Research On Robot Search Method Of Leakage Source Under The Environment Of Dangerous Chemical Storage

Petrochemical industry is one of the most important pillar industries in the country,which play a decisive role in our country's economy.But during the process of the product,import and storage in the chemical industry,the leak and explosion can bring tremendous property loss and casualties.The paper based on the project of “omnidirectional mobile robot system for dangerous chemicals storage leakage inspection(No.15ZXZNGX00080)in Tianjin.An omnidirectional mobile robot platform based on olfactory information is designed,which can carry out routine inspection and leak source in hazardous chemicals storage environment.In this paper,the mainly work is as follows:1.The common model of gas diffusion is summarized.The simulation analysis of gas diffusion model is carried out by MATLAB software and modeled the dangerous chemicals warehouse using FLUENT.Through the simulation environment,the regular of toxic gas diffusion and the main influencing factors in the storage environment of dangerous chemicals are analyzed.2.A new bionic odor plume tracking strategy based on Evolutionary Gradient Algorithm combined with chemitaxis and anemataxis is designed which can achieve odor source localization by using the omnidirectional sniffing robot.3.Aiming at the shortage of hazardous chemicals storage environment leakage monitoring method,a omnidirectional sniffing robot with Mecanum wheel system is designed,the robot equipped with gas sensor and wind sensor,and obstacle avoidance sensor,and the real-time inspection information transmitted to monitoring command center,information storage within the area of storage,display,warning,and also can provide the basis for the emergency rescue decision at the time of the accident.4.The experiment of odor source localization by the mobile sniffing robot is carried out in the indoor experimental environment.The success rate of the search strategy for the robot's leakage source is simulated under the different working conditions of the storage environment.In summary,in view of hazardous chemicals storage environment,an omni-directional mobile olfactory robot for hazardous chemicals storage environment is designed.A new search algorithm based on active olfactory is proposed,and the feasibility of the search algorithm is verified by experimental platform.