detection sewage draining exit, Waterborne movable under water
Base station with adjustmenting management sewage draining exit sniffing robot and can obtain the data of sewage draining exit sniffing robot, pass through collaboration both
Work can efficiently complete the seeking of Drain contamination for river channel mouth with positioning work and feeding data back in user's hand, efficient, for
River regulation work meaning is outstanding.
Brief description of the drawings
Attached drawing 1 is the monolithically fabricated figure of city river sewage draining exit inspection system；
Attached drawing 2 is the work flow diagram of city river sewage draining exit inspection system；
Attached drawing 3 is the composition figure of Waterborne movable base station；
Attached drawing 4 is the composition figure of sewage draining exit sniffing robot；
Attached drawing 5 is the control flow schematic diagram of dynamical system；
Attached drawing 6 is the sonar layout of obstacle avoidance system；
Attached drawing 7 is the motion planning flow of sewage draining exit sniffing robot；
Attached drawing 8 is the force diagram of modified embedded-atom method down blow mouth sniffing robot.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
City river sewage draining exit inspection system as shown in Figure 1, including Waterborne movable base station 1 and sewage draining exit explorer
Device people 2 (abbreviation AUV), can mutually be communicated by communication system and be provided between the two for determining both phases between the two
To the alignment system of position.System only can include a sewage draining exit sniffing robot 2, it is preferable that system is included by multiple rows
The robot cluster that dirty mouth sniffing robot 2 forms, Waterborne movable base station 1 can carry out river with robot cluster work compound
The detection mission in road.
Communicated between the Waterborne movable base station 1 and sewage draining exit sniffing robot 2 by Underwater Acoustic Communication System, the underwater sound
Communication is more mature communication technology, commercially also there is sale, and Underwater Acoustic Communication System is generally spread using the underwater sound
Technology, establishes effective passage to resist multipath effect, finally realizes data transfer using underwater sound modem.The underwater sound
Communication system includes the receiver 104 being arranged on Waterborne movable base station 1 and is arranged on sewage draining exit sniffing robot 2
Transmitter 204.
The workflow of the city river sewage draining exit inspection system of the present invention as shown in Figure 2, concretely comprises the following steps：
Step 1：Navigated by water with sewage draining exit sniffing robot 2 in river Waterborne movable base station 1；
Step 2：Waterborne movable base station 1 distributes detection mission for sewage draining exit sniffing robot 2 and discharges sewage draining exit explorer
Device people 2 performs detection mission to underwater, keeps in communication between Waterborne movable base station 1 and sewage draining exit sniffing robot 2 and by fixed
Position system obtains the position of each sewage draining exit sniffing robot 2；The mode of task is distributed mainly according to area in Waterborne movable base station 1
Domain is assigned a task, and sewage draining exit sniffing robot 2 is assigned to different directions and is detected by Waterborne movable base station 1, can so be carried
High efficiency can also not omitted；
Step 3：Automatic path planning navigates by water and detects water quality data sewage draining exit sniffing robot 2 under water, system according to
The water quality data of detection judges the specific location of sewage draining exit；Machine can be detected by sewage draining exit by determining the work of Location for Sewage
People 2 completes, and data can also be uploaded to Waterborne movable base station 1 by communication system, be completed by Waterborne movable base station 1；
Step 4：Sewage draining exit sniffing robot 2 completes detection mission, and Waterborne movable base station 1 is recycled all sewage draining exits and visited
Survey robot 2.
The alignment system is ultra short baseline locating system (USBL), and alignment system includes being arranged on the Waterborne movable base
The transmitting transducer 105 stood on 1 and the transponder for receiving basic matrix 106 and being arranged on the sewage draining exit sniffing robot 2
205.Transmitting transducer 105 sends a ping, after transponder 205 receives, postbacks ping, receives basic matrix 106 and receives
Afterwards, measure the phase difference of X, Y both direction, and sewage draining exit sniffing robot 2 is calculated to connecing according to the arrival time of sound wave
The distance R of basic matrix 106 is received, so that position and sewage draining exit detection of the sewage draining exit sniffing robot 2 on plane coordinates be calculated
The depth of robot 2.
