Method for fixed electronic nose nodes and mobile robot to search for smell source cooperatively

Abstract

The invention discloses a method for fixed electronic nose nodes and a mobile robot to search for a smell source cooperatively, and belongs to the field of gas detection. The method includes the steps that a working space is divided into a plurality of rectangular grid areas by installing the wireless electronic nose nodes at equal intervals; the fixed electronic nose nodes detect time and space information of a smell concentration field; the mobile robot receives concentration data measured by the fixed electronic nose nodes in real time, determines the electronic nose nodes of the grid areas according to the real-time position, fuses data measured by the electronic nose nodes with data measured by adjacent nodes, and determines a gas concentration variation tendency and the next search direction, thereby going forwards in the direction with the highest gas concentration. The fixed electronic nose nodes extract the information of the concentration field, and the information is fused with the concentration information measured by the mobile robot, so that the mobile robot is guided to run in the direction with the higher concentration to get close to the smell source gradually. Compared with a traditional search strategy, gas concentration spatial information can be obtained more accurately and effectively.

Description

technical field [0001] The invention relates to the field of automatic detection and robot technology, and relates to a method for cooperating with a fixed electronic nose node and a mobile robot to search for an odor source. Background technique [0002] The problem of mobile robots autonomously searching for odor sources refers to the process of mobile robots discovering, tracking smoke plumes and finally determining the location of odor sources in an autonomous manner without manual operation. With the rapid development of modern industry, the types and quantities of harmful gases that people may be exposed to in their work and life are increasing day by day. Once a leakage accident of harmful gas occurs, if it cannot be dealt with quickly, it will not only cause great harm to the surrounding environment and equipment, but also pose a serious threat to human safety and health. Therefore, it is particularly important to search for and locate the technology and application...

AI Technical Summary

Problems solved by technology

When the above method is applied in practice, it is difficult to obtain satisfactory results

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