CN106444827A - Rotor type air-ground integrated amphibious active olfaction robot and odor detection method thereof - Google Patents
Rotor type air-ground integrated amphibious active olfaction robot and odor detection method thereof Download PDFInfo
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- 230000008786 sensory perception of smell Effects 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 25
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 21
- 230000005120 telotaxis Effects 0.000 claims description 10
- 244000309464 bull Species 0.000 claims description 9
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- 101000701286 Pseudomonas aeruginosa (strain ATCC 15692 / DSM 22644 / CIP 104116 / JCM 14847 / LMG 12228 / 1C / PRS 101 / PAO1) Alkanesulfonate monooxygenase Proteins 0.000 claims description 3
- 101000983349 Solanum commersonii Osmotin-like protein OSML13 Proteins 0.000 claims description 3
- 101000983338 Solanum commersonii Osmotin-like protein OSML15 Proteins 0.000 claims description 3
- 239000006185 dispersion Substances 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000002085 irritant Substances 0.000 abstract 1
- 231100000021 irritant Toxicity 0.000 abstract 1
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- 239000007789 gas Substances 0.000 description 56
- 238000010586 diagram Methods 0.000 description 6
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- 230000001052 transient effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention relates to a rotor type air-ground integrated amphibious active olfaction robot and an odor detection method thereof. A rotor motor and blades are mounted on an end of a rotor frame, thereby supplying a power for in-air flight of the robot. An expansion rod is arranged between frames and is provided with a gas sensor and an ultrasonic sensor. A driving motor is arranged below the top end of the other end of each frame. The driving motor is provided with a driving wheel, thereby making the robot perform ground motion. The gas sensor detects gas concentration in a three-dimensional space. The ultrasonic sensor performs assistance in making the robot dodge an obstacle and height measurement of the robot. A source finding task is performed by means of a spatial irritant gas tracking algorithm and an olfaction memory algorithm which aims at air-ground conversion. The rotor type air-ground integrated amphibious active olfaction robot and the odor detection method have advantages of realizing air-ground integrated odor source searching in all air domain of the three-dimensional space, improving searching efficiency of the robot and improving operation safety of the robot.
Description
Technical field
The present invention is a kind of air-ground integrated amphibious active olfaction robot of rotary wind type and its odor detection method, belongs to intelligence
Can robotics.
Technical background
Sense of smell robot research focuses mostly in the two-dimensional detection search of ground smell/gas source both at home and abroad at present, and to sky
The detection study of middle smell/gas source is very few.For tackling increasingly serious problem of environmental pollution, utilize and can transport under three-dimensional environment
The active olfaction robot of row is monitored to atmosphere pollution and source electricity, becomes the problem urgently researched and solved.
Only carrying out smell/gas source detection with unmanned plane also has its weak point, and its endurance is weaker, is unfavorable for pinpointing
Monitor when long；The source of atmospheric pollution can depend on ground somewhere by physics simultaneously, and when adjacent ground surface detects, sense of smell detects and is vulnerable to
Propulsion air-flow ground effect interference.
Content of the invention
The technical problem to be solved in the present invention is to be directed to carry out gas using ground moving or aerial mobile platform merely
The deficiency detecting, overcomes the impact to gas sensor for the air-flow that machine oar produces, when solving unmanned plane and carrying out smell/source of the gas and detect
Endurance weaker it is impossible to when fixed point is long the drawbacks of monitor, provide a kind of rotary wind type air-ground integrated amphibious active olfaction machine
People and its odor detection method, high efficiency can complete full spatial domain gas, odor source location tasks.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that；
A kind of air-ground integrated amphibious active olfaction robot of rotary wind type it is characterised in that：Including master control borad, fuselage, rotation
The wing, expander bar, gas sensor group, ultrasonic sensor, motor, driving wheel, master control borad is arranged on fuselage central authorities, multiple
Rotor is symmetrically distributed in fuselage surrounding；Each rotor all includes frame, a rotor motor and a pair of gyroplane oar, rack level
Arrange and frame one end is connected with fuselage, the top end of the other end installs rotor motor, and gyroplane oar is arranged on rotor motor
On；It is characterized in that：
Horizontal blanking between each two frame also sets up an expander bar, and expander bar one end is connected on fuselage, separately
One end connects the T-shaped bull vertical with expander bar place plane, and the upper and lower ends of this bull respectively arrange a gas sensor,
The horizontal direction of this bull also sets up a ultrasonic sensor, the setting coaxial with expander bar of this ultrasonic sensor；Each frame
The top of the other end below be respectively provided with a motor, motor is down installed driving wheel.
