Multiple scent seeking robots and dangerous gas leakage source positioning system and method for underground comprehensive pipe gallery

Abstract

The invention discloses multiple scent seeking robots and a dangerous gas leakage source positioning system and method for an underground comprehensive pipe gallery. Through a gas sensor array and a camera, the scent seeking robots timely monitor concentration of leaked gas, and timely collect the wind direction and wind speed through a wind speed sensor, a host controller automatically finds an optimal path by judging the direction of a gas leakage source, a camera survey method, obstacle avoidance information detected by an ultrasonic sensor, and finally, a main control plate drives a continuous current dynamo to make the scent seeking robots move autonomously. Positioning of a dangerous gas leakage source is realized by a cooperative method of multiple scent seeking robots based on a swarm intelligence optimization algorithm, in order to avoid the scent seeking robots leaving a smoke plume area which is searched and reduce the possibility of the scent seeking robots falling into thelocal optimum, a group of the scent seeking robots is constructed, through searching by a smoke plume concentration gradient method and a robot anti-collision mechanism, the problem of local search in the process of robot search is solved, and detection and positioning of the dangerous gas leakage source are realized.

Description

technical field [0001] The invention relates to a multi-taste robot used for an underground comprehensive utility gallery and a monitoring system and method for locating a dangerous gas leakage source, belonging to the field of robot system control. Background technique [0002] Hazardous gas leakage source location technology refers to the location of the gas leakage source by collecting target gas concentration information in the wind field environment and analyzing and utilizing it. This technology can quickly and accurately locate the dangerous gas source and effectively determine the hazard source. location to reduce disaster losses. At the same time, the location of the gas leakage source can also be widely used in the fields of search and rescue of victims, drug and explosives search, etc. The multi-taste robot designed by the present invention is a group of mobile robots with obstacle avoidance navigation function and the ability to track dangerous gases. Maintenan...

AI Technical Summary

Problems solved by technology

Make up for the incomplete observation of the environment by traditional active search, which leads to low accuracy of composition and positioning, and cannot cope with emergencies (such as hitting pedestrians) and other shortcomings

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