CN108107176A - A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking - Google Patents
A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking Download PDFInfo
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Abstract
The invention discloses a kind of unmanned boats and pollution sources method for tracing for water quality monitoring and pollution sources tracking, the catamaran formed including two enclosures and connecting plate, the upper surface of the catamaran is laid with the solar panel that promising lithium battery charges, U-shaped equipment frame is provided with above catamaran, video camera, radar and antenna are installed on the equipment frame；Control cabinet, battery flat, generator bay, water quality sampling cabin and five equipment compartments for being used to place water quality monitoring instrument are respectively equipped in two enclosures.The unmanned boat of the present invention possesses the tracking of pollution entering the water and traces to the source, the tracking and function of tracing to the source detect the concentration field of water pollutant by full spectral water quality analyzer, with reference to the Turbulent Model of the high Reynolds number of current, using the Bayesian inference algorithm of optimal vector π, autonomous control unmanned boat cruises to the source of pollution sources, realizes the tracking of water pollution and traces to the source.
Description
Technical field
The invention belongs to water quality monitorings to survey field more particularly to a kind of unmanned boat for water quality monitoring and pollution sources tracking
And pollution sources method for tracing.
Background technology
China is the country of a freshwater resources famine, while water environment pollution form is severe.Water pollution control
Key link is water quality monitoring and early warning, however, also there is deficiencies for the existing water quality monitoring technology in China：First, monitoring station
Quantity is few, often not as good as the quantity in monitored waters, so as to be difficult to reflect on the whole a regional water quality condition；It is second is that each
The monitoring capability deficiency of a monitoring department, the shortcomings such as monitoring index is few, sample frequency is low；Third, live dynamic monitoring ability is not
Foot, mobile water quality monitoring device is very little, mobility deficiency.In recent years, water quality mobile monitoring integrated platform is particularly nobody and drives
The development for sailing unmanned boat is paid attention to so that develops the original position of the water quality based on unmanned boat, mobile, On-Line Dynamic Monitoring technology becomes
May, while the water pollution early warning based on dynamic monitoring data is also able to revolutionary development.
The content of the invention
The object of the present invention is to provide a kind of for water quality monitoring and the unmanned boat of pollution sources tracking and pollution sources tracking side
Method possesses contexture by self, autonomous navigation function, while can realize for temperature, electrical conductivity, turbidity, dissolved oxygen and pH in water
The water quality such as organic matters and heavy metal such as conventional five parameters such as value, the nutritive salt such as ammonia nitrogen, total nitrogen, phosphate, total phosphorus, TOC, COD
Pollution parameters carry out real time on-line monitoring function, water quality model analysis are carried out further directed to the water quality data of monitoring, so as to reach
Possesses early warning purpose to water pollution accident diffusion.
The present invention is solved by following technical proposals：
A kind of unmanned boat for water quality monitoring and pollution sources tracking, it is double including being made of two enclosures and connecting plate
Body ship, the upper surface of the catamaran are laid with the solar panel that promising lithium battery charges, and being provided with U-shaped above catamaran sets
For frame, video camera, radar and antenna are installed on the equipment frame；Control cabinet, battery flat, hair are respectively equipped on unmanned boat
Motor room, water quality sampling cabin and five are used to place the equipment compartment of water quality monitoring instrument.
Further scheme, the water monitoring instrument includes conventional five parameter modules, heavy metal analysis module, full spectrum joins more
Number Water Test Kits, organic pollution detection module, microorganism detection module, antibiotic detection module.
Further scheme is equipped with gasoline/diesel generator in the catamaran, and the gasoline/diesel generator is to lithium electricity
Pond is charged, and the output terminal of the lithium battery is connected with DC-DC converter.
Further scheme, the catamaran are equipped with GPS, electronic compass；The material of the catamaran is fiberglass.
Five equipment compartments are successively set on water quality sampling cabin in two enclosures；And control cabinet, battery flat and hair
Motor room is successively set on the connecting plate below solar panel.