In technique scheme, 4-6 rotor is set.
In technique scheme, when rotor is four, orthogonal between each two expander bar, and expander bar and frame
Become 45 degree；A pair of eight gas sensors two, the plane that each pair mounting rod is located perpendicular to expander bar.
In technique scheme, described master control borad includes one-chip computer module, detection of gas module, avoidance module, flies in the air
Row navigation attitude reference information module, ground motor drive module, one-chip computer module respectively with detection of gas module, avoidance module, sky
Middle flight navigation attitude reference information module, airflight module, the electrical connection of ground motor drive module.
In technique scheme, the master chip of one-chip computer module is STM32F103C8T6 single-chip microcomputer；Singlechip chip
The pin 1 of STM32F103C8T6, pin 9, pin 24, pin 36 and pin 48 are all connected with power end VCC_3.3, chip
The pin 8 of STM32F103C8T6, pin 23, pin 35 and pin 47 are connected with GND respectively, chip STM32F103C8T6's
The pin 1 of pin 5 and pin 6 and crystal oscillator Y1 and pin 2 is corresponding connects, the pin 7 of chip STM32F103C8T6 and resistance R2 and
One end of electric capacity C1 connects, and the other end of resistance R2 and electric capacity C1 is connected with GND, the pin 24 of chip STM32F103C8T6 and
One end of resistance R1 connects, and the other end of resistance R1 is connected with GND, electric capacity C2 and the pin 1 of crystal oscillator Y1 and one end of resistance R3
Connect, the other end of electric capacity C3 is connected with GND, and electric capacity C3 is connected with the pin 2 of crystal oscillator Y1 and the other end of resistance R3, electric capacity C3
The other end with ground GND be connected, the pin 14 of chip STM32F103C8T6 is connected with one end of resistance R8, and resistance R8's is another
End is connected with one end of resistance R6 and resistance R7, and the other end of resistance R7 is connected with GND, and chip STM32F103C8T6 draws
Pin 21 is connected with one end of resistance R4, another termination power VCC of resistance R4, and pin 22 is connected with one end of resistance R5, resistance
Another termination power VCC of R5, single-chip microcomputer input TIM3_CH1, TIM3_CH2, TIM3_CH3, TIM3_CH4, respectively with ground
Output end PWM7, PWM8 of face mobile module, PWM9, PWM10, the two directions' inputing of single-chip microcomputer output end I2C2_SCL, I2C2_
SDA, UART1_TX, UART1_RX, INT6050 respectively with MPU-6065, MS5611-01BA03, HMC5883L two directions' inputing/defeated
Go out to hold the corresponding connection of I2C2_SCL, I2C2_SDA, UART1_TX, UART1_RX, INT6050.
In technique scheme, airflight navigation attitude reference information module mainly includes gyroscope, magnetometer, barometer；
The pin 1 ground connection GND of gyroscope MPU-6065, pin 8, pin 9 are connected with electric capacity C6 one end, one end of pin 20 and electric capacity C4
Connect, pin 10 is connected with one end of electric capacity C5, the other end ground connection GND, gyroscope MPU-6065 of C4, C5, C6, C7 of electric capacity
Pin 3, pin 13 is connected with one end of electric capacity C7 and power supply VCC_3.3；The pin 6 of magnetometer HMC5883L, pin 2 and draw
Pin 13 is connected with power supply VCC_3.3, and electric capacity C8 one end is connected with ground GND, and the other end is connected with the pin 6 of gyroscope MPU-6065
Connect, the pin 8 of gyroscope MPU-6065 and pin 12 are connected by electric capacity C9, the pin 11 of gyroscope MPU-6065 and pin 9
It is connected with ground GND；The pin 3 of barometer MS5611-01BA03, pin 4 and pin 5 are connected with ground GND, pin 1 and pin 2 and
Power supply VCC_3.3 connects.
