CN110653831B - Hazardous gas leakage source positioning system and method for multi-flavor-searching robot of underground comprehensive pipe gallery - Google Patents
Hazardous gas leakage source positioning system and method for multi-flavor-searching robot of underground comprehensive pipe gallery Download PDFInfo
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Abstract
The invention discloses a multi-flavor-searching robot for an underground comprehensive pipe gallery and a positioning system and a method for a dangerous gas leakage source. The positioning of the dangerous gas leakage source is realized in a multi-flavor-searching robot cooperation mode based on a swarm intelligence optimization algorithm, the possibility that the flavor-searching robot leaves a searched smoke plume area is reduced, a flavor-searching robot team is constructed, the problem that the robot sinks into local search in the searching process is solved through a smoke plume concentration gradient method searching mechanism and a robot anti-collision mechanism, and the detection and the positioning of the dangerous gas leakage source are realized.
Description
Technical Field
The invention relates to a positioning system and a positioning method for monitoring a dangerous gas leakage source of a multi-flavor-searching robot for an underground comprehensive pipe gallery, and belongs to the field of robot system control.
Background
The hazardous gas leakage source positioning technology is used for positioning a gas leakage source by collecting target gas concentration information and analyzing and utilizing the target gas concentration information in a wind field environment, so that the hazardous gas source can be quickly and accurately positioned by the technology, the location of the hazardous source is effectively determined, and the disaster loss is reduced. Meanwhile, the positioning of the gas leakage source can be widely applied to the fields of searching and rescuing of people in distress, searching of drugs and explosives and the like. The multi-odor-seeking robot designed by the invention is a mobile robot group with an obstacle avoidance navigation function and capable of tracking dangerous gas, can avoid obstacles in the process of navigation in sudden situations (such as even maintainers) on the basis of completing composition and navigation in a region, simultaneously detects leakage of the dangerous gas in the region and realizes positioning, and has a certain application value in the field of indoor navigation of multiple robots. Along with the development in wisdom city in recent years, its construction and development of utility tunnel as important component part have reached unprecedented scale in the construction of wisdom city, the operation management and the safety supervision of giving us city utility tunnel have brought new difficulty simultaneously, utility tunnel in case the conflagration breaks out, the flue gas can stretch rapidly along the piping lane, the flue gas of production can not in time be discharged, the heat is gathered in a large number, make the interior temperature of piping lane rise fast, danger is very big, the construction cost of this type of facility is far higher than the cost of traditional direct burial laying simultaneously, consequently in case the unusual circumstances appears in the piping lane, must lead to the fact huge economic loss.
The problem that the manual inspection is wasted time and energy, comprehensive efficiency is low to utility tunnel is patrolled and examined to the underground, and the blind area also probably appears in the fixed point monitoring. On the basis of analyzing the operation and maintenance and inspection environment of the underground comprehensive pipe gallery, the invention provides a multi-flavor-searching robot design and inspection scheme suitable for the underground comprehensive pipe gallery according to the characteristics of dangerous gas leaked in the underground comprehensive pipe gallery, combines mobile robot groups with modern gas detection technology according to the bionics principle, and realizes the positioning of dangerous gas leakage sources through active searching. The odor-seeking robot group detects parameters such as gas concentration, wind speed and wind direction on a moving track point by means of a gas sensor array of the odor-seeking robot group, multi-robot cooperation is achieved through a group intelligent optimization algorithm until a gas leakage source is found, and finally the misjudgment probability of the odor-seeking robot is reduced by means of confirmation of a leakage point through a depth camera of the odor-seeking robot group. Meanwhile, the invention adopts multi-sensor information fusion, improves the positioning and composition precision of the robot, and can cope with sudden situations and implement autonomous obstacle avoidance. The defects that the traditional active search is incomplete in environment observation, the precision of composition and positioning is low, and sudden conditions (such as pedestrian collision) cannot be handled are overcome.
Disclosure of Invention
1. The object of the invention is to provide a method for producing a high-quality glass.
In order to solve the problems of odor searching and positioning of dangerous gas leakage sources in an underground comprehensive pipe gallery, a positioning system and a positioning method of dangerous gas leakage sources of a multi-odor searching robot for the underground comprehensive pipe gallery are provided.