Another goal of the invention of the present invention is to provide a kind of above-mentioned unmanned boat for water quality monitoring and pollution sources tracking
Pollution sources method for tracing, the full spectrum multiparameter water quality analyzer including being used to detect pollutant in unmanned boat surrounding body,
Its step are as follows：
1) use full spectrum multiparameter water quality analyzer to using unmanned boat as the center of circle, radius be waters in the range of 10 meters into
Row sampling, pollutant monitoring；
2) when detecting that pollutant concentration is more than threshold value, current waters fluid velocity is detected by radar wave current meter,
And pass through GPS and obtain current geographical location, so that it is determined that the position of unmanned boat and waters flow velocity and flow direction change over time
Time-domain signal；
3) full spectrum multiparameter water quality analyzer real-time detection and the plume that water pollutant is spread with waters fluid is obtained
Characteristic signal, so that it is determined that the time domain and space-domain signal of the plume of diffusion；
4) according to the time domain and space-domain signal of plume in step 3), gridding segmentation is carried out to the polluted water region detected
Form cell element；
5) according to polluted water region Historical Monitoring database, the initial vector π of Bayesian inference probabilistic algorithm is provided, wherein 0
Then≤π≤1 calculates the probability that each cell element containing pollution sources is detected using probability density function；
6) renewal vector π continues to calculate the probability that pollutant or pollution sources are detected in polluted water region, forms pollutant
Probability map；Then pollutant probability map is updated using Bayesian inference, and evaluates whether newer map meets partially
Difference requirement；
If 7) newer pollutant probability map meets deviation requirement, new test position point planning chart to be cruised is performed,
If not satisfied, re-executing step 5), 6), until meeting the requirements, optimal pollutant probability map is drawn；
8) according to optimal pollutant probability map, the path of tracing to the source of unmanned boat is generated；Then it is current further according to unmanned boat
Spatial-domain information and fluid turbulence signal, calculate unmanned boat automatic Pilot path, to pollution sources carry out real-time tracing；
9) during real-time tracing, pollutant probability map must be constantly updated, go forward side by side a successive step and optimization pollution sources
Track path；
10) to constantly determining whether the peak of pollution sources plume in pollution sources tracing process, if stopping chasing after
Track, then current location is the source of pollution sources；If not step 8), 9) is then continued to execute, until finding pollution sources.
Further scheme, the length of side of cell element described in step 4) are 50 meters of square.
Further scheme, wherein initial vector π=1/M described in step 5), M=n × m, n and m are respectively the length of cell element
Degree and width.
Probability density function described in step 5) or step 6) is P (Ai|Dj(tk))=βij(t0, tk), wherein AiFor pollution
The contamination accident that source occurs in i-th of cell element, Dj(tk) represent the t in j cell elementskMoment detects the event of pollutant, βij(t0,
tk) i cell elements are represented from tiMoment continues diffusion pollution object, and the t in j cell elementskMoment detects the probability of pollutant.
Plume in the present invention is that technical term is to represent that a column fluid moves in one other fluid.
The catamaran of unmanned boat of the present invention is set to nine cabins, is respectively control cabinet, battery flat, water quality sampling cabin, power generation
Cabin and 5 equipment compartments for being used to rotate water quality monitoring instrument.Wherein five equipment compartments are successively set on two with water quality sampling cabin
In a enclosure；And control cabinet, battery flat, generator bay are arranged on the connecting plate below solar panel.
Wherein battery flat is for placing lithium battery, and control cabinet is for mounting industrial tablet computer, embedded Control mainboard, electricity
Source controller, drive control device, network router, GPS navigation module, electronic compass, data bus interface module；Five equipment
Cabin is used to install all kinds of water quality monitoring instruments；Water quality sampling cabin is used for the automatic collection to monitoring water sample and keeps sample.Binary simultaneously
The upper surface of ship is laid with the solar panel that promising lithium battery charges, and catamaran upper end is installed with U-shaped equipment frame, in equipment frame
Fixed laser radar/millimetre-wave radar, antenna, video camera head etc..
Battery flat is equipped with lithium ion battery and electric power system, and the upper surface tiling of catamaran is useful for collecting solar energy simultaneously
It is translated into the solar panel of electric energy, the solar panel on hull absorbs solar energy and generates DC current, direct current
Electric current, which enters in lithium battery, to be stored.The output of lithium battery is converted by DC-DC, changes into different grades of direct current, is tablet
Computer, control mainboard, control system, communication system, water quality monitoring system, waterway control system, video system, GPS, electronics sieve
Disk, laser radar/millimetre-wave radar etc. provide power supply.