In technique scheme, main inclusion motor drive ic L298N, motor drive ic in ground moving module
The pin 12 of L298N, pin 8 and pin 15 are connected with ground GND, and motor drive ic L298N pin 4 is connected with power supply VCC, electricity
Machine driving chip L298N pin 9 meets 12V, and motor drive ic L298N pin 5 pin 7, pin 10, pin 12 connect
The control signal of STM32F103C8T6 single-chip microcomputer, motor drive ic L298N pin 6 and pin 11 respectively with singlechip chip
Pin PWM8, PWM9, PWM10, PWM11 of STM32F103C8T6 connects, and motor drive ic L298N pin 2 and pin 3 lead to
Cross motor connection, motor drive ic L298N pin 13 and pin 14 pass through motor connection.
In technique scheme, in detection of gas module, the output pin 3 of 8 gas sensors respectively with monolithic movement
Pin PA0, PA1, PA2, PA3, PA4, PA5, PA6 and PA7 pin of piece STM32F103C8T6 connects, and each gas sensor draws
Pin 1 meets 5V, and each gas sensor pin 2 is grounded；The pin 3 and 4 of each ultrasonic sensor of avoidance module respectively with chip
Pin PA8, PA9, PA10, PA11, PA12, PA13, PA14, PA15, PB0, PB1, PB2, PB3, PB4 of STM32F103C8T6
And PB5 pin connects, the pin 1 of each ultrasonic sensor meets 5V, and the pin 2 of each ultrasonic sensor is grounded.
Using the air-ground integrated amphibious active olfaction robot of above-mentioned rotary wind type odor detection method it is characterised in that：
Utilization space telotaxis gas track algorithm and the scent-memorizing method towards vacant lot conversion carry out sourcing task；In vacant lot conversion
Stage application carries out task search towards the scent-memorizing method of vacant lot conversion；Scent-memorizing procedure is as follows：Robot exists
During vacant lot conversion causes turbulent flow, according to the scent-memorizing information before the critical beginning of vacant lot transfer process, in conjunction with three dimensions
Plume dispersion model, judges to source of the gas position, and seeks LAP according to result of determination guided robot is blind, with Memorability
Predicted path departs from turbulence flow flied, starts ground therewith and sources pattern.
In technique scheme, scent-memorizing information includes gas concentration and concentration gradient；Path departs from turbulence flow flied
I.e. flow field concentration distribution is recovered in order and wind speed perception is steady.
In the transfer process of self adaptation vacant lot, because robot is when near ground, the ground effect meeting of its rotor air-flow
Strong jamming is produced to gas flowfield, leads to robot olfaction " failure " phenomenon it is impossible to continue to source.For the amphibious machine in this vacant lot
The peculiar problem that device people occurs when running, the present invention proposes scent-memorizing algorithm：In vacant lot, conversion causes the turbulent phase for robot
Between, according to scent-memorizing information such as the gas concentration before the critical beginning of vacant lot transfer process and concentration gradients, in conjunction with three-dimensional space
Between plume dispersion model, source of the gas position is judged, and seeks LAP according to result of determination guided robot is blind, to remember
Property predicted path depart from turbulence flow flied (flow field concentration distribution recover in order and wind speed perception steadily), start ground therewith and source mould
Formula.This algorithm it is advantageous that：Interference region can be rapidly separated, and can be continually maintained in original source of the gas flow field and will not repeat
Search.This special sense of smell control algolithm, together with the control of vacant lot converting motion, becomes only during full spatial domain robot is implemented
Have and key problem.
