Hazardous gas leakage source location system and method for multi-taste robots used in underground utility tunnels

Abstract

The invention discloses a system and method for multi-taste robot and hazardous gas leakage source location system and method for underground comprehensive pipe corridor. The gas sensor array and camera are used by the multi-taste robot to timely monitor the concentration of leaked gas, and to collect wind direction by wind speed sensor in a timely manner. , wind speed, the host controller judges the direction of the gas leakage source, the camera survey method, and the ultrasonic sensor detects obstacle avoidance information to automatically find the optimal path. Finally, the main control board drives the DC motor to make the Xunwei robot move autonomously. The location of dangerous gas leakage sources is realized by multi-taste robot collaboration based on swarm intelligence optimization algorithm. In order to prevent the taste-seeking robot from leaving the searched plume area and reduce the possibility of the robot falling into a local optimum, a team of flavor-seeking robots is constructed to measure the concentration of smoke plume. Gradient method search and robot anti-collision mechanism solve the problem of local search in the robot search process, and realize the detection and location of dangerous gas leakage sources.

Description

technical field [0001] The invention relates to a system and method for monitoring and locating dangerous gas leakage sources of a multi-taste robot used in an underground comprehensive utility gallery, 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. Maintena...

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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