CN115165236A - Multi-robot detection method for determining spatial region - Google Patents
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Abstract
The invention relates to a multi-robot detection method for determining a space region, which comprises the following steps: the robot group comprises a plurality of robots, and each robot has the functions of sensing gas concentration and identifying the sensed gas concentration; the robot senses the concentration of the leaked gas and updates the gas concentration identification value; the robot converts the identification value of the perceived gas concentration according to the distance from other robots in the group to obtain the distribution amount of the identification value, and distributes the distribution amount to the corresponding robots; each robot performs robot pairing according to the gas concentration identification value of the leaked gas and the received distribution amount of the identification value sent by other robots in the group, moves towards the paired robot, and updates the position of the robot; the spatial positions of the plurality of robots in the group are distributed over the gas leakage area by updating the positions of the robots in the group. The invention utilizes a plurality of robots to determine and indicate the gas leakage space area.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-robot detection method for determining a space region.
Background
The petrochemical station is used for separating petroleum, natural gas and other products which are used as raw materials through petrochemical equipment. The petrochemical production mainly comprises three processes of raw material treatment, chemical reaction and product refining, wherein the raw material is pretreated to meet the processing requirement, and then a high-quality product is prepared through a composite chemical reaction. In order to meet the diversified requirements of production media and technological processes, production links such as petroleum refining, hydrocracking and the like generally require equipment diversification, function diversification and output maximization, so strict requirements are put forward on the performance and working conditions of petrochemical equipment.
Petrochemical plants are typically exposed to conditions of different pressures and temperatures, and multiple media. Because the production medium has the characteristics of strong corrosion, flammability, explosiveness, toxicity, harmfulness and the like, when the equipment runs for a long time under high load or exceeds a threshold value, the mechanical properties of the equipment, such as strength, plasticity, toughness and the like, and the chemical properties of corrosion resistance, oxidation resistance and the like approach the maximum bearing value, irreversible change is caused to the equipment, and the equipment cost of an enterprise is increased.
The characteristics of inflammable, explosive and toxic production media are easy to cause leakage safety accidents. Because of large occupied area, complex types and large quantity of production equipment, the petrochemical station is very easy to generate combustible sources such as electric sparks, impact sparks and the like when electrical equipment runs, and when a medium leaks to reach a certain concentration, fire and explosion accidents can be caused once the medium contacts the combustible sources due to low controllability, so that great loss is caused.
Disclosure of Invention
In view of the above analysis, the present invention aims to disclose a multi-robot detection method for determining a spatial region, which is used for determining the spatial region of the leaking gas.
The invention discloses a multi-robot detection method for determining a spatial region, which comprises the following steps:
a robot group consisting of a plurality of robots is randomly distributed in a search space, and each robot has the functions of sensing gas concentration and identifying the sensed gas concentration;
the robot senses the concentration of the leaked gas at the space position where the robot is located and updates the gas concentration identification value;
the robot converts the perceived gas concentration identification value to obtain identification value distribution amount according to the distance from other robots in the group, and distributes the identification value distribution amount to the corresponding robot, wherein the identification value distribution amount is smaller when the distance is longer;
each robot performs robot pairing according to the gas concentration identification value of the leaked gas and the received distribution amount of the identification values sent by other robots in the group, and the robot paired with the robot is determined;
after determining the robot paired with the robot, moving towards the paired robot, and updating the position of the robot;
the spatial positions of the plurality of robots in the group are distributed over the gas leakage area by updating the positions of the robots in the group.
The robot senses the gas concentration through a mounted gas sensor, the sensed gas concentration is marked through a light intensity value of a gas concentration indicator lamp mounted on the robot as a gas concentration mark value, and the higher the gas concentration is, the higher the intensity of the indicator lamp is.