2. The technical scheme adopted by the invention is as follows.
The invention discloses a dangerous gas leakage source positioning system of a plurality of flavor-searching robots for an underground comprehensive pipe gallery, wherein each flavor-searching robot comprises a host control panel, a controllable mobile chassis, a camera, a wind speed and wind direction sensor, a gas sensor array, a WIFI module and a PC (personal computer) well written with application programs; the host control board and the PC are in communication connection to acquire real-time smell and wind direction data, and the ultrasonic sensor is in communication connection with the main control board to input sound wave obstacle avoidance information; the controllable movable chassis comprises a control panel, a left wheel motor, a right wheel motor, two driving wheels, two driven wheels, a pair of encoders, an expandable input/output port and a rear baffle; the PC is in communication connection with a control panel capable of controlling the mobile chassis to send a control command and mileage data, the control panel is connected with a left wheel motor and a right wheel motor to drive the left wheel motor and the right wheel motor, the left wheel motor and the right wheel motor are respectively connected with an encoder and two driving wheels, the two driving wheels respectively drive two driven wheels, the encoder is connected with the control panel, and the control panel processes the encoder data to generate mileage data;
each flavor-searching robot judges whether diffused flavor smoke plumes are found or not according to the obtained real-time gas sensor information; positioning a gas leakage source by adopting a multi-flavor-searching robot cooperation mode based on a group intelligent optimization algorithm, and finally confirming a leakage point by a self-contained depth camera; the gas concentration measured by the robot sensor around it, the next velocity and position update of the robot is according to the following formula:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc (3)
wherein Vi(t +1) is robot RiMoving speed at time (t +1), w is inertia weight, c1And c2Is a learning factor, r1And r2Is a random number between (0-1),
robot RiThe coordinate position where the detected gas concentration is maximum at the present time,
the coordinate position of the whole robot group with the maximum gas concentration detected at the current moment,
Ucsearching a factor for the upwind;
and establishing a flavor-searching robot team, solving the problem of local search in the robot search process by using a smoke plume concentration gradient method search and a robot anti-collision mechanism, and finally realizing the detection and positioning of the dangerous gas leakage source.
Furthermore, the wind speed and direction sensor and the odor sensor are arranged at the top end or the side end of the movable chassis.
Furthermore, the rear baffle is arranged on the controllable movable chassis and is positioned at the opposite end of the wind speed and direction sensor and the odor sensor.
Furthermore, the host control board is an ARM chip and adopts STM32F103C8T 6.
Further, the depth camera is an ov7670 camera module.
The invention discloses a multi-flavor-searching robot for an underground comprehensive pipe gallery and a positioning method for a dangerous gas leakage source, which are carried out according to the following steps:
step 2.1 having n flavor-seeking robots Ri(i 1.. n) form a multi-robot group, and each odor searching robot searches for m dangerous gas leakage sources S in the spacej(j 1.. m) randomly distributed within the tube lane; the dangerous gas leakage source releases corresponding chemical substances to form smoke plume in the air; hazardous gas leakage source positioning namely through multi-flavor-searching robot Ri(i 1.. n) cooperate to find the source location S as early as possiblej(j 1.. m), i.e. the fitness function of the robot is
fit＝Ci (1)
Wherein C isiIs a flavor-searching robot RiNeglecting the self error of the collecting sensor when the gas concentration is collected in the current state; if the gas concentration detected by a single robot is greater than threshold ThrThen, the robot is considered to be in the neighborhood near the smoke plume; if the maximum gas concentration detected by the whole robot group is greater than threshold ThgThen it is considered that a source of leakage of hazardous gas has been found;
step 2.2, when the robot enters the vicinity of the smoke plume, the robot moves up and down in the cross wind direction to obtain the width of the smoke plume, the robot moves until the robot leaves the smoke plume area, respective coordinate information of the positions is stored, and the width w of the smoke plume is obtained through position differencep(ii) a Distance d between robotssepIs formed by wpDivided by the number of robots, each scent-seeking robot being spaced apart by a distance dsepThe parts are arranged in a straight line one by one, and the whole width of the smoke plume is covered in the crosswind direction;
step 2.3, the robot searched in the pipe gallery is taken as particles in a two-dimensional search space, and the robot stops when reaching a required position, and the concentration of a gas area entering the sensing radius of the robot is measured; the global optimal position is the position with the highest concentration measured by the robot in the sensing area; the prior optimal is defined as the prior optimal position of the robot; updating by gas concentration gradient and upwind movement at the next position of the robot near the smoke plume; each scent robot follows its local gradient, the gas concentration measured by the robot sensor around it, and the next velocity and position update of the robot follows the following formula:
Vi(t+1)＝w*Vi(t)+c1r1(Xpi-Xi(t))+c2r2(Xgi-Xi(t)) (2)
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc (3)
wherein Vi(t +1) is robot RiMoving speed at time (t +1), w is inertia weight, c1And c2Is a learning factor, r1And r2Is a random number between (0-1),
robot RiThe coordinate position where the detected gas concentration is maximum at the present time,
the coordinate position, U, at which the gas concentration detected by the whole robot group at the current moment is maximumcSearching a factor for the upwind;
and 3, constructing a smell-searching robot team, solving the problem of local search in the robot search process through smoke plume concentration gradient method search and a robot anti-collision mechanism, and finally realizing the detection and positioning of the dangerous gas leakage source.