Generator bay installs small gasoline/diesel-driven generator, and power supply is provided for system, while charges for lithium battery, increases
The lasting cruise time of unmanned boat, make up pure battery powered cruising time it is short the shortcomings that.
Unmanned boat is equipped with autonomous cruise system and automatic obstacle-avoiding system, and wherein autonomous cruise system includes GPS, electronics sieve
Disk, GPS for obtaining the co-ordinate position informations such as the real-time longitude and latitude of unmanned boat, electronic compass for obtain the real-time course of unmanned boat,
The attitude informations such as inclination and pitch angle.Specific embodiment is：It is controlled by unmanned boat on hand-held tablet computer/PC
The point for needing to cruise, the GPS longitudes and latitudes that boat-carrying tablet computer is currently located according to hull are set on the map of the man-machine interface of system
Degree, attitude information and the GPS latitude and longitude informations for intending cruise point calculate the road of autonomous cruise according to above-mentioned 2 points of data
Footpath and azimuth, fit autonomous cruise route, further automatically control left and right propeller power size and steering, allow hull edge
The cruise route envelope curve traveling fitted, after reaching first cruise target point, according still further to said program autonomous cruise under
One cruise target point.
Automatic obstacle-avoiding system laser radar and millimetre-wave radar, laser radar are the radars using laser as working beam, are
To emit the radar system of the characteristic quantities such as the position of detecting laser beam target, speed.It is by laser transmitter, optics reception
Electric pulse is become light pulse emission and gone out by the compositions such as machine, turntable and information processing system, laser, and photoreceiver is again from mesh
The light pulse that mark reflects is reduced into electrical impulse information data and gives tablet computer by serial ports, and this patent uses 16 line lasers
Radar, tablet computer fit centered on unmanned boat barrier in 120 meters of radius according to the beam data that laser radar reflects
3D shape, profile, position and scattering strength.The millimeter wave be a kind of wavelength between centimeter wave and light wave, pass through
Transmitting carrys out the electronic equipment of sense object with receiving microwave, and target is moved in 40 meters of radius centered on unmanned boat for detecting
Distance, speed, angle information.
Multiple Type water quality monitoring instrument is placed in 5 equipment compartments, the water monitoring instrument can be according to water quality monitoring
Demand carries different type instrument, and the water quality monitoring instrument that can be carried has respectively：Monitor the temperature of water, pH value, electrical conductivity, turbid
The conventional five parameter water quality monitors such as degree, electrical conductivity, monitor the content of beary metal such as lead, copper, zinc, cadmium, arsenic, mercury, Cr VI in water
Monitoring instrument, monitor the monitoring instrument of the nutritive salt such as ammonia nitrogen, total phosphorus, total nitrogen, nitrate, COD, TOC and organic matter in water, prison
Survey volatile phenol in water, polycyclic aromatic hydrocarbon (PAH), Polychlorinated biphenyls (PCBs), Adsorbable organic halogens, Volatile Organohalides, organic
Chloro pesticide, organophosphorus pesticide, volatile organic matter (VOCs), semi-volatile organic matter (SVOCs), dioxin, total petroleum hydrocarbon class
(TPH) monitoring instrument of organic pollutions, monitoring total coli group, total plate count, heat-resisting coliform, the escherichia coli such as
The microorganism monitorings instrument such as bacterium, staphylococcus aureus monitors monitoring instrument of antibiotic content etc. and separate unit instrument in water
The full spectrum multi-parameter water quality monitor of gas chromatography and nutrient concentrations in water can be monitored simultaneously, monitoring instrument in above-mentioned water
Using modular construction, it can be combined and arrange in pairs or groups according to water quality monitoring demand.
Full spectrum multiparameter water quality analyzer uses wave-length coverage as 190-900nm, and resolution ratio is the ultraviolet and visible of 2nm
Light spectrographic detection water sample, it is different to the absworption peak of Organic substance in water by different wave length spectrum, absorbance Fingerprint is obtained, into
One step is modeled Fingerprint data, and by Some Organic Pollutants in pattern-recognition automatic identification water, this patent uses
Algorithm for pattern recognition be multichannel array data depth neural network algorithm.