Thus, for the simple deficiency carrying out detection of gas using ground moving or aerial mobile platform, the present invention is led to
Cross robot architecture's design of novelty, gas sensor feeler lever be designed, amphibious robot framework is carried out with innovation conception,
Construct the air-ground integrated amphibious active olfaction robot of rotary wind type, fuselage is made up of four frames, and master control borad is arranged on aircraft
Center, be placed on vertical frames centre prevent collision vibrations and disturb, control robot whole behaviors；Rotor motor and machine
Oar is arranged on the termination of robot frame, provides power for robot airflight, and eight gas sensor groups are separately mounted to
The termination of expander bar, the horizontal plane at two a pair vertical expander bar places is so that robot omnibearing perceives three-dimensional gas
Bulk concentration；Four ultrasonic sensors are arranged on expander bar termination, auxiliary robot avoiding obstacles, three ultrasonic sensors
It is arranged on underbelly, auxiliary robot elevation carrection, the subaerial height of auxiliary robot controls.Four driving wheels are arranged on
Immediately below frame termination, control robot ground motion.Meanwhile, it is that high efficiency completes full spatial domain gas, odor source location tasks,
Propose space telotaxis gas track algorithm and the scent-memorizing algorithm towards vacant lot conversion.
Compared to prior art, the present invention makes mobile robot have aerial and ground amphibious sniff function, both enables
Aerial smell/gas source detection, is had ground smell/gas source search capability again, is realized under three-dimensional environment with more efficient
Smell/gas source detection.And the gas tracking of full spatial domain can be carried out in the presence of master control borad and sensor, and confirm source of leaks
Ability, monitors when can atmospheric environment be carried out pinpointing long, the prospect of therefore sniff technology is boundless.Additionally, the present invention
Utilization space telotaxis gas track algorithm and the scent-memorizing algorithm towards vacant lot conversion carry out sourcing task it is achieved that three-dimensional
The air-ground integrated odor source search in the full spatial domain in space, improves the search efficiency of robot, enhances the machine of robot operation
Device people's security performance.
Brief description
Fig. 1 is the three-dimensional structure diagram of the air-ground integrated amphibious active olfaction robot of rotary wind type being implemented according to the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the circuit structure theory diagram of the present invention；
Fig. 5 is the master chip minimum system figure of the present invention；
Fig. 6 is the airflight navigation attitude reference information module of the present invention；
Fig. 7 is the ground moving module map of the present invention；
Fig. 8 is the detection of gas module map of the present invention；
Fig. 9 is the avoidance module map of the present invention.
Figure 10 is the space telotaxis smell following principle figure of odor detection method of the present invention.
In Fig. 1-3,8,9, reference is as follows：1st, master control borad；2nd, gyroplane oar；3rd, rotor motor；4th, frame；5th, gas
Sensor；6th, ultrasonic sensor；7th, driving wheel；8 expander bars；9th, motor.
Specific embodiment
The present invention will be described with reference to the accompanying drawings and detailed description.
As Figure 1-3, the air-ground integrated amphibious active olfaction robot of rotary wind type being implemented according to the present invention, including master
Control plate 1, gyroplane oar 2, rotor motor 3, frame 4, gas sensor 5, ultrasonic sensor 6, driving wheel 7, expander bar 8, drive
Dynamic motor 9.Master control borad 1 is arranged on fuselage central authorities, and four rotors are symmetrically distributed in fuselage surrounding；Each rotor all includes frame 4,
Individual rotor motor 3 and a pair of gyroplane oar 2, frame 4 is horizontally disposed with and frame 4 one end is connected with fuselage, on the top of the other end
Rotor motor 3 is installed by side, and gyroplane oar 2 is arranged on rotor motor 3；
The also horizontally disposed expander bar 8 in space between each two frame 4, between each two expander bar 8
Orthogonal；Expander bar 8 one end is connected on fuselage, and the other end connects the T-shaped bull vertical with expander bar 8 place plane (such as
Shown in Fig. 1), the upper and lower ends of this bull respectively arrange a gas sensor 5, also set up one in the horizontal direction of this bull and surpass
Sonic sensor 6, the setting coaxial with expander bar 8 of this ultrasonic sensor 6；
It is respectively provided with a motor 9 below the top of the other end of each frame 4, motor 9 is down installed actively
Wheel 7.As Fig. 3, three ultrasonic sensors 6 are arranged on underbelly, auxiliary robot elevation carrection, and auxiliary robot is near the ground
Height control.