Considering that the robot needs a faster moving speed to determine whether to enter the smoke plume area at the initial searching stage, and can prevent the moving speed from being too fast at the later searching stage, at this time, the robot needs a smaller moving speed, so the invention is realized by dynamically adjusting the inertia weight w, and the adjustment strategy is as follows:
the inertia weight w determines the movement step length of the robot, and each odor-searching robot RiInitial phase of search, fitiThe value is small, the step length is large, and the searching is facilitated; along with the search, the robot is closer to the gas leakage source, and the robot RiFit of (2)iThe higher the value, the smaller the step size, which is beneficial to the exploration of the search space.
The method comprises the following steps of preventing the robot from leaving a smoke plume region in a smoke plume following stage, and introducing a robot anti-drift mechanism, wherein the method specifically comprises the following steps:
wherein d isantiIs a robot RiThe gravity borne by the smoke plume in the central direction,
and
are respectively a robot RiThe percentage of perceived radius and perceived area after leaving the plume-out region, if a robot leaves the plume-out region, its best fitness value will be considered to be the best fitness value in the best performing robot in the group until it regains the plume.
Further, in step 3, in the plume following phase, the robots may approach each other and send a collision. To avoid this, a repulsion mechanism based on collision avoidance is employed. When the robots approach each other, they exert a repulsive force. In general, if a robot is in the middle of two or more robots, the net repulsive force of the robot will be very small. But this robot should be subjected to the maximum repulsive force in order to avoid a collision between the robots. The repulsion-based collision avoidance mechanism is to calculate the center of several robots when they are close to each other and apply repulsion from this center to all robots in their moving direction. At this time, the robot in the intermediate position receives the largest repulsive force because it is closest to the center. The robot is subjected to the following repulsive forces:
wherein f isiIs a robot RiApplied external force, CrepCenter of robot to which external force is applied, XiRobot RiPosition of (a) rradDiameter of region to which strong repulsive force is applied, SdisIs the safety distance between all robots, if the distance between the robots is less than SdisIn time, the robot will be subjected to repulsive forces.
By combining the anti-drift and anti-collision repulsion mechanisms, the robot position updating formula (3) is changed into:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc+danti+fi (7)
in the underground utility tunnel environment, robots do not have an accurate global positioning system to locate. Therefore, positioning errors need to be taken into account when evaluating the performance of the algorithm. In order to incorporate positioning errors into the robot positioning, random positioning errors are used for correction:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc+danti+fi+Perror (8)
wherein P iserrorIs an error of the robot positioning system,
Xerror＝(a-b)*rand+b (10)
Yerror＝(a-b)*rand+b (11)
where rand is a random number from 0 to 1. a and b are two arbitrary constants that define the error range, where the values of a and b are constants, set to-3 and +3, respectively.
