A method for confirming pseudo-source of gas source
A gas source and area technology, applied in the direction of instruments, control/regulation systems, vehicle position/route/height control, etc., can solve the problem of low gas source positioning accuracy, achieve fast calculation speed, high confirmation accuracy, and low cost low effect
Active Publication Date: 2022-07-01
HARBIN INST OF TECH
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[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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specific Embodiment approach 1
[0034] Embodiment 1: This embodiment is described in detail with reference to FIG. 1. A method for confirming a gas source pseudo-source 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 the confirmation area coordinate system with the origin parallel to the coordinate axis of the search area;
[0036] Step 2: Build a cost map of the surrounding environment for the obstacle, and perform expansion processing on the obstacle;
[0037] Step 3: Plan and confirm the area boundary according to the coordinate system of the confirmation area and the cost map in the surrounding environment of the obstacle, select the rectangular area as the gas source confirmation area, make the robot move, and construct the confirmation area boundary;
[0038] Step 4: The robot independently moves three circles along the boundary of the confirmation area, and the gas concentration at the boundary of...
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A method for confirming a false source of a gas source, which relates to the technical field of gas source sourcing, and in order to solve the problem of low positioning accuracy of the gas source in the prior art, the method includes step 1: obtaining the position of the gas source, and using it as an origin, and paralleling the origin with the origin. Establish a confirmation area coordinate system on the coordinate axis of the search area; Step 2: Establish a cost map of the surrounding environment for the obstacle, and perform expansion processing on the obstacle; Step 3: According to the confirmation area coordinate system and the cost map in the surrounding environment of the obstacle Plan the confirmation area boundary, select the rectangular area as the gas source confirmation area, make the robot move, and construct the confirmation area boundary; Step 4: The robot moves independently along the confirmation area boundary three times, and the gas concentration at the confirmation area boundary is measured by the gas sensor; The formula determines the authenticity of the gas source, and the present invention is based on a statistical method, including two parts: the gas source confirmation rule and the confirmation area boundary division rule, and the gas source confirmation accuracy is high.
Description
technical field [0001] The invention relates to the technical field of gas source seeking, in particular to a method for confirming a false source of a gas source. Background technique [0002] In the obstacle scene, gas accumulation on the windward side of the obstacle, large sensor measurement error, and strong gas propagation discontinuity will all form false sources, which will affect the accuracy of gas source positioning. Therefore, when searching for a gas source using various methods, it is necessary to use a 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 the robot to confirm the gas source through its own wind speed / wind direction sensor and gas sensor, 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 met...
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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