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Robot odor source searching method based on odor actual measurement

A search method and robot technology, applied in the field of hexagonal paths where robots rely on active olfactory search for targets, to achieve the effects of improving odor tracking performance, expanding odor discovery functions, and wide application prospects

Inactive Publication Date: 2009-07-29
SUZHOU UNIV OF SCI & TECH
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a robot odor source search method based on actual odor measurement, which solves the problem of odor source location that cannot be solved by the search method of the prior art, and also improves the starting and odor tracking problems of the search method of the prior art

Method used

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  • Robot odor source searching method based on odor actual measurement
  • Robot odor source searching method based on odor actual measurement
  • Robot odor source searching method based on odor actual measurement

Examples

Experimental program
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Embodiment

[0055] Such as image 3 And Fig. 4, this robot smell source search method based on smell actual measurement is carried out in the following specific steps:

[0056] 1. In the phase of smell discovery, the robot uses the gas sensor to detect the smell to be searched; according to the difference in the concentration of the smell detected by the robot in different directions, it initially judges the direction of the smell source and starts to walk.

[0057] 2. In the initial stage, the robot continues to walk for 6 steps in a hexagonal path pattern while detecting the concentration of the odor.

[0058] 3. In the odor tracking stage, adjust the step length according to the measured odor concentration and judge the degree of odor regression, and continue walking in a hexagonal path pattern.

[0059] 4. In the stage of odor source location, the robot adjusts the step length with a fixed step length change rate, and continues to walk in a hexagonal path pattern.

[0060] Since the...

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Abstract

The invention discloses a method for searching a robot odor source based on an actually measured odor, which is characterized by comprising the following steps: a stage of discovering odor and starting, namely, detecting the odor needing to be detected by using an odor detector by a robot, preliminarily judging the direction of the odor source according to the odor concentration difference of the odor detected by the robot in different directions, and starting walking according to the preliminarily judged direction of the odor source; an odor tracking stage, namely, adjusting step length according to the odor concentration condition detected by the robot and the resetting degree of the odor concentration and constantly walking; and an odor source positioning stage, namely, adjusting the step length by the robot according to the fixed step length change rate or dynamic step length change rate and constantly walking. The method has and expands the odor discovery function, improves the odor tracking performance, increases the odor source positioning function, and has wide application prospect in robot odor search.

Description

technical field [0001] The invention belongs to the technical field of a hexagonal path for a robot to search for a target by active sense of smell, and specifically relates to a method for searching a robot's odor source based on actual odor measurement and its application. Background technique [0002] The research on robots relying on the active sense of smell to search for targets has developed rapidly in recent years. Using mobile robots to search for toxic and harmful odor sources has broad application prospects in disaster relief, emergency rescue, anti-terrorism, security and other fields. Holland and Melhuish in Cambridge: MIT Press in 1996 proposed a Z-shaped path-following strategy for robots to imitate the behavior of real snails. Then, in Proceedings of American Mathematical Society in 2003, Lilienthal proposed a discovery and tracking strategy of diverging sine waves followed by circular paths based on the behavior of male moths looking for female moths. The ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/34
Inventor 王俭
Owner SUZHOU UNIV OF SCI & TECH
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