3. The invention has the beneficial effects that:
(1) the odor-searching robot mobile platform for gas leakage of the underground comprehensive pipe gallery realizes accurate judgment of various dangerous gas leakage sources through monitoring of various odor and wind direction sensors, and achieves the purpose of quickly finding a target source for effective treatment;
(2) according to the odor-searching robot mobile platform for gas leakage of the underground comprehensive pipe gallery, the controller performs data interaction with the PC through WIFI, surveys the field environment through the camera, and finally performs data fusion at the PC terminal, so that the precision is improved, and the time for searching a dangerous gas leakage source is shortened.
(3) The gas leakage positioning algorithm for the underground comprehensive pipe gallery provided by the invention integrates an anti-drift and anti-collision repulsion mechanism and a system positioning error, improves the positioning precision of the robot, and confirms the leakage point through the self-contained depth camera.
Drawings
FIG. 1 is a diagram of a mobile base according to the present invention.
Fig. 2 is a hardware platform of the mobile robot of the present invention.
FIG. 3 is a real-time patterning process illustration of the present invention.
Fig. 4 is a flowchart of a positioning method of the multi-scent robot.
Wherein 1, host computer, 2, camera, 3, odor sensor 4, steerable removal chassis.
Detailed Description
The invention is further explained by the following figures in the specification
In order to solve the problem caused by single sensor of the existing single mobile robot, the designed odor-searching robot monitors the concentration of leaked gas timely through the gas sensor array and the camera, collects the wind direction and the wind speed timely through the wind speed sensor, and sends the wind direction and the wind speed to the main control board through the RS-485 serial bus standard through a Modbus protocol. The host controller realizes automatic finding of the optimal path by judging the direction of a gas leakage source, a camera surveying mode and obstacle avoidance information detected by the ultrasonic sensor, and finally the main control board drives the direct current motor to enable the odor-seeking robot to move autonomously. The positioning of the dangerous gas leakage source is realized in a multi-flavor-searching robot cooperation mode based on a swarm intelligent optimization algorithm, the possibility that the flavor-searching robot leaves a searched smoke plume area is reduced, a flavor-searching robot team is constructed, the problem that the robot sinks into local search in the searching process is solved through a smoke plume concentration gradient method searching and robot anti-collision mechanism, and finally the detection and positioning of the dangerous gas leakage source are realized
As shown in fig. 1, the robot moving platform includes: the mobile chassis 4, the camera 2, the smell sensor 3, the wind speed sensor and the PC can be controlled. Wherein, the removal that removes chassis can control robot moving platform and output odometer data, the color image of camera 2 output can be applied to the on-the-spot environment of real-time survey, wind velocity transducer and odor sensor 3 differentiate the direction of smell kind and hazardous gas leakage source, the built-in C # software based on writing of VS2015 of PC can fuse the data of gathering, and then realize the control of robot, and further improve the precision that the robot sought the smell on this basis, the time of seeking the smell shortens, the main control board is equipped with a plurality of serial ports and power outlet, can expand external function very conveniently.
The self-made movable base is selected for the movable chassis, the chassis is provided with two driving wheels, four movable small wheels of 2 trolleys, a 110-DEG/sec single-shaft gyroscope, a pair of encoders and a +12v power supply port. The mobile base is easy to develop and utilize secondarily, and a Darlington driving circuit consisting of 8 field effect transistors is loaded on the control panel, so that the functions of accelerating, decelerating and reversing the robot can be realized by inputting adjustable PWM waves.
The sensor mainly comprises a depth camera 2, a multi-type odor sensor 3 and a wind speed and direction sensor, wherein the camera 2 is an ov7670 camera, and the multi-type odor sensor 3 comprises CO and CO2、H2S and methane. The ov7670 camera is a standard SCCB interface and is compatible with an IIC interface; built-in photosensitive array, timing generator, AD converter, analog signal processing, digital signal processor, and mostFinally, obtaining a clear and stable color image; and various odor sensors 3 including CO and CO2、H2S and methane are amplified by an amplifier by using analog quantity of the acquired signals, are acquired by an embedded system after linear interpolation, and finally find a dangerous gas leakage source through cooperation of multiple robots.
In the design, the software of the upper computer 1 is compiled by adopting a C # language, the C # language is an object-oriented language, and a high-level program design language running on the NET Framework can finally achieve monitoring and early warning by transmitting data to a platform and well control the trend of the robot.
