The Study Of Leakage Detecting And Maintenance System Of The Dangerous Chemistry Reactor Based On Mobile Manipulator

The research of mobile robot is an important embranchment of Robotics. At present, along with the continuous advancement of robot technology, the apply field of mobile robot has been more and more abroad, and it's main development aspect is all independence. Without any measure about the leakage of poisonous gas,there will be thumping damages,even people's lives,in petrochemical industry etc.. If we can judge the leakage of poisonous gas earlier,and take measures before the accident enlarge ,we can avoid safety misadventure. This thesis is carried on the research of the leaking detecting,alarming and maintenance system and multi-source information fusion based on mobile manipulator on the background of Shijiazhuang chemical-fabric manufactory , supported by a National Program 863 item "The Mobile Manipulator system aimed at measurement and maintenance,working in the circumstance of chemistry dangerous leakage from the chemistry dangerous reactor" (item serial number :2003AA421040).Firstly, according to the background of leakage detecting control and maintenance of the chemistry dangerous reactor, manufacture the HEBUT-2 mobile manipulator. We introduce the structure, the driving system and the hardware system. The HEBUT-2 mobile manipulator adopts the way of parallel connection driving, which can rotate 0 radius. The whole mobile manipulator is three layers, that is, the super layer is sensor layer, the middle layer is decision layer, the bottom layer is the driving layer. The main function is road following by the CCD collection image, object orientation by multi-sensors fusion, and the long-distance control by no-line communication mode.Secondly, this paper putts forward the alarming system of gas leakage, and has confirmed the means on the system,which use fixed detection and wireless communication. The three-level-unit wireless communication is also studied in this paper,which can adapt the industrial theater perfectly .Two wireless modules are used to fit for wireless communication in this paper,according to collecting and comparing plenty of files. There are two alarming forms,one is fail self-scan alarm, which is used to assure the system's reliability,the other is leaking alarm .The fail self-scan alarm is started from the upper to the bottom,and the leaking alarm is started from the bottom to the upper . The upper unit use different dialog box to transfer the alarming information comes from the industrial theater. The way improving the date transmitting, at the same time, introducing the concept of black casket, which is very important to analyze the locale environment and the causation of failure. Thirdly, according to the two kinds of possibilities of the spot chemical reactor leakage, namely, little leakiness and abrupt leakiness, we put forward the stickiness plugging up way and the magnetism plugging up way to adapt different situation. At the same time, we research the stickiness plugging up equipment in the situation of little leakiness, which has the characteristic of celerity,the mixture proportion adjustable, the jet quantity control adjustable, structure in brief etc. Also, we research the flexible magnetism plugging up equipment in the situation of abrupt leakiness, which has the characteristic of celerity and high press working.Then, vision navigation is being a developing trend of mobile manipulator's navigation recent years. How to recognize man-made road and road sign rapidly and exactly by using vision technology and How to pick-up object figures are crucial problems in the study of mobile robot's vision navigation. In this paper, a vision-based navigation and object detection system is provided, The main work and innovative ideas include. The vision system of HEBUT-2mobile manipulator is designed. The modeling of camera and the conversion between image coordinate and vehicle coordinate is completed, which makes the road information revert from the image space. Experiments on image segmentation are done and a method of image segmentation based on HSI color threshold is used for mobile manipulator's road and road-signs image segmentation. The image segmentation method based on HSI color threshold has many advantages: strong anti-noise ability, using more information during image processing, perfect segmentation result without being affected by illuminative condition, and simple calculating process. All these advantages improve the segmentation speed and veracity of complicated road image. The mobile manipulator's road-signs recognition system is designed. Man-made guiding road and road sign are laid on the ground, which simplifies environment. The road and road sign have two different colors, and two different HSI color threshold coming from offline experiment are used for road image segmentation. Therefore, the complicated processes of determining threshold and distinguishing the road and road sign area are avoided and the real-time capability is improved. The recognition of road-sign is by artificial neutral net.Finally, the paper works over data fusion of vision and sonar fixed on the manipulator, that would applied to the orientation of the end of manipulator. For the vision system, it emphasizes on image-preprocessing, including: gray treatment, the choice of threshold, binarization erosion, dilation, group color up method and invariant moment, which used to generate a 2-dimension image that is prone to be recognized and understand by computer, at the same time, the third information, that is the distance between the end of manipulator and the operated surface is provided by ultrasonic sensor. Examinations make known that the method could pick-up beautifully the information of object figure as the foundation of the next task—gushing glue and blocking up the leak.