Method for robot to initiatively search and position smell source

Abstract

The invention discloses a method for a robot to initiatively search and position a smell source. The method comprises steps that firstly a used all-directional moving robot for searching and positioning a smell source is designed; an included angle between 90 degrees to 180 degrees is formed between a smoke plume finding stage robot and the robot runs along the upper wind direction; when the wind speed is smaller than a set threshold value, the robot carries out comprehensive searching based on the Z-shaped traversing method and changes the running direction when meeting a boundary; the smoke plume finding stage robot carries out swinging movement in variable step sizes and variable angles; by combining 360-degree all-directional rotation movement of the robot body, if gas is not detected, the robot carries out forward spiral-line movement in the clockwise direction; the robot body carries out 360-degree all-directional rotation movement; at a smell source positioning stage, a laser range finding sensor and a gas sensor carried by the robot are used for measuring gas concentration around a suspicious smell source so as to carry out gas source judgment, and finally the positioning is finished. Compared with the traditional smell source searching method, the provided method has high practicability and robustness.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for a robot to actively search and locate an odor source. Background technique [0002] With the development of industry, the petrochemical industry has become an important pillar of national economic development. At the same time, the disaster accidents of petrochemical factories and the leakage of toxic and harmful gases are also showing an increasing trend year by year, which has caused incalculable damage to the property of the country and the people. loss. Therefore, it is very important to study the gas detection and the search and location of gas leakage sources in petrochemical plants and hazardous chemical storage environments. It is of great significance to successfully develop a method of actively searching for odor sources using autonomous omnidirectional mobile robots to protect the property safety and health of the country and the people, and to protect my country's ...

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