The invention discloses a smell-searching robot mobile platform for gas leakage of an underground comprehensive pipe gallery, which comprises a controllable mobile chassis 4, a smell sensor 3, a wind speed and direction sensor, a WIFI module, a camera 2 and a PC (personal computer); the collection of the data of the wind speed and direction sensor reads the data through the RS-485 serial bus standard, the PC is connected with the control panel of the controllable mobile chassis 4 through WIFI, and sends out control instructions and collects mileage data, the control panel is connected with the left wheel motor and the right wheel motor to drive the left wheel motor and the right wheel motor, the left wheel motor and the right wheel motor are respectively connected with the encoder and the two driving wheels, and the encoder is connected with the control panel. According to the invention, the odor sensor 3 and the wind speed and direction sensor are adopted, the main controller can realize accurate control on the controllable movable chassis 4, and a dangerous gas leakage source can be quickly found in a short time.
Fig. 2 is a hardware platform of the mobile robot of the present invention, which is also an overall physical diagram of the design. The PC is responsible for obtaining information from the sensor on the main control board, realizes distinguishing smell through algorithm processing, and finds out the leakage source of the hazardous gas, simultaneously guarantees its precision. During automatic navigation, the PC processes the sensor information, sends a control instruction to the mobile base, then moves the base driving motor to ensure the movement of the whole mobile robot mobile platform, and finally successfully completes the tasks of distinguishing the odor types and searching for the dangerous gas leakage source.
Fig. 3 is a diagram illustrating a real-time composition of the present invention, in an unknown environment, the robot is controlled to move, the robot acquires odor, wind direction, odometer information, data of the camera 2, and performs texture recognition of the environment, and the time for the robot to search for a hazardous gas leakage source in the location environment is further increased by loop back detection.
As shown in FIG. 4, the positioning method of the multi-flavor-searching robot of the invention specifically comprises n flavor-searching robots Ri(i 1.. n) form a multi-robot group, and each odor searching robot searches for m dangerous gas leakage sources S in the spacej(j 1.. m) randomly distributed within the tube lane; the dangerous gas leakage source releases corresponding chemical substances to form smoke plume in the air; hazardous gas leakage source positioning namely through multi-flavor-searching robot Ri(i 1.. n) cooperate to find the source location S as early as possiblej(j 1.. m), i.e. the fitness function of the robot is
fit＝Ci
(1)
Wherein C isiIs a flavor-searching robot RiNeglecting the self error of the collecting sensor when the gas concentration is collected in the current state; if the gas concentration detected by a single robot is greater than threshold ThrThen, the robot is considered to be in the neighborhood near the smoke plume; if the maximum gas concentration detected by the whole robot group is greater than threshold ThgThen it is considered that a source of leakage of hazardous gas has been found;
a multi-flavor-seeking robot positioning method includes the steps that when a robot enters the position near a smoke plume, the robot moves up and down in the side wind direction to obtain the width of the smoke plume, the robot moves until the robot leaves a smoke plume area, respective coordinate information of the positions is stored, and the width w of the smoke plume is obtained through position differencep. Distance d between robotssepIs formed by wpDivided by the number of robots, each robot per interval dsepAre arranged in a straight line one after the other, thus ensuring that they complete the coverage of the whole plume width in the crosswind direction. The multi-flavor-searching robot and the principle of monitoring the positioning of the dangerous gas leakage source are as follows:
robots that search in a pipe lane are treated as particles in a two-dimensional search space. When the robot reaches the required position, it stops and measures the concentration of the gas region entering its sensing radius. The global optimal position is the position in the sensing area where the robot measures the highest concentration. The prior optimal is defined as the prior optimal position of the robot. Updated by gas concentration gradients and upwind movement at the next position of the robot near the plume. In order to maintain the diversity of the particle population, each robot follows its local gradient (the gas concentration measured by the robot sensor around it). The next velocity and position update of the robot follows the following formula:
Vi(t+1)＝w*Vi(t)+c1r1(Xpi-Xi(t))+c2r2(Xgi-Xi(t)) (2)
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc (3)
wherein Vi(t +1) is robot RiMoving speed at time (t +1), w is inertia weight, c1And c2Is a learning factor, r1And r2Is a random number between (0-1),
robot RiThe coordinate position where the detected gas concentration is maximum at the present time,
the coordinate position, U, at which the gas concentration detected by the whole robot group at the current moment is maximumcIs the upwind search factor.
