机器人探测气体泄漏源定位研究

Research on locating gas leakage source by robot detection

采用摄像机小孔成像模型以及气味主动嗅觉的组分方程模型,建立了机器人检测气味泄漏源的控制模型,给出了气味源探测的算法。通过模拟天然气泄漏的过程表明,采用的模型能够较好实现气体浓度变化检测。软件仿真结果表明机器人拥有了环境运动的能力;实际环境的应用结果表明系统可以将团状的气体分子在空气中运动感知和发现,设计的控制机器人气味追踪算法具有实际应用可行性。研究成果对于我国机器嗅觉和气体定位的发展有一定的理论和实际意义。

By using the camera small hole imaging model and the component equation model of odor active olfaction,a control model of locating odor leakage by robot detection is established,and the algorithm of odor source detection is presented.By simulating the process of gas leakage,the model can be used to detect the concentration change of gas,and the simulation results by using solfware show that the robot has ability for the environmental movement.The application in the actual environment shows that the system can perceive and find the movement of the mass of gas molecules in the air,and the algorithm of the designed control robot for odor tracking has the feasibility of practical application.The research results have theoretical and practical significance for the development of machine olfaction and gas location in our country.