Further, in the process of updating the gas concentration identification value, the gas concentration identification value at the current moment is determined by combining the light intensity at the previous moment and the gas leakage concentration value detected at the current moment;
updated light intensity XY of the ith robot at the current moment i (t)＝max{0,b 1 ·XY i (t-1)+b 2 ·f i (t) }; in the formula XY i (t-1) is the last oneIntensity of light signal of i-th robot at time, f i (t) is a gas leakage concentration value detected by the ith robot at the current moment; b 1 And b 2 Is a constant and satisfies b is 0. Ltoreq. B 1 1 or less and b 2 ＞1。
Furthermore, the robot converts the light intensity value of the gas concentration indicator lamp according to the distance from other robots in the group to obtain the distribution amount of the identification value, and the distribution amount is distributed to the corresponding robots.
Further, the ith robot distributes the identification value of the jth robot in the jth robot-pair group
Wherein, i =1,2, \8230, N, j =1,2, \8230, nj is not equal to i; d ij Is the Euclidean distance between the ith robot and the jth robot, and N is the number of the robots in the group.
Further, when the robot pairing is performed,
the robot carries out descending order on the received distribution amount of the identification values sent by other robots in the group and the identification value of the gas concentration measured by the sensor of the robot from big to small;
and selecting the robot which is next to the previous robot in the descending order and adjacent to the concentration indication quantity as a pairing robot.
Further, a target position moved to the pairing robot
Wherein x is i (t + 1) and x i (t) the position of the ith robot at the next time and the current time, respectively; x is the number of l-mate (t) the current time position of the pairing robot of the ith robot, B s Is the moving step length of the robot.
Furthermore, the robot is a bionic flying insect robot and can fly in a narrow space;
the bionic flying insect robot comprises a gas sensor carried in a human body, and a gas concentration indicator lamp is arranged at the tail of the robot.
Furthermore, the bionic flying insect robot is provided with a Zigbee module for carrying out data communication with the robots in the group; a light sensor used for sensing light intensity is arranged; an ultrasonic sensor for avoiding obstacles is arranged.
Furthermore, the bionic flying insect robot is a butterfly robot and comprises a main trunk, a wing driving assembly and a wing assembly; the gas sensor who carries on in the main truck, the afterbody of main truck sets up gas concentration pilot lamp.
The invention can realize at least one of the following beneficial effects:
the invention discloses a multi-robot detection method for space region determination, which realizes determination and indication of a gas leakage space region by using a plurality of robots.
The robot is distributed according to the concentration distribution of the leaked gas, the brightness of the leakage indicator lamp is controlled according to the concentration of the gas, the indication of a gas leakage space area from light to dark from the center of a leakage point to a leakage edge is formed, and the alarm and the indication of the leakage area are realized.
The bionic flying insect robot including the butterfly robot is adopted for detection and space region determination, so that the narrow and small space passing staying in a complicated region of a petrochemical station pipeline is facilitated, and the space region of leaked gas is determined.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a flowchart of a multi-robot detection method for spatial region determination according to an embodiment of the present invention.
Fig. 2 is a top view of a butterfly robot in an embodiment of the present invention;
fig. 3 is a side view of a butterfly robot in an embodiment of the present invention;
fig. 4 is a front view of a butterfly robot in an embodiment of the present invention;
fig. 5 is a perspective view of a butterfly robot in an embodiment of the present invention;
fig. 6 is a schematic diagram of a butterfly robot detecting gas leakage according to an embodiment of the present invention.
Reference numerals: 1-a miniature steering engine, 2-a carbon fiber rod, 3-an elastic film, 4-a plastic connecting component, 5-a wing component, 6-a wing driving component, 7-a main trunk, 8-a front wing, 9-a rear wing, 10-a wireless sensor, 11-a micro-control and power supply system, 12-a butterfly robot, 13-a petroleum gas pipeline, 14-a wireless sensor, 15-warning light, 16-leaked gas and 17-cracks.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
One embodiment of the invention discloses a multi-robot detection method for determining a spatial region, which comprises the following steps as shown in figure 1:
s1, randomly distributing a robot group consisting of a plurality of robots in a search space, wherein each robot has the functions of sensing gas concentration and identifying the sensed gas concentration;
specifically, N robots in the robot group are randomly distributed in a search space, each robot moves and stays in the searched three-dimensional space, self-position positioning is achieved, communication is carried out with other robots in the group, relative distances and position relations between the robots and the other robots are obtained, and the robot group has the function of avoiding obstacles during movement.