Considering that the robot needs a faster moving speed to determine whether to enter the smoke plume area at the initial searching stage, and can prevent the moving speed from being too fast at the later searching stage, at this time, the robot needs a smaller moving speed, so the invention is realized by dynamically adjusting the inertia weight w, and the adjustment strategy is as follows:
the inertia weight w determines the motion of the robotStep size, at each robot RiInitial phase of search, fitiThe value is small, the step length is large, and the searching is facilitated. Along with the search, the robot is closer to the gas leakage source, and the robot RiFit of (2)iThe higher the value, the smaller the step size, which is beneficial to the exploration of the search space.
The robot may leave the plume area during the plume following phase. In order to prevent this, the invention introduces a robot anti-drift mechanism, which is specifically as follows:
wherein d isantiIs a robot RiThe gravity borne by the smoke plume in the central direction,
and
are respectively a robot RiThe percentage of the perceived radius and perceived area after leaving the plume region. This function may prevent the robot from leaving the plume region. It is still possible that the robot may leave the plume region. If a robot leaves the smoke plume region, its best fitness value will be considered to be the best fitness value among the best performing robots in the group until it regains the smoke plume.
In the plume following phase, the robots may approach each other and send collisions. To avoid this, a repulsion mechanism based on collision avoidance is employed. When the robots approach each other, they exert a repulsive force. In general, if a robot is in the middle of two or more robots, the net repulsive force of the robot will be very small. But this robot should be subjected to the maximum repulsive force in order to avoid a collision between the robots. The repulsion-based collision avoidance mechanism is to calculate the center of several robots when they are close to each other and apply repulsion from this center to all robots in their moving direction. At this time, the robot in the intermediate position receives the largest repulsive force because it is closest to the center. The robot is subjected to the following repulsive forces:
wherein f isiIs a robot RiApplied external force, CrepCenter of robot to which external force is applied, XiRobot RiPosition of (a) rradDiameter of region to which strong repulsive force is applied, SdisIs the safety distance between all robots, if the distance between the robots is less than SdisIn time, the robot will be subjected to repulsive forces.
By combining the anti-drift and anti-collision repulsion mechanisms, the robot position updating formula (3) is changed into:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc+danti+fi (7)
in the underground utility tunnel environment, robots do not have an accurate global positioning system to locate. Therefore, positioning errors need to be taken into account when evaluating the performance of the algorithm. In order to incorporate positioning errors into the robot positioning, random positioning errors are used for correction:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc+danti+fi+Perror (8)
wherein P iserrorIs an error of the robot positioning system,
Xerror＝(a-b)*rand+b (10)
Yerror＝(a-b)*rand+b (11)
where rand is a random number from 0 to 1. a and b are two arbitrary constants that define the error range, where the values of a and b are set to-3 and +3, respectively.
In the invention, the smell-searching robot group realizes multi-robot cooperation through a group intelligent optimization algorithm, and reduces the misjudgment probability of the smell-searching robot through the confirmation of the depth camera 2 on the leakage point. Meanwhile, the invention adopts multi-sensor information fusion and positioning error mechanism, improves the positioning and composition precision of the robot, ensures that the positioning navigation error is less than 10 mm, the success rate of the experiment reaches more than 80 percent, and simultaneously monitors various gases (such as methane, H2S, CO, NH3 and the like); the detection range is 0-5000 ppm, the detection sensitivity reaches 100ppm, the system can cope with emergency, autonomous obstacle avoidance is carried out, and the defects that the traditional active search is incomplete in environment observation, the composition and positioning precision is low, the emergency (such as collision of pedestrians) cannot be coped with and the like are overcome.