It is the circuit structure schematic diagram of the master control borad 1 of the present invention shown in Fig. 4, master control borad 1 includes one-chip computer module, flies in the air
Row navigation attitude reference information module, ground moving module, detection of gas module, avoidance module, one-chip computer module respectively with fly in the air
Row navigation attitude reference information module, ground moving module, detection of gas module, the electrical connection of avoidance module.The main core of one-chip computer module
Piece is preferably STM32F103C8T6 single-chip microcomputer.
As shown in figure 5, the pin 1 of singlechip chip STM32F103C8T6, pin 9, pin 24, pin 36 and pin
48 are all connected with power end VCC_3.3, and the pin 8 of chip STM32F103C8T6, pin 23, pin 35 and pin 47 are respectively
It is connected with GND, the pin 1 of the pin 5 of chip STM32F103C8T6 and pin 6 and crystal oscillator Y1 and pin 2 is corresponding connects, chip
The pin 7 of STM32F103C8T6 is connected with one end of resistance R2 and electric capacity C1, and the other end of resistance R2 and electric capacity C1 is with GND even
Connect, the pin 24 of chip STM32F103C8T6 is connected with one end of resistance R1, and the other end of resistance R1 is connected with GND, electric capacity C2
It is connected with the pin 1 of crystal oscillator Y1 and one end of resistance R3, the other end of electric capacity C3 is connected with GND, electric capacity C3 is drawn with crystal oscillator Y1's
The other end of pin 2 and resistance R3 connects, and the other end of electric capacity C3 is connected with ground GND, the pin 14 of chip STM32F103C8T6 and
One end of resistance R8 connects, and the other end of resistance R8 is connected with one end of resistance R6 and resistance R7, the other end of resistance R7 and the
GND connects, and the pin 21 of chip STM32F103C8T6 is connected with one end of resistance R4, another termination power VCC of resistance R4,
Pin 22 is connected with one end of resistance R5, another termination power VCC of resistance R5, single-chip microcomputer input TIM3_CH1, TIM3_
CH2, TIM3_CH3, TIM3_CH4, respectively output end PWM7, PWM8, PWM9, the PWM10 with ground moving module, single-chip microcomputer
Two directions' inputing output end I2C2_SCL, I2C2_SDA, UART1_TX, UART1_RX, INT6050 respectively with MPU-6065,
MS5611-01BA03, HMC5883L two directions' inputing/output end I2C2_SCL, I2C2_SDA, UART1_TX, UART1_RX,
INT6050 is corresponding to be connected.
It is the hardware circuit diagram of airflight navigation attitude reference information module involved in the present invention shown in Fig. 6, airflight
Navigation attitude reference information module mainly obtains navigation attitude information by gyroscope, magnetometer, barometer.Gyroscope MPU-6065 draws
Pin 1 is grounded GND, and pin 8, pin 9 be connected with electric capacity C6 one end, and pin 20 is connected with one end of electric capacity C4, pin 10 and electric capacity
One end of C5 connects, the other end ground connection GND of C4, C5, C6, C7 of electric capacity, the pin 3 of gyroscope MPU-6065, pin 13 with
One end of electric capacity C7 and power supply VCC_3.3 connect；The pin 6 of magnetometer HMC5883L, pin 2 and pin 13 and power supply VCC_
3.3 connections, electric capacity C8 one end is connected with ground GND, and the other end is connected with the pin 6 of gyroscope MPU-6065, gyroscope MPU-
6065 pin 8 and pin 12 are connected by electric capacity C9, and the pin 11 of gyroscope MPU-6065 and pin 9 are connected with ground GND；Gas
The pin 3 of pressure meter MS5611-01BA03, pin 4 and pin 5 are connected with ground GND, and pin 1 and pin 2 are with power supply VCC_3.3 even
Connect.