Conventional water quality monitoring instrument one can only detect a kind of specific pollutant concentration, it is impossible to types of unknown pollutants into
Row monitoring is in test in laboratory and analysis to the detection of types of unknown pollutants at present after sampling, and detection cycle is long, of high cost.
But the present invention uses full spectrum multiparameter water quality analyzer device, with Fingerprint data, by the modeling of Fingerprint and
Analysis can carry out real-time, quick and Site Detection and automatic identification to a variety of unknown organic pollutions in water, so as to fulfill water
The early warning of contamination accident.
The unmanned boat of the present invention possesses the tracking of pollution entering the water and traces to the source, and the tracking and function of tracing to the source pass through full spectrum water
Matter analyzer detects the concentration field of water pollutant, with reference to the Turbulent Model of the high Reynolds number of current, using optimal vector π's
Bayesian inference algorithm, autonomous control unmanned boat cruise to the source of pollution sources, realize the tracking of water pollution and trace to the source.
Description of the drawings
Fig. 1 is schematic structural view of the invention,
Fig. 2 is each cabin arrangement schematic diagram in the present invention,
Fig. 3 is to split schematic diagram to the polluted water region gridding detected；
Fig. 4 is the Fingerprint datagram of the pollution-free normal water quality of full spectrum multiparameter water quality analyzer detection,
Fig. 5 is the Fingerprint datagram of the pollution water quality of full spectrum multiparameter water quality analyzer detection.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment 1：
As shown in Figure 1, 2, a kind of unmanned boat for water quality monitoring and pollution sources tracking, including by two enclosures 1.1
And the catamaran that connecting plate is formed, the upper surface of the catamaran is laid with the solar panel 1.2 that promising lithium battery charges, double
U-shaped equipment frame 1.3 is provided with above body ship, video camera 1.4, radar 1.5 and antenna are installed on the equipment frame 1.3
1.6；Control cabinet 1.9, battery flat 1.10, generator bay 1.11, water quality sampling cabin 1.12 and five use are respectively equipped on unmanned boat
In the equipment compartment for placing water quality monitoring instrument.
Radar wave current meter 1.7, propeller 1.8 are installed on catamaran.
Each cabin arrangement mode is as shown in Fig. 2, five equipment compartments are successively set on two closings with water quality sampling cabin 1.12
In cabin 1.1；And control cabinet 1.9, battery flat 1.10, generator bay 1.11 are arranged in the company of 1.2 lower section of solar panel
On fishplate bar.Wherein battery flat 1.10 is for placing lithium battery, and control cabinet 1.9 is for mounting industrial tablet computer, embedded Control
Mainboard, power-supply controller of electric, drive control device, network router, GPS navigation module, electronic compass, data bus interface module；
Equipment compartment 1, equipment compartment 2 1.132, equipment compartment 3 1.133,4 1.134 equipment compartment 5 1.135 of equipment compartment are used to install
All kinds of water quality monitoring instruments；Water quality sampling cabin is used for the automatic collection to monitoring water sample and keeps sample.The upper surface of catamaran simultaneously
The solar panel that promising lithium battery charges is laid with, catamaran upper end is installed with U-shaped equipment frame, in the fixed laser thunder of equipment frame
Up to/millimetre-wave radar, antenna, video camera head etc..Generator bay installs small gasoline/diesel-driven generator, and electricity is provided for system
Source, while charge for battery, increases lasting cruise time of unmanned boat, make up pure battery powered cruising time it is short the shortcomings that.
Further scheme, the water monitoring instrument includes conventional five parameter modules, heavy metal analysis module, full spectrum joins more
Number Water Test Kits, organic pollution detection module, microorganism detection module, antibiotic detection module.
Further scheme is equipped with gasoline/diesel generator in the catamaran, and the gasoline/diesel generator is to lithium electricity
Pond is charged, and the output terminal of the lithium battery is connected with DC-DC converter.
Further scheme, the catamaran are equipped with GPS, electronic compass；The material of the catamaran is fiberglass.