Claims (10)
1. The utility model provides a dangerous gas leakage source positioning method that is used for many flavor robots of utility tunnel which characterized in that:
step 1, judging whether diffused smell smoke plumes are found or not by each smell searching robot through acquired real-time sensor information;
step 2, positioning a gas leakage source by adopting a multi-flavor-searching robot cooperation mode based on a group intelligent optimization algorithm, and finally confirming the leakage point by a self-contained depth camera;
step 2.1 having n flavor-seeking robots Ri(i 1.. n) form a multi-robot group, and each odor searching robot searches for m dangerous gas leakage sources S in the spacej(j 1.. m) randomly distributed within the tube lane; the dangerous gas leakage source releases corresponding chemical substances to form smoke plume in the air; hazardous gas leakage source positioning namely through multi-flavor-searching robot Ri(i 1.. n) cooperate to find the source location S as early as possiblej(j 1.. m), i.e. the fitness function of the robot is
fit＝Ci (1)
Wherein C isiIs a flavor-searching robot RiNeglecting the self error of the collecting sensor when the gas concentration is collected in the current state; if the gas concentration detected by a single robot is greater than threshold ThrThen, the robot is considered to be near the smoke plumeA neighborhood; if the maximum gas concentration detected by the whole robot group is greater than threshold ThgThen it is considered that a source of leakage of hazardous gas has been found;
step 2.2, when the robot enters the vicinity of the smoke plume, the robot moves up and down in the cross wind direction to obtain the width of the smoke plume, the robot moves until the robot leaves the smoke plume area, respective coordinate information of the positions is stored, and the width w of the smoke plume is obtained through position differencep(ii) a Distance d between robotssepIs formed by wpDivided by the number of robots, each scent-seeking robot being spaced apart by a distance dsepThe parts are arranged in a straight line one by one, and the whole width of the smoke plume is covered in the crosswind direction;
step 2.3, the robot searched in the pipe gallery is taken as particles in a two-dimensional search space, and the robot stops when reaching a required position, and the concentration of a gas area entering the sensing radius of the robot is measured; the global optimal position is the position with the highest concentration measured by the robot in the sensing area; the prior optimal is defined as the prior optimal position of the robot; updating by gas concentration gradient and upwind movement at the next position of the robot near the smoke plume; each scent robot follows its local gradient, the gas concentration measured by the robot sensor around it, and the next velocity and position update of the robot follows the following formula:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc (3)
wherein Vi(t +1) is robot RiMoving speed, X, at time (t +1)i(t) is robot RiAt time t position, Vi(t) is robot RiMoving speed at time t, w is inertia weight, c1And c2Is a learning factor, r1And r2Is a random number between (0-1),
robot RiThe coordinate position where the detected gas concentration is maximum at the present time,
the coordinate position, U, at which the gas concentration detected by the whole robot group at the current moment is maximumcSearching a factor for the upwind;
and 3, constructing a smell-searching robot team, solving the problem of local search in the robot search process through smoke plume concentration gradient method search and a robot anti-collision mechanism, and finally realizing the detection and positioning of the dangerous gas leakage source.
2. The method for locating the dangerous gas leakage source of the multi-flavor robot for the underground comprehensive pipe gallery according to claim 1, is characterized by comprising the following steps of: the method is characterized in that a faster moving speed is needed to determine whether to enter a smoke plume area at the initial searching stage, a smaller moving speed is needed by a flavor-searching robot at the later searching stage, and the method is realized by dynamically adjusting an inertia weight w, wherein the adjusting strategy is as follows:
the inertia weight w determines the movement step length of the robot, and each odor-searching robot RiInitial phase of search, fitiThe value representing the robot R ignoring the self-error of the acquisition sensoriGas concentration C of the current state of collectioni，fitiThe value is small, the step length is large, and the searching is facilitated; along with the search, the robot is closer to the gas leakage source, and the robot RiFit of (2)iThe higher the value, the smaller the step size, which is beneficial to the exploration of the search space.
3. The method for locating a dangerous gas leakage source of the multi-flavor robot for the underground utility tunnel according to claim 1, wherein: the method comprises the following steps of preventing the robot from leaving a smoke plume region in a smoke plume following stage, and introducing a robot anti-drift mechanism, wherein the method specifically comprises the following steps:
wherein d isantiIs a robot RiThe gravity borne by the smoke plume in the central direction,
and
are respectively a robot RiThe percentage of perceived radius and perceived area after leaving the plume-out region, if a robot leaves the plume-out region, its best fitness value will be considered to be the best fitness value in the best performing robot in the group until it regains the plume.