The robot perceives the gas concentration through the carried gas sensor, and the light intensity value of the gas concentration indicator light carried by the robot is used as a gas concentration identification value to identify the perceived gas concentration, so that the higher the gas concentration is, the higher the intensity of the indicator light is. The gas leakage condition can be judged by observing the gas concentration indicator lamp of the robot.
S2, sensing the concentration of the leaked gas at the spatial position of the robot by the robot, and updating the gas concentration identification value;
specifically, in the updating of the gas concentration identification value, the gas concentration identification value at the current moment is determined by combining the light intensity at the previous moment and the gas leakage concentration value detected at the current moment;
updated light intensity XY of the ith robot at the current moment i (t)＝max{0,b 1 ·XY i (t-1)+b 2 ·f i (t) }; in the formula, XY i (t-1) is the intensity of the light signal of the ith robot at the previous moment, f i (t) is a gas leakage concentration value detected by the ith robot at the current moment; b 1 And b 2 Is a constant and satisfies b is 0. Ltoreq. B 1 Less than or equal to 1 and b 2 ＞1。
S3, converting the identification value of the perceived gas concentration by the robot according to the distance between the robot and other robots in the group to obtain the distribution amount of the identification value, and distributing the distribution amount to the corresponding robot, wherein the distribution amount of the identification value is smaller when the distance is longer;
specifically, the robot converts the light intensity value of the gas concentration indicator light according to the distance from other robots in the group to obtain the distribution amount of the identification value, and distributes the distribution amount to the corresponding robots.
Wherein, the identification value distribution amount of the jth robot in the ith robot pair group
Wherein, i =1,2, \8230, N, j =1,2, \8230, nj is not equal to i; d ij Is the euclidean distance between the ith robot and the jth robot.
S4, each robot performs robot pairing according to the gas concentration identification value of the leaked gas and the received distribution amount of the identification values sent by other robots in the group, and determines the robot paired with the robot;
when the robot is matched, the robot carries out descending order arrangement on the received distribution quantity of the identification values sent by other robots in the group and the identification value of the gas concentration measured by the sensor of the robot from big to small; and selecting the robot which is next to the previous robot in the descending order and adjacent to the concentration indication quantity as a pairing robot.
Wherein the robot pairing may be represented by the following formula:
XY(i th BF)＜XY(j th BF)
wherein i =1, 2., N, j =1,2, \ 8230 ≠ i; i.e. i th 、j th Refers to the descending index of the robot, BF refers to the robot, and the descending index i of the ith robot th Adjacent descending index j th The robot (i.e. the immediately preceding robot in descending order) is paired with the ith robot.
S5, after determining the robot paired with the robot, moving towards the paired robot, and updating the position of the robot;
in particular, a target position for moving to the pairing robot
Wherein x is i (t + 1) and x i (t) the position of the ith robot at the next time and the current time, respectively; x is the number of l-mate (t) the current time position of the pairing robot of the ith robot, B s Is the moving step length of the robot.
And S6, updating the positions of the robots in the group to enable the spatial positions of the robots in the group to be distributed in the gas leakage area.
In order to achieve a spreading of the robot in a certain spatial area, a robot distribution is formed which covers the entire gas leakage area. Especially in the region with complex pipelines in the petrochemical station, the space region is determined through the leaked gas existing in the narrow space, preferably, the robot is a bionic flying insect robot and can fly in the narrow space;
the bionic flying insect robot comprises a gas sensor carried in a human body, and a gas concentration indicator lamp is arranged at the tail of the robot.
The bionic flying insect robot is provided with a Zigbee module for data communication among robots in the group; a light sensor used for sensing light intensity is arranged; an ultrasonic sensor for avoiding obstacles is arranged.