It is the hardware circuit diagram of ground moving module according to the present invention shown in Fig. 7, the pin of motor drive ic L298N
12nd, pin 8 and pin 15 are connected with ground GND, and motor drive ic L298N pin 4 is connected with power supply VCC, motor drive ic
L298N pin 9 meets 12V, and motor drive ic L298N pin 5 pin 7, pin 10, pin 12 connect STM32F103C8T6 monolithic
The control signal of machine, motor drive ic L298N pin 6 and pin 11 respectively with the drawing of singlechip chip STM32F103C8T6
Pin PWM8, PWM9, PWM10, PWM11 connect, and motor drive ic L298N pin 2 and pin 3 pass through motor connection, and motor drives
Dynamic chip L298N pin 13 and pin 14 pass through motor connection.
It is the detection of gas function structure chart being originally related to shown in Fig. 8, two upper and lower gas sensors one of same bull
Right, the output pin 3 of 8 gas sensors 5 respectively with the pin PA0 of singlechip chip STM32F103C8T6, PA1, PA2,
PA3, PA4, PA5, PA6 and PA7 pin connects, and each gas sensor 5 pin 1 (VCC) meets 5V, each gas sensor 5 pin 2
(GND) it is grounded.
It is avoidance module hardware circuit diagram according to the present invention shown in Fig. 9, the pin 3 (Tring) of each ultrasonic sensor 6
With 4 (Echo) respectively with the pin PA8 of chip STM32F103C8T6, PA9, PA10, PA11, PA12, PA13, PA14, PA15,
PB0, PB1, PB2, PB3, PB4 and PB5 pin connects, and the pin 1 (VCC) of each ultrasonic sensor 6 meets 5V, each supersonic sensing
Pin 2 (GND) ground connection of device 6.
The present invention passes through single-chip microcomputer and constitutes control loop with each sensor, and master control borad 1 is responsible for robot and is being found odor source
When total data process and order arrange.On four frame 4 tops of the air-ground integrated amphibious active olfaction robot of rotary wind type,
Rotor motor 3 and gyroplane oar 2 are installed, provide airflight power for robot.The bottom of four frame 4 terminations installs four
Motor 9 and driving wheel 7, running for Robot provides power.In the termination mounting ultrasonic sensor 6 of expander bar 8,
Auxiliary sense of smell robot avoiding obstacles in autonomous searching odor source.In fuselage bottom mounting ultrasonic sensor 6, auxiliary machine
The elevation carrection in vacant lot pattern switching near the ground for the device people.In autonomous searching smell/gas source, eight gases pass for robot
Sensor 5, feeds back to master control borad 1 the gas concentration detecting respectively, through master control plate analysis, forms sense of smell guidance information, controls
Robot moves to the direction near odor source.
Additionally, utilization space telotaxis gas track algorithm of the present invention carries out gas, smell source electricity." telotaxis " is low
Pass through to compare itself perceptrons some Deng biological (as insect) simultaneously, produce a direction wink identical or contrary with concentration gradient
When estimate, the continuity no particular requirement to gas flowfield for this mechanism；By simulating this mechanism, robot can utilize limited
Concentration information produces the control vector potential field that smell is followed the tracks of, and on the basis of the opposite direction of discrete concentration gradient, guided robot enters
Row sources motion；If it is determined that entering pseudo- source of the gas flow field, then by inverse become sharp behavior based on break away from potential well impact, forward and reverse becomes sharp behavior
Combine to form dual telotaxis source of the gas and follow the tracks of behavior algorithm.On system is realized, it is that simulated hexapod is dense by transient state acquisition plume
Degree rate of change finding the mechanism in taste source, by electrochemical sensor be arranged on robot level longitudinal direction, horizontal cross, vertically to two
End (as shown in aforementioned Fig. 8), sensor sensing voltage difference reflects robot concentration difference in spatial triaxial upwards, three axles
Gradient vector synthesis guided robot space telotaxis follows the tracks of behavior.With source of the gas in robot G1 institute to direction (now G1 direction
Head for robot) as a example, Figure 10 carries out smell trace flow figure for robot utilization space telotaxis algorithm.This algorithm its
Advantage is：Interference region can be rapidly separated, and can be continually maintained in be in original source of the gas flow field will not repeat search.This is special
Different sense of smell control algolithm, together with the control of vacant lot converting motion, the exclusive and core becoming during full spatial domain robot is implemented is asked
Topic.
