Method and system for locating gas leakage source of robot based on matrix semi-tensor product

Abstract

The invention discloses a method and a system for positioning gas leakage sources of robots based on a matrix semi-tensor product. The method comprises the following steps: S1, determining the number of robots participating in positioning of the gas leakage sources, and an input variable and an output variable of a fuzzy control rule, wherein the input variable is sensor information detected by the robots in real time; and the output variable is a positioning behavior; S2, building a fuzzy control rule base from the input variable to the output variable; S3, transforming the fuzzy control rule into a structure matrix by employing a matrix semi-tensor product theory; and S4, selecting a corresponding positioning behavior according to the sensor information detected by the robot in real time, so as to finish the work of positioning the gas leakage sources. According to the method and the system, the matrix semi-tensor product theory and the fuzzy control theory are fused; a plurality of adjusting modes and control strategies are adopted; the system has the characteristics of being accurate to position, high in inclusivity, high in safety, high in flexibility and high in practicability, and meets the requirements for positioning the gas leakage sources in different environments.

Description

technical field [0001] The invention relates to a method and system for locating a gas leakage source, in particular to a method and system for locating a gas leakage source of a robot based on a matrix semi-tensor product, and belongs to the technical field of gas leakage source positioning. Background technique [0002] The location of hazardous gas leakage sources is of great significance to human safety, such as ocean and river environmental monitoring, source tracking and location of pollutants, and sources of toxic gas leakage in chemical factories, etc. Therefore, how to quickly and effectively locate the source of dangerous gas leakage is an extremely important issue. However, the location of hazardous gas leakage sources presents different characteristics in different environments. Usually, in the absence of airflow, the diffusion of odor molecules is a major force that can drive odor molecules away from the odor source, and the maximum concentration will occur nea...

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Problems solved by technology

In addition, due to the limitation of the detection distance and sensitivity of the gas sensor, in most cases, the robot cannot detect the gas concentration information through the sense of smell at the beginning, and mainly uses the random search method to find the plume. The probability of gas leakage source distribution in the middle is equal, and then traverse the scene, this search method is inefficient and has a certain degree of blindness; in plume tracking (tracking gas plume based on concentration information or / and wind speed and direction information, In the process of approaching the gas leakage source), multiple feasible paths with large differences may be obtained according to the olfactory information, and the robot is faced with the problem of path selection; in the process of gas leakage source confirmation, the concentration method is currently used to confirm the gas leakage source. This confirmation method has a high misjudgment rate. For example, when the robot falls into a local optimum, the detected concentration information is relatively large, and this local area will be misjudged as a leak source.

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