In the detection process, if only one leakage point exists in the leakage area and a bionic flying insect robot is arranged near the leakage point, the concentration of the leaked gas is indicated by a gas concentration indicator lamp arranged at the tail part after the bionic flying insect robot detects the leaked gas; other bionic flying insect robots in the nearby group fly and move towards the bionic flying insect robot according to the received distribution amount of the identification value of the bionic flying insect robot which detects the leaked gas, and after the other bionic flying insect robots fly to the leakage area, the carried gas sensor detects the leaked gas, and the concentration of the leaked gas is indicated through a gas concentration indicator lamp arranged at the tail part; when a plurality of flying insect robots all detect the leakage gas, carry out the robot through the identification value distribution volume of distributing each other and the gas concentration identification value that self detected and pair, determine the robot that pairs with self, with the relative movement between the pairing robot, through the position update of robot in the group, make the spatial position of a plurality of robots in the group spread throughout in the leakage region of gas, the leakage region is big more, the bionical flying insect robot that detects the leakage gas is more, the space that spreads all over is just big more, and the luminance of the gas concentration pilot lamp of the bionical flying insect robot that is located the high position of leakage region concentration is brighter, the luminance of the gas concentration pilot lamp of the low position of concentration is low. Therefore, in the gas leakage space area determined by the bionic flying robot, an indication of the gas leakage space area from light to dark from the leakage center to the leakage edge is formed.
In the detection process, if a plurality of leakage points exist in the leakage area, the bionic flying insect robot near each leakage point firstly detects the leaked gas, and the concentration of the leaked gas is indicated through a gas concentration indicator lamp arranged at the tail part; distributing identification value distribution quantity to other surrounding bionic flying insect robots; in accordance with the detection process described above, a regional distribution of the positions of the bionic flying insect robots around each leak is formed, with a light to dark gas leak spatial region indication from the center of each leak to the leak edge.
Facilitating alarm of and indication of the leakage area.
Preferably, the bionic flying insect robot is a butterfly robot, and the bionic flying insect robot is a butterfly robot and comprises a main trunk, a wing driving assembly and a wing assembly; the gas sensor who carries on in the main truck, the afterbody of main truck sets up gas concentration pilot lamp.
The wing components comprise a left wing component and a right wing component which are respectively arranged on the wing driving components arranged on the two sides of the front end of the main body and are in mirror symmetry; in the wing assembly, the outer contour is bent through a carbon fiber rod and then is fixedly formed through a plastic connecting assembly to form an integral framework of the butterfly-type robot, an elastic film is integrally cut according to the wing framework and is fixed on the wing framework through an adhesive tape to form an elastic wing; the wing assembly is driven by a driving steering engine arranged at the front part of the main body to drive the wings to flap and convert the flapping to the thrust and the lift of the flight, and the start and end phases of the double wings are independently controlled to realize the pitching and yawing of the butterfly; and the control and power supply of the bionic butterfly flapping wing air vehicle are realized through a micro-control system and a power supply system which are arranged at the rear part of the main body.
As shown in fig. 2, 3, 4 and 5, the butterfly robot is a top view, a side view, a front view and a perspective view.
Adopt butterfly robot, carry on the sensor that detects petroleum gas and reveal, adhere to in dangerous source place, when revealing, sensor detection signal, the distinguishable light is sent out to the butterfly afterbody. Be equipped with wireless sensor on the butterfly robot, give 100 crowds through platform distribution instruction and be the unit, seek the danger source, when detecting the danger source, a butterfly leaves, reveals dangerous intensity with the light signaling, and when a crowd butterfly took place same light intensity, the butterfly crowd expanded with the formation and seeks to reveal the source size to catch danger source diffusion size. See fig. 6.
In summary, the multi-robot detection method for determining a space region disclosed in this embodiment may utilize a plurality of robots to detect and determine a space region where gas leaks. The robot is distributed according to the concentration distribution of the leaked gas, the brightness of the leakage indicator lamp is controlled according to the concentration of the gas, the indication of a gas leakage space area from light to dark from the center of a leakage point to a leakage edge is formed, and the alarm and the indication of the leakage area are realized.
