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Method for confirming pseudo source of gas source

A gas source and area technology, which is applied to instruments, analytical materials, transportation and packaging, etc., can solve the problem of low gas source positioning accuracy, and achieve the effects of fast calculation speed, high confirmation accuracy and low cost

Active Publication Date: 2019-11-22
HARBIN INST OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to propose a method for confirming gas source pseudo-source in view of the problem of low gas source positioning accuracy in the prior art

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  • Method for confirming pseudo source of gas source
  • Method for confirming pseudo source of gas source
  • Method for confirming pseudo source of gas source

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specific Embodiment approach 1

[0034] Specific Embodiment 1: This embodiment is specifically described with reference to FIG. 1. A gas source and pseudo-source confirmation method described in this embodiment includes the following steps:

[0035] Step 1: Obtain the position of the gas source and use it as the origin, and establish a confirmation area coordinate system with the origin parallel to the coordinate axis of the search area;

[0036] Step 2: Establish a cost map of the surrounding environment for the obstacle, and expand the obstacle;

[0037] Step 3: Plan the boundary of the confirmation area according to the coordinate system of the confirmation area and the cost map in the surrounding environment of obstacles, select a rectangular area as the confirmation area of ​​the gas source, make the robot move, and construct the boundary of the confirmation area;

[0038] Step 4: The robot independently moves three times along the boundary of the confirmation area, and measures the gas concentration at ...

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Abstract

The invention discloses a method for confirming a pseudo source of a gas source, relates to the technical field of gas sourcing, and aims to solve the problem of low positioning accuracy of a gas source in the prior art. The method comprises the following steps of (1) acquiring the position of the gas source, taking the position as an origin, and establishing a confirmation region coordinate system with the origin parallel to a search region coordinate axis, (2) establishing a cost map of a surrounding environment for an obstacle and expanding the obstacle, (3) planning a confirmation region boundary according to the confirmation region coordinate system and the cost map in the environment around the obstacle, selecting a rectangular region as a gas source confirmation region, moving a robot, and constructing the confirmation region boundary, and (4) allowing the robot to independently move along the confirmation area boundary for three turns, measuring the concentration of gas at theconfirmation area boundary through the gas sensor, and finally, determining the authenticity of the gas source according to a formula. Based on a statistical method, the method of the invention comprises a gas source confirmation rule and a confirmation region boundary division rule, so that the accuracy of the gas source confirmation is high.

Description

technical field [0001] The invention relates to the technical field of gas source seeking, in particular to a method for confirming gas sources and pseudo-sources. Background technique [0002] In the obstacle scene, gas accumulation on the windward side of the obstacle, large sensor measurement error, and strong discontinuity in gas propagation will form false sources, which will affect the accuracy of gas source location. Therefore, when using various methods to search for gas sources, it is necessary to use the gas source pseudo-source confirmation algorithm to determine whether the obtained gas source location actually contains a gas source. [0003] At present, there are few methods for confirming the gas source through the wind speed / wind direction sensor and gas sensor carried by the robot, mainly including the recently measured position sequence method, the confirmation method based on machine learning, and the mass flux divergence method. The main problems of these...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01N33/00
CPCG05D1/0223G05D1/0214G05D1/0221G01N33/0063G01N33/0075
Inventor 王伟东杜志江王艺博高文锐
Owner HARBIN INST OF TECH
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