Embodiment 2：
A kind of pollution sources method for tracing for the unmanned boat tracked for water quality monitoring with pollution sources, including being used to detect nobody
The full spectrum multiparameter water quality analyzer of pollutant in ship surrounding body, its step are as follows：
1) use full spectrum multiparameter water quality analyzer to using unmanned boat as the center of circle, radius be waters in the range of 10 meters into
Row sampling, pollutant monitoring；
It is illustrated in figure 4 the Fingerprint number of the pollution-free normal water quality through the detection of full spectrum multiparameter water quality analyzer
According in the absorption spectrum ranges of 200-700nm, the benzene type organic concentration calculated is no more than 0.1ppm, is less than《Life drink
With water hygiene standard》National standard is with defined limitation；It is the dirt detected through full spectrum multiparameter water quality analyzer as shown in Figure 5
The Fingerprint data (drinking water ethyl-benzene level standard is 0.3mg/L) of water quality are contaminated, then show that pollutant concentration surpasses in the water quality
Cross threshold value.
2) when detecting that pollutant concentration is more than threshold value, current waters fluid velocity is detected by radar wave current meter,
And pass through GPS and obtain current geographical location, so that it is determined that the position of unmanned boat and waters flow velocity and flow direction change over time
Time-domain signal；
3) full spectrum multiparameter water quality analyzer real-time detection and the plume that water pollutant is spread with waters fluid is obtained
Characteristic signal, so that it is determined that the time domain and space-domain signal of the plume of diffusion；It is illustrated in figure 5 each period benzene type organic
Real-time concentration, each period mark accurate cross section of river geographical location simultaneously, and pollution sources diffusion plumage can be formed from Fig. 5
The time domain of stream and space-domain signal feature；
4) according to the time domain and space-domain signal of plume in step 3), gridding segmentation is carried out to the polluted water region detected
Form cell element；As shown in figure 3, the polluted water region is divided into 13 grids, i.e. 13 cell elements, and the length of side of each grid is 50
Rice, and unmanned boat is in No. 7 grids；
5) according to polluted water region Historical Monitoring database, the initial vector π of Bayesian inference probabilistic algorithm is provided, wherein 0
Then≤π≤1 calculates the probability that each cell element containing pollution sources is detected using probability density function；
6) renewal vector π continues to calculate the probability that pollutant or pollution sources are detected in polluted water region, forms pollutant
Probability map；Then pollutant probability map is updated using Bayesian inference, and evaluates whether newer map meets partially
Difference requirement；
If 7) newer pollutant probability map meets deviation requirement, new test position point planning chart to be cruised is performed,
Pollution sources as shown in Figure 3 are located in No. 13 grid, probability distribution of the cruise route according to pollutant, from grid 7 to grid 13；
If not satisfied, re-executing step 5), 6), until meeting the requirements, optimal pollutant probability map is drawn；
8) according to optimal pollutant probability map, the path of tracing to the source of unmanned boat is generated；Then it is current further according to unmanned boat
Spatial-domain information and fluid turbulence signal, calculate unmanned boat automatic Pilot path, to pollution sources carry out real-time tracing；
9) during real-time tracing, pollutant probability map must be constantly updated, go forward side by side a successive step and optimization pollution sources
Track path；
10) to constantly determining whether the peak of pollution sources plume in pollution sources tracing process, if stopping chasing after
Track, then current location is the source of pollution sources；If not step 8), 9) is then continued to execute, until finding pollution sources.
Further scheme, the length of side of cell element described in step 4) are 50 meters of square.
Further scheme, wherein initial vector π=1/M described in step 5), M=n × m, n and m are respectively the length of cell element
Degree and width.
Probability density function described in step 5) or step 6) is P (Ai|Dj(tk))=βij(t0, tk), wherein AiFor pollution
The contamination accident that source occurs in i-th of cell element, Dj(tk) represent the t in j cell elementskMoment detects the event of pollutant, βij(t0,
tk) i cell elements are represented from tiMoment continues diffusion pollution object, and the t in j cell elementskMoment detects the probability of pollutant.
Above-described embodiment is only the preferable embodiment of the present invention, embodiments of the present invention and from above-described embodiment
Limitation, it should be appreciated that those skilled in the art can be designed that a lot of other modifications and embodiment, these modifications and implementation
Mode will fall within spirit disclosed in the present application and spirit.