In addition, the bionic flying insect robot including the butterfly robot is adopted for detection and space region determination, so that the passing staying in a narrow space in a region with complex pipelines of a petrochemical station is facilitated, and the space region of leaked gas is determined.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A multi-robot detection method for spatial zone determination, comprising:
a robot group consisting of a plurality of robots is randomly distributed in a search space, and each robot has the functions of sensing gas concentration and identifying the sensed gas concentration;
the robot senses the concentration of the leaked gas at the spatial position where the robot is located and updates the gas concentration identification value;
the robot converts the perceived gas concentration identification value to obtain identification value distribution amount according to the distance from other robots in the group, and distributes the identification value distribution amount to the corresponding robot, wherein the identification value distribution amount is smaller when the distance is longer;
each robot performs robot pairing according to the gas concentration identification value of the leaked gas and the received distribution amount of the identification values sent by other robots in the group, and the robot paired with the robot is determined;
after determining the robot which is paired with the robot, moving towards the paired robot, and updating the position of the robot;
the spatial positions of the plurality of robots in the group are distributed over the gas leakage area by updating the positions of the robots in the group.
2. The method for detecting multiple robots according to claim 1, wherein the robot senses the gas concentration by a gas sensor mounted thereon, and the sensed gas concentration is identified by a light intensity value of a gas concentration indicator lamp mounted on the robot as a gas concentration identification value, wherein the higher the gas concentration is, the higher the intensity of the indicator lamp is.
3. The multi-robot detection method according to claim 2, wherein in updating the gas concentration flag value, the gas concentration flag value at the current time is determined in combination with the light intensity at the previous time and the gas leakage concentration value detected at the current time;
updated light intensity XY of the ith robot at the current moment i (t)＝max{0,b 1 ·XY i (t-1)+b 2 ·f i (t) }; in the formula, XY i (t-1) is the intensity of the light signal of the ith robot at the previous moment, f i (t) is a gas leakage concentration value detected by the ith robot at the current moment; b is a mixture of 1 And b 2 Is a constant and satisfies b is 0 ≦ b 1 Less than or equal to 1 and b 2 ＞1。
4. The method as claimed in claim 3, wherein the robots calculate the light intensity values of the gas concentration indicating lamps according to the distances from other robots in the group to obtain the distribution amounts of the identification values, and distribute the distribution amounts to the corresponding robots.
5. The method of claim 4, wherein the identification value of the jth robot in the ith robot-pair group is distributed
In the formula i＝1,2,…,N，j＝1,2,…,Nj≠i；d ij Is the Euclidean distance between the ith robot and the jth robot, and N is the number of the robots in the group.
6. The multi-robot detection method according to claim 1, wherein, when performing robot pairing,
the robot carries out descending order on the received distribution amount of the identification values sent by other robots in the group and the identification value of the gas concentration measured by the sensor of the robot from big to small;
and selecting the robot which is next to the previous robot in the descending order and adjacent to the concentration indication quantity as a pairing robot.
7. The multi-robot detection method according to claim 6, wherein the target position moved to the pair robot
Wherein x is i (t + 1) and x i (t) the position of the ith robot at the next time and the current time, respectively; x is the number of l-mate (t) the current time position of the pairing robot of the ith robot, B s Is the moving step length of the robot.
8. The multi-robot detection method according to any one of claims 1 to 7, wherein the robot is a bionic flying insect robot capable of flying in a narrow space;
the bionic flying insect robot comprises a gas sensor carried in a human body, and a gas concentration indicator lamp is arranged at the tail of the robot.
9. The multi-robot detection method according to claim 8,
the bionic flying insect robot is provided with a Zigbee module for carrying out data communication with the robots in the group; a light sensor used for sensing light intensity is arranged; an ultrasonic sensor for avoiding obstacles is arranged.
10. The multi-robot detection method according to claim 9, wherein the bionic flying insect robot is a butterfly robot comprising a main trunk, a wing driving assembly and a wing assembly; the gas sensor who carries on in the main truck, the afterbody of main truck sets up gas concentration pilot lamp.
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