As shown in Figure 3, the Waterborne movable base station 1 includes cruise carrier 101, is provided with the cruise carrier 101
Control centre 102, locating module 103, obstacle avoidance module 107, turbidity transducer 108, base station power 109 and solar panels
110；The locating module 103, obstacle avoidance module 107, turbidity transducer 108 are all connected with control centre 102.
Locating module 103 is GPRS module or Beidou positioning module, and control centre 102 can be allowed to know Waterborne movable base
Stand the location of 1.
Carrier 101 cruise as cruise ship, glass fiber reinforced plastics product hull can be used according to the characteristics of city river, ferry glass reinforced plastic boat is most
Big advantage is corrosion-resistant, light-weight, maintenance is easy, service life length, and the power of hull cruise is provided by base station power 109, base
Power supply 109 of standing is preferably lithium battery.In order to ensure the safety of system, Li-Battery monitor circuit is connected with base station power 109,
Li-Battery monitor circuit includes microcontroller, potentiometer, temperature sensor and controlling switch, can monitor lithium battery at any time
The parameters such as voltage, temperature, if being abnormal situation, can cut off controlling switch at any time.
Cruise carrier 101 can carry out automatic cruising in river is downloaded in the control of control centre 102, and control centre 102 is right
The data that the control of cruise carrier 101 is detected dependent on obstacle avoidance module 107, obstacle avoidance module 107 are preferably infrared ray sensor,
Obstacle avoidance module 107, which can be detected on the traffic direction of cruise carrier 101, clear, if the control of You Ze control centres 102 is patrolled
The carrier 101 that navigates gets around barrier, and such hull can remain at korneforos navigation, and can automatically bypass river bend, barrier
Deng.Can also manually remote control cruise carrier 101, cruise carrier 101 on wireless remote control module 211 is installed, so
Cruise carrier 101 is recycled easy to user and it is maintained.
The turbidity transducer 108 carried on cruise carrier 101 can gather current cruise carrier 101 in real time by position
The muddy degree of essence, the operation principle of the sensor are：Sensor internal is the infrared ray of an IR958 and PT958 encapsulation
To pipe, when light passes through a certain amount of water, the transit dose of light depends on the dirty degree of the water, and water is more dirty, transmission
Light is fewer.The luminous intensity of transmission is converted to corresponding size of current by optical receiving end, and the light of transmission is more, and electric current is big, otherwise thoroughly
The light crossed is few, and electric current is small.By the size for measuring arrival current, it is possible to calculate the dirty degree of water outlet.Pass through the sensing
Device, Waterborne movable base station 1 can judge the pollution condition of present position at any time, if the dirty degree of water it is significantly higher (when
Turbidity transducer 108 detects that the turbidity of current location exceedes certain threshold value), then can tentatively judge nearby there may be
Sewage draining exit, Waterborne movable base station 1 discharge sewage draining exit sniffing robot 2 and remove underwater further detection Location for Sewage.
In order to ensure cruise safety, prompt other ships and facilitate user to know the position of inspection system at any time, cruise
Indicator light 212 is also equipped with carrier 101.
As shown in Figure 4, the sewage draining exit sniffing robot 2 includes the underwater robot 201 that can be moved under water, institute
State and obstacle avoidance system 202, sewage draining exit probe unit 203, robot power supply 206, robot control are provided with underwater robot 201
Device 207 and battery management system 208 processed.