4. The method for locating a dangerous gas leakage source of the multi-flavor robot for the underground utility tunnel according to claim 3, wherein: in step 3, in the smoke plume following stage, an anti-collision based repulsion mechanism is adopted, when the robots approach each other, repulsion is applied, when a plurality of robots approach each other, the centers of the robots are calculated, and repulsion is applied to all the robots in the moving direction of the robots from the centers, at the moment, the robot in the middle position is closest to the center, so that the robot receives the maximum repulsion, and the repulsion applied to the robot is as follows:
wherein f isiIs a robot RiApplied external force, CrepCenter of robot to which external force is applied, XiRobot RiPosition of (a) rradDiameter of region to which strong repulsive force is applied, SdisIs as followsThere is a safety distance between the robots, if the distance between the robots is less than SdisWhen the robot is subjected to a repulsive force, the dist value represents the mutual distance between two robots,
by combining the anti-drift and anti-collision repulsion mechanisms, the robot position updating formula (3) is changed into:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc+danti+fi (7)。
5. the method for locating a dangerous gas leakage source of the multi-flavor robot for the underground utility tunnel according to claim 4, wherein: the method also comprises the following steps of correcting the positioning error by adopting a random positioning error in the process of incorporating the positioning error into the robot positioning:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc+danti+fi+Perror (8)
wherein P iserrorIs an error of the robot positioning system,
Xerror＝(a-b)*rand+b (10)
Yerror＝(a-b)*rand+b (11)
where rand is a random number from 0 to 1 and a and b are two arbitrary constants that define the error range, where the values of a and b are constants set to-3 and +3, respectively.
6. A system for applying the method for locating the dangerous gas leakage source of the multi-flavor robot for the underground comprehensive pipe gallery according to any one of claims 1 to 5, wherein the method comprises the following steps: the system comprises a plurality of flavor searching robots, wherein each flavor searching robot comprises a host control panel, a controllable mobile chassis, a camera, a wind speed and wind direction sensor, a gas sensor array, a WIFI module and a PC machine written with an application program; the host control board and the PC are in communication connection to acquire real-time smell and wind direction data, and the ultrasonic sensor is in communication connection with the host control board of the smell searching robot to input sound wave obstacle avoidance information; the controllable movable chassis comprises a control panel, a left wheel motor, a right wheel motor, two driving wheels, two driven wheels, a pair of encoders, an expandable input/output port and a rear baffle; the PC is in communication connection with a control panel capable of controlling the mobile chassis to send a control command and mileage data, the control panel is connected with a left wheel motor and a right wheel motor to drive the left wheel motor and the right wheel motor, the left wheel motor and the right wheel motor are respectively connected with an encoder and two driving wheels, the two driving wheels respectively drive two driven wheels, the encoder is connected with the control panel, and the control panel processes the encoder data to generate mileage data;
each flavor-searching robot judges whether diffused flavor smoke plumes are found or not according to the obtained real-time gas sensor information; the gas leakage source positioning is realized by adopting a multi-flavor-searching robot cooperation mode based on a group intelligent optimization algorithm, and finally the leakage point is confirmed by a camera provided by the robot; the gas concentration measured by the robot sensor around it, the next velocity and position update of the robot is according to the following formula:
Xi(t+1)＝Xi(t)+Vi(t+1)+Uc (3)
wherein Vi(t +1) is robot RiMoving speed at time (t +1), w is inertia weight, c1And c2Is a learning factor, r1And r2Is a random number between (0-1),
robot RiThe coordinate position where the detected gas concentration is maximum at the present time,
gas detected by whole robot group at current momentPosition of maximum concentration, UcSearching a factor for the upwind; and establishing a flavor-searching robot team, solving the problem of local search in the robot search process by using a smoke plume concentration gradient method search and a robot anti-collision mechanism, and finally realizing the detection and positioning of the dangerous gas leakage source.
7. The system of claim 6, wherein: the wind speed and direction sensor and the odor sensor are arranged at the top end or the side end of the movable chassis.
8. The system of claim 6, wherein: the rear baffle is arranged on the controllable movable chassis and is positioned at the opposite ends of the wind speed and direction sensor and the odor sensor.
9. The system of claim 6, wherein: the host control board is an ARM chip and adopts STM32F103C8T 6.
10. The system of claim 6, wherein: the camera is an ov7670 camera module.
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