Claims (10)
1. a kind of air-ground integrated amphibious active olfaction robot of rotary wind type it is characterised in that：Including master control borad, fuselage, rotor,
Expander bar, gas sensor group, ultrasonic sensor, motor, driving wheel, master control borad is arranged on fuselage central authorities, Duo Gexuan
The wing is symmetrically distributed in fuselage surrounding；Each rotor all includes frame, a rotor motor and a pair of gyroplane oar, and rack level sets
Put and frame one end is connected with fuselage, the top end of the other end installs rotor motor, and gyroplane oar is arranged on rotor motor；
It is characterized in that：
Horizontal blanking between each two frame also sets up an expander bar, and expander bar one end is connected on fuselage, the other end
Connect the T-shaped bull vertical with expander bar place plane, the upper and lower ends of this bull respectively arrange a gas sensor, many at this
The horizontal direction of head also sets up a ultrasonic sensor, the setting coaxial with expander bar of this ultrasonic sensor；Each frame another
It is respectively provided with a motor below the top of one end, motor is down installed driving wheel.
2. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 1 it is characterised in that：Setting 4-
6 rotors.
3. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 2 it is characterised in that：Work as rotor
During for four, orthogonal between each two expander bar, and expander bar becomes 45 degree with frame；Eight gas sensors two one
Right, the plane that each pair mounting rod is located perpendicular to expander bar.
4. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 3 it is characterised in that：Described master
Control plate includes one-chip computer module, detection of gas module, avoidance module, airflight navigation attitude reference information module, and ground motor drives
Dynamic model block, one-chip computer module respectively with detection of gas module, avoidance module, airflight navigation attitude reference information module, fly in the air
Row module, the electrical connection of ground motor drive module.
5. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 4 it is characterised in that：Single-chip microcomputer
The master chip of module is STM32F103C8T6 single-chip microcomputer；The pin 1 of singlechip chip STM32F103C8T6, pin 9, pin
24th, pin 36 and pin 48 are all connected with power end VCC_3.3, the pin 8 of chip STM32F103C8T6, pin 23, draw
Pin 35 and pin 47 are connected with GND respectively, the pin 1 of the pin 5 of chip STM32F103C8T6 and pin 6 and crystal oscillator Y1 and
Pin 2 is corresponding to be connected, and the pin 7 of chip STM32F103C8T6 is connected with one end of resistance R2 and electric capacity C1, resistance R2 and electric capacity
The other end of C1 is connected with GND, and the pin 24 of chip STM32F103C8T6 is connected with one end of resistance R1, and resistance R1's is another
End is connected with GND, and electric capacity C2 is connected with the pin 1 of crystal oscillator Y1 and one end of resistance R3, and the other end of electric capacity C3 is connected with GND,
Electric capacity C3 is connected with the pin 2 of crystal oscillator Y1 and the other end of resistance R3, and the other end of electric capacity C3 is connected with ground GND, chip
The pin 14 of STM32F103C8T6 is connected with one end of resistance R8, one end of the other end of resistance R8 and resistance R6 and resistance R7
Connect, the other end of resistance R7 is connected with GND, and the pin 21 of chip STM32F103C8T6 is connected with one end of resistance R4, electricity
Another termination power VCC of resistance R4, pin 22 is connected with one end of resistance R5, another termination power VCC of resistance R5, single-chip microcomputer
Input TIM3_CH1, TIM3_CH2, TIM3_CH3, TIM3_CH4, respectively with output end PWM7 of ground moving module,
PWM8, PWM9, PWM10, the two directions' inputing of single-chip microcomputer output end I2C2_SCL, I2C2_SDA, UART1_TX, UART1_RX,
INT6050 respectively with MPU-6065, MS5611-01BA03, HMC5883L two directions' inputing/output end I2C2_SCL, I2C2_SDA,
UART1_TX, UART1_RX, INT6050 are corresponding to be connected.
6. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 5 it is characterised in that：Fly in the air
Row navigation attitude reference information module mainly includes gyroscope, magnetometer, barometer；The pin 1 ground connection GND of gyroscope MPU-6065,
Pin 8, pin 9 are connected with electric capacity C6 one end, and pin 20 is connected with one end of electric capacity C4, and pin 10 is connected with one end of electric capacity C5
Connect, the other end ground connection GND of C4, C5, C6, C7 of electric capacity, the pin 3 of gyroscope MPU-6065, pin 13 and the one of electric capacity C7
End and power supply VCC_3.3 connect；The pin 6 of magnetometer HMC5883L, pin 2 and pin 13 are connected with power supply VCC_3.3, electric capacity
C8 one end is connected with ground GND, and the other end is connected with the pin 6 of gyroscope MPU-6065, the pin of gyroscope MPU-6065 8 with draw
Pin 12 is connected by electric capacity C9, and the pin 11 of gyroscope MPU-6065 and pin 9 are connected with ground GND；Barometer MS5611-
The pin 3 of 01BA03, pin 4 and pin 5 are connected with ground GND, and pin 1 and pin 2 are connected with power supply VCC_3.3.
7. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 6 it is characterised in that：Ground is moved
Main inclusion motor drive ic L298N, the pin 12 of motor drive ic L298N, pin 8 and pin 15 and ground in dynamic model block
GND connects, and motor drive ic L298N pin 4 is connected with power supply VCC, and motor drive ic L298N pin 9 connects 12V, motor
Driving chip L298N pin 5 pin 7, pin 10, pin 12 connect the control signal of STM32F103C8T6 single-chip microcomputer, Motor drive
Chip L298N pin 6 and pin 11 respectively with the pin PWM8 of singlechip chip STM32F103C8T6, PWM9, PWM10,
PWM11 connects, and motor drive ic L298N pin 2 and pin 3 pass through motor connection, motor drive ic L298N pin 13 He
Pin 14 passes through motor connection.
8. the air-ground integrated amphibious active olfaction robot of rotary wind type according to claim 7 it is characterised in that：Gas is visited
Survey in module, the output pin 3 of 8 gas sensors respectively with the pin PA0 of singlechip chip STM32F103C8T6, PA1,
PA2, PA3, PA4, PA5, PA6 and PA7 pin connects, and each gas sensor pin 1 meets 5V, and each gas sensor pin 2 is grounded；
The pin 3 and 4 of each ultrasonic sensor of avoidance module respectively with the pin PA8 of chip STM32F103C8T6, PA9, PA10,
PA11, PA12, PA13, PA14, PA15, PB0, PB1, PB2, PB3, PB4 and PB5 pin connects, the drawing of each ultrasonic sensor
Pin 1 meets 5V, and the pin 2 of each ultrasonic sensor is grounded.
9. adopt the odor detection of one of the claims 1-8 air-ground integrated amphibious active olfaction robot of described rotary wind type
Method it is characterised in that：Utilization space telotaxis gas track algorithm and the scent-memorizing method towards vacant lot conversion are sought
Originating task；Changing the stage in vacant lot applies the scent-memorizing method towards vacant lot conversion to carry out task search；Scent-memorizing method
Process is as follows：Scent-memorizing during vacant lot conversion causes turbulent flow, before the critical beginning of foundation vacant lot transfer process for the robot
Information, in conjunction with three dimensions plume dispersion model, judges to source of the gas position, and seeks according to result of determination guided robot is blind
LAP, departs from turbulence flow flied with Memorability predicted path, starts ground therewith and sources pattern.
10. odor detection method according to claim 9 it is characterised in that：Scent-memorizing information include gas concentration and
Concentration gradient；Path departs from turbulence flow flied namely flow field concentration distribution recovers in order and wind speed perception is steady.
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