The underwater robot 201 includes robot body and the power unit of the driving robot body movement,
The power unit includes independent control unit, steering motor, pitching motor and be connected with propeller promote mainly motor,
Steering motor control robot body is horizontally diverted, and pitching motor controls the pitch attitude of robot body, promotes mainly motor and pushes away
Mobile robot body advances.Attached drawing 5 is the control flow of power unit, and for the target route planned, control unit must
The rotating speed of adjustment steering, the deflection angle of pitching motor and main thruster must be constantly controlled to come close to target route.Therefore, control
Unit processed must constantly obtain the continuous feedback and output control signal of actual path.Pid algorithm is underwater robot application
Algorithms most in use during vector propeller, its by comparative example (P), integrate (I) and differential (D) three parts deviation calculating, from
And realize control actual value and the continuous of setting value and approach.Therefore, PID need to be applied to calculate when writing power control system program
Method makes AUV realize the navigation of according to target route.
The obstacle avoidance system 202 is sonar obstacle avoidance system, and sonar obstacle avoidance system includes being arranged on 201 front end of underwater robot
Multiple sonar generators.As shown in Figure 6, sonar generator can surround all directions transmitting of 201 front end of underwater robot
Sonar, the environmental information in the front of omnidirectional detection underwater robot 201, robot controller 207 can be according to the barrier of detection
Information adjusts the pose and speed of a ship or plane avoiding obstacles of underwater robot 201 in time.
The automatic motion planning method of underwater robot 201 uses Artificial Potential Field Method, and Artificial Potential Field Method is a kind of fictitious force
Method, it establishes barrier repulsion potential field, and gravitation potential field, attraction of the integration objective to underwater robot 201 are established to target point
Power and barrier make the repulsive force of underwater robot 201 underwater robot 201 to get around barrier and moved to target point.
Since the algorithm is based on local environmental information, lacks the ability of regulation and control of macroscopic view, easily produce local minimum
Problem, causes underwater robot 201 can not reach target point, limits the application of Artificial Potential Field Method.
In order to solve the problems, such as the local trap of traditional artificial potential field method, now repulsion field function is transformed, so as to work as water
When to target approaches, repulsion field goes to zero for lower robot 201, target point by be whole potential field global minimum point.It is logical
Cross experiment and adjustment, the relative distance between underwater robot 201 and target be also contemplated for into, thus establish one it is new
Repulsion field function is as follows：
Wherein, ρ (X, X0) be minimum distance between AUV and barrier, ρ (X, Xg) between AUV and target away from
From the coverage of barrier is in distance ρ0Within, η is a position gain coefficient.Compared with traditional artificial potential energy, introduce
Relative distance between AUV and target, ensure that whole potential field global minima only at target point Xg,.AUV is suffered to make a concerted effort
FsumDrive is made it away from into barrier and approaches target as far as possible.When AUV does not reach target, i.e. during X ≠ Xg, repulsion is writeable
For：
Wherein, vector Frep1Direction be from barrier be directed toward AUV, vector Frep2Direction be from AUV be directed toward target, be
For target to the gravitation of AUV, repulsion Frep and the relation of its two components are as shown in Figure 8.It will be apparent that work as Frep1AUV is produced
During repulsion, Frep2 produces target-bound attraction to AUV.When AUV close-targets, Frep1Go to zero, Frep2Tend to constant, drive
Dynamic AUV drives towards target.
It is identical with traditional as the selection of gravitational potential field function, build AUV's with reference to new repulsion potential field function
Global potential field.It is as follows to define new Artificial potential functions：
Attached drawing 7 is the motion planning flow of sewage draining exit sniffing robot 2：First, path target point is set, sewage draining exit is visited
It is close to target point to survey robot 2, while there is clear in sonar obstacle avoidance system detection front, when front, there are barrier, row
Dirty mouth sniffing robot 2 is close to target point again according to the automatic motion planning avoidance of improved article market method progress, currently
Barrier is not present in side, and sewage draining exit sniffing robot 2 is mounted directly predetermined track and advances.
