Autonomous identifying method of hazardous article target

Abstract

The invention relates to a method for autonomously identifying a dangerous article target. The method is based on a mobile robot with multi-senses including olfactory sensation, vision and hearing, and comprises the following steps: firstly, corresponding sensory information of the dangerous target is respectively acquired by a vision sensor, a sound perception sensor and an olfactory sensor which are arranged on the mobile robot in an off-line manner, and a model base incorporating the dangerous article target information is established; secondly, at least one of the vision sensor, the sound perception sensor and the olfactory sensor finds a signal of the detected target in an operating mode, and then instantly compares the signal of the detected target with the model base of the dangerous article target information to preliminarily determine identity of the detected target; thirdly, the detected target is accurately positioned by multi-senses including the olfactory sensation, the vision and the hearing, and then the information acquisition is performed and the model base is searched and matched by integrally using the vision sensor, the sound perception sensor and the olfactory sensor after the robot is driven to be close to the detected target; finally, the identity of the detected target is autonomously identified by the characteristic judgment algorithm of a voting mechanism.

Description

technical field [0001] The invention relates to automatic detection and robot technology, specifically a method for autonomously identifying dangerous objects by using a multi-sensory mobile robot. The international patent classification number is proposed to be Int.Cl.GO1D 21 / 02(2006.01)I. Background technique [0002] At present, as countries attach great importance to public utilities such as national security and social security, the demand for mobile robots for dangerous operations characterized by riot prevention, anti-terrorism, fire fighting, and emergency rescue is increasing. In industry, there is also a strong demand for robots for the inspection and maintenance of various dangerous chemical reactors, dangerous goods storage tanks and pipelines, especially in the petrochemical industry. With the development of my country's petrochemical industry, various chemical reaction vessels and pipelines Advanced leak detection and repair has become a key technology for the p...

AI Technical Summary

Problems solved by technology

[0003] The existing robot autonomous dangerous goods target identification method mainly uses 1. Single target detection through visual sensors. This technology has been widely used and the technology is relatively mature, but single vision target recognition is vulnerable to the light of the working environment. 2. Target recognition through olfactory sensors alone, for example, A.J. Lilienthal, T.Duckett, Creating gas concentration gridmap with a mobile robot, in: Proceedings of the 2003 IEEE / RSJ InternationalConference on Intelligent Robots and Systems (IROS 2003), IEEE / RSJ, 2003, pp.118-123, uses a sensor array, which can only recognize objects with gas characteristics, and the detection range is narrow; 3. Comprehensive application of olfactory sensors and visual sensors, for example, Amy Loutfi, MathiasBroxvall, Silvia Coradeschi , Lars Karlsson. Object recognition: A new application for smelling robots. Robotics and Autonomous Systems 52 (2005): 272-289, this technology is to install olfactory sensors and visual sensors on mobile robots, and work together to detect specific gases and obtain odors source, can complete certain detection tasks, but the simple fusion of smell and vision cannot detect dangerous targets in a timely manner, and the detection range is narrow

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