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Method for tracing source of gas leakage by virtue of mobile robot

A mobile robot, gas leakage technology, applied in the fields of safety production, robots, sensors, and environmental monitoring, to achieve the effect of shortening time, reducing the number, and improving the accuracy of calculation results

Active Publication Date: 2017-11-28
BEIJING UNIV OF CHEM TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the above-mentioned problems existing in the existing methods, the present invention provides a gas leakage traceability method realized by means of a mobile robot

Method used

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  • Method for tracing source of gas leakage by virtue of mobile robot
  • Method for tracing source of gas leakage by virtue of mobile robot
  • Method for tracing source of gas leakage by virtue of mobile robot

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Embodiment Construction

[0018] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Such as image 3 As shown, the traceability process includes the following steps:

[0019] S1. Make a mobile robot with Linux embedded system, single-chip microcomputer system and wireless communication, camera and pan / tilt, sensor, motor control speed control drive, power supply, map and positioning and wireless communication. The robot enters the accident scene, and the sensor starts to detect the gas concentration value.

[0020] S2. The single-chip microcomputer system collects the data of the sensor module in real time, and immediately transmits it to the embedded system through the serial port; the data collected by the sensor is input into the gas diffusion model of the embedded system as a model parameter, and the source intensity is inversely calculated; among them, the source intensity is inversely calculated The method uses genetic algorithm...

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Abstract

The invention relates to a method for tracing a source of gas leakage by virtue of a mobile robot. The method comprises the following steps: producing a mobile robot with a Linux embedded system, a single chip microcomputer system, a wireless communication function, a camera and a holder thereof, a sensor, a motor controlled speed adjusting driving function, a power supply function, a map, a locating function and a wireless communication function; introducing a field gas concentration value detected by the sensor as a known parameter into a gas diffusion model on the robot, and carrying out embedding source tracking calculation by virtue of an artificial intelligence method; and positioning a calculated leakage source position and navigating, enabling the robot to move towards a target position and photographing a leakage source and periphery conditions after the robot arrives the target position, and sending back pictures and source strength information by virtue of a wireless network. According to the method, the source tracking calculation time can be shortened, the position information of the leakage source can be determined accurately, and the leakage source condition can be fed back in real time; and meanwhile, by virtue of mobile property of the robot, the proper number of sensors to be distributed can be determined.

Description

technical field [0001] The invention belongs to the technical fields of robots, sensors, safety production and environmental monitoring, and in particular relates to a gas leakage traceability method realized by means of a mobile robot. Background technique [0002] In the current industrial production, especially in the chemical industry, the monitoring of gas types and concentrations has become an important part of the safe production process of enterprises. In the production process, when industrial gas leaks, the monitoring data of the sensor is often the important data to grasp the real situation of the accident scene. According to the data sent back by the sensor, it is very important to formulate an evacuation rescue plan when the gas is a dangerous gas, and to find the location of the leak source with the help of relevant methods, and to remedy the accident. For the problem of gas leakage traceability, when the gas diffusion model (such as Gaussian diffusion model) ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N33/00G01M3/02
CPCG01M3/02G01N33/0062
Inventor 李辉张建文林青其
Owner BEIJING UNIV OF CHEM TECH
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