Since urban river water pollutant component is complicated, mainly there are sanitary sewage, industrial wastewater, these can cause city river
It is black smelly.According to the constituent analysis for river water of getting dirty, by 203 design and assembly of sewage draining exit probe unit into comprehensive sensor, the row
Dirty mouth probe unit 203 is including but not limited to pH value sensor, COD sensors and ammonia nitrogen sensor, three kinds of sensor difference
The value of the pH value of river water, COD (COD) and ammonia nitrogen concentration can be measured, before patrolling survey, can refer to third party to the river
The background values of road detection is configured the critical value of sensitivity, underwater robot 201 is found water pollution situation most serious
Part, locks the position of sewage draining exit.
The sewage draining exit sniffing robot 2 finds the step of sewage draining exit and is：First, the water quality data of current location is detected,
Then, navigation to subsequent point and continues to detect water quality data, if the water quality data of the position is better than the water quality number of prior location
According to, then prior location is returned, then moved from prior location to other direction, until the position of water-quality ratio prior location difference is found,
Next worse point of water quality is found based on this position again, it is then sewage draining exit that circulation, which gradually finds the worst position of water quality, according to this
Position.Sewage draining exit sniffing robot 2 moves certain step pitch (such as 20 meters) next bit from current location to a direction every time
Put, then carry out the water quality data detection of the position.
User would know that the current position in Waterborne movable base station 1, Waterborne movable base station 1 according to GPS or BEI-DOU position system
The position of current sewage draining exit sniffing robot 2 can be known according to alignment system, such user can be obtained by the essence of sewage draining exit
True position.
Robot power supply 206 is provided with battery management system, the major function of power management is each by gathering
Voltage, electric current and the battery and test point temperature of a power consumption Module nodes are when information is worked by the way that system spare is calculated
Between estimate and system working status, information gathering here rely primarily on temperature sensor temperature simulation amount and
Voltage, current signal are communicated by interface with robot controller 207.
The Cloud Server 3 of data communication can be carried out with the Waterborne movable base station 1 by further including, in real operation, mainly
Waterborne movable base station 1 by perform task process in various data (such as：Location for Sewage, the position of current Waterborne movable base station 1
Put and the position of each sewage draining exit sniffing robot 2) upload be synchronized to Cloud Server 3.
The sewage draining exit sniffing robot that the city river sewage draining exit inspection system of the present invention includes can carry out automatically under water
Cruise detection sewage draining exit position, Waterborne movable base station can with adjustmenting management sewage draining exit sniffing robot and obtain sewage draining exit visit
The data of robot are surveyed, visiting method can efficiently complete the seeking and positioning of Drain contamination for river channel mouth by the work of both collaborations
Work and feed data back in user's hand, it is efficient, it is outstanding for river regulation work meaning.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. the visiting method of city river sewage draining exit inspection system, it is characterised in that：Including Waterborne movable base station (1) and at least
One sewage draining exit sniffing robot (2)；
Include the following steps：
Step 1：Navigated by water with sewage draining exit sniffing robot (2) in river Waterborne movable base station (1)；
Step 2：Waterborne movable base station (1) distributes detection mission for sewage draining exit sniffing robot (2) and discharges sewage draining exit explorer
Device people (2) performs detection mission to underwater, and the Waterborne movable base station (1) can keep between sewage draining exit sniffing robot (2)
Communicate and the position of each sewage draining exit sniffing robot (2) can be obtained；
Step 3：Automatic path planning navigates by water and detects water quality data sewage draining exit sniffing robot (2) under water, Waterborne movable base
Stand (1) or sewage draining exit sniffing robot (2) judges the specific location of sewage draining exit according to the water quality data of detection；
Step 4：Sewage draining exit sniffing robot (2) completes detection mission, and Waterborne movable base station (1) is recycled all sewage draining exits and visited
Survey robot (2).