Claims (9)
1. a kind of unmanned boat for water quality monitoring and pollution sources tracking, including the binary being made of two enclosures and connecting plate
Ship, it is characterised in that：The upper surface of the catamaran is laid with the solar panel that promising lithium battery charges, catamaran top frame
Equipped with U-shaped equipment frame, video camera, radar and antenna are installed on the equipment frame；Be respectively equipped on unmanned boat control cabinet,
Battery flat, generator bay, water quality sampling cabin and five are used to place the equipment compartment of water quality monitoring instrument.
2. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Water monitoring instrument includes conventional five parameter modules, heavy metal analysis module, full spectrum multiparameter water quality analyzer, organic pollution
Detection module, microorganism detection module, antibiotic detection module.
3. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Gasoline/diesel generator is equipped in catamaran, the gasoline/diesel generator charges to lithium battery, the lithium battery
Output terminal is connected with DC-DC converter.
4. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Catamaran is equipped with GPS, electronic compass；The material of the catamaran is fiberglass.
5. a kind of unmanned boat for water quality monitoring and pollution sources tracking according to claim 1, it is characterised in that：It is described
Five equipment compartments are successively set on water quality sampling cabin in two enclosures；Control cabinet, battery flat and generator bay are set gradually
On the connecting plate below solar panel.
6. a kind of pollution sources method for tracing of unmanned boat tracked for water quality monitoring with pollution sources as described in claim 1,
Full spectrum multiparameter water quality analyzer including being used to detect pollutant in unmanned boat surrounding body, it is characterised in that：Step is such as
Under：
1) full spectrum multiparameter water quality analyzer is used to being that waters in the range of 10 meters takes using unmanned boat as the center of circle, radius
Sample, pollutant monitoring；
2) when detecting that pollutant concentration is more than threshold value, current waters fluid velocity is detected by radar wave current meter, and is led to
Cross GPS and obtain current geographical location, so that it is determined that the position of unmanned boat and waters flow velocity and flow direction change over time when
Domain signal；
3) full spectrum multiparameter water quality analyzer real-time detection and the plume feature that water pollutant is spread with waters fluid is obtained
Signal, so that it is determined that the time domain and space-domain signal of the plume of diffusion；
4) according to the time domain and space-domain signal of plume in step 3), gridding is carried out to the polluted water region detected and splits to be formed
Cell element；
5) according to polluted water region Historical Monitoring database, the initial vector π of Bayesian inference probabilistic algorithm is provided, wherein 0≤π≤
1, then the probability that each cell element containing pollution sources is detected is calculated using probability density function；
6) renewal vector π continues to calculate the probability that pollutant or pollution sources are detected in polluted water region, forms pollutant probability
Map；Then using Bayesian inference update pollutant probability map, and evaluate newer map whether meet deviation will
It asks；
If 7) newer pollutant probability map meets deviation requirement, new test position point planning chart to be cruised is performed, if not
Meet, re-execute step 5), 6), until meeting the requirements, draw optimal pollutant probability map；
8) according to optimal pollutant probability map, the path of tracing to the source of unmanned boat is generated；Then further according to the current sky of unmanned boat
Between domain information and fluid turbulence signal, calculate unmanned boat automatic Pilot path, to pollution sources carry out real-time tracing；
9) during real-time tracing, pollutant probability map must be constantly updated, go forward side by side a successive step and optimization pollution sources tracking
Path；
10) to constantly determining whether the peak of pollution sources plume in pollution sources tracing process, if stopping tracking, then
Current location is the source of pollution sources；If not step 8), 9) is then continued to execute, until finding pollution sources.
7. pollution sources method for tracing according to claim 6, it is characterised in that：The length of side of cell element described in step 4) is 50
The square of rice.
8. pollution sources method for tracing according to claim 6, it is characterised in that：Initial vector π=1/ described in step 5)
M, wherein M=n × m, n and m are respectively the length and width of cell element.
9. pollution sources method for tracing according to claim 6, it is characterised in that：Probability is close described in step 5) or step 6)
Degree function is P (Ai|Dj(tk))=βij(t0, tk), wherein AiFor the contamination accident that pollution sources occur in i-th of cell element, Dj(tk)
Represent the t in j cell elementskMoment detects the event of pollutant, βij(t0, tk) i cell elements are represented from tiMoment continues diffusion pollution
Object, and the t in j cell elementskMoment detects the probability of pollutant.
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