2. visiting method according to claim 1, it is characterised in that：Waterborne movable base station is equipped with obstacle avoidance module on (1)
(107) with turbidity transducer (108), it is navigated by water by the obstacle avoidance module (107) in river automatically according to obstacle avoidance algorithm, and
It primarily determines that the approximate location of sewage draining exit by the turbidity transducer (108), when turbidity transducer (108) detects currently
The turbidity of position exceedes certain threshold value, and Waterborne movable base station (1) release sewage draining exit sniffing robot (2) goes underwater further
Detect Location for Sewage.
3. visiting method according to claim 1, it is characterised in that：The sewage draining exit sniffing robot (2) finds blowdown
Mouthful the step of be：First, the water quality data of current location is detected, then, navigation to subsequent point simultaneously continues to detect water quality data, if
The water quality data of the position is better than the water quality data of prior location, then returns to prior location, then from prior location to other direction
Movement, until finding the position of water-quality ratio prior location difference, then finds next worse point of water quality based on this position, follows according to this
Ring gradually finds the position that the worst position of water quality is then sewage draining exit.
4. according to claim 1-3 any one of them visiting methods, it is characterised in that：The sewage draining exit sniffing robot (2)
Under water avoidance navigation is carried out according to Artificial Potential Field Method.
5. the inspection system based on city river sewage draining exit visiting method described in claim 2, it is characterised in that：The shifting waterborne
It is dynamic to be provided with communication system and alignment system between base station (1) and the sewage draining exit sniffing robot (2)；The Waterborne movable base
Stand (1) include cruise carrier (101), be provided with cruise carrier (101) control centre (102), locating module (103),
Obstacle avoidance module (107), turbidity transducer (108) and base station power (109)；The sewage draining exit sniffing robot (2) includes can
The underwater robot (201) moved under water, obstacle avoidance system (202) is provided with the underwater robot (201), sewage draining exit is visited
Survey unit (203), robot power supply (206) and robot controller (207).
6. inspection system according to claim 4, it is characterised in that：The communication system is Underwater Acoustic Communication System, described
Underwater Acoustic Communication System includes the receiver (104) being arranged on cruise carrier (101) and is arranged on underwater robot (201)
Transmitter (204).
7. inspection system according to claim 4, it is characterised in that：The alignment system is ultra short baseline locating system,
The transmitting transducer (105) that alignment system includes being arranged on the cruise carrier (101) is with receiving basic matrix (106) and setting
Transponder (205) on the underwater robot (201).
8. inspection system according to claim 4, it is characterised in that：The sewage draining exit probe unit (203) includes pH value
Sensor, COD sensors and ammonia nitrogen sensor.
9. according to claim 4-6 any one of them inspection systems, it is characterised in that：Further including can be with the Waterborne movable base
The Cloud Server (3) for (1) progress data communication of standing.
10. according to claim 4-6 any one of them inspection systems, it is characterised in that：The underwater robot (201) includes
Robot body and the power unit of the driving robot body movement, the power unit include steering motor, pitching
Motor and be connected with propeller promote mainly motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711129031.7A CN107918395B (en) | 2017-11-15 | 2017-11-15 | City river sewage draining exit visiting method and inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711129031.7A CN107918395B (en) | 2017-11-15 | 2017-11-15 | City river sewage draining exit visiting method and inspection system |
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| Publication Number | Publication Date |
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| CN107918395A true CN107918395A (en) | 2018-04-17 |
| CN107918395B CN107918395B (en) | 2019-06-11 |
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| CN201711129031.7A Active CN107918395B (en) | 2017-11-15 | 2017-11-15 | City river sewage draining exit visiting method and inspection system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113238234A (en) * | 2021-06-22 | 2021-08-10 | 生态环境部华南环境科学研究所 | Underwater sewage outlet identification method based on underwater sonar identification |
| CN113741489A (en) * | 2021-07-30 | 2021-12-03 | 中南安全环境技术研究院股份有限公司 | Underwater robot for tracing sewage outlet and searching and positioning method |
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