针对室内弱气流环境中气体污染源的多机器人三维溯源  

Experimental research on multi robot three-dimensional source localization of gas pollution sources in indoor weak airflow environment

作　　者：鲍高贵 蔡浩 张博远 姜建中 李斐 金晓公 BAO Gaogui;CAI Hao;ZHANG Boyuan;JIANG Jianzhong;LI Fei;JIN Xiaogong(College of Urban Construction,Nanjing Tech University,Nanjing 210009,China;Research Institute of National Defense Engineering,Academy of Military Sciences of the Chinese people's Liberation Army,Beijing 100036,China)

机构地区：[1]南京工业大学城市建设学院,南京210009 [2]中国人民解放军军事科学院国防工程研究院,北京100036

出　　处：《环境工程学报》2021年第9期3101-3111,共11页Chinese Journal of Environmental Engineering

基　　金：国家自然科学基金面上项目(51478468);国家重点基础研究发展计划(2015CB058003)。

摘　　要：室内弱气流环境通常指没有通风或通风不良的室内环境。现有针对室内弱气流环境的机器人源定位的实验研究均为单机器人二维溯源。单机器人二维溯源不仅成功率和效率较低,而且可能无法应对现实应用中源高度未知的场景。针对上述局限,开发了由3台机器人组成的多机器人三维溯源系统,每台机器人的传感器均可在0.5~1.5 m高度内受控移动,并基于粒子群算法提出了1种三维溯源方法(SPSO方法)。在某实训中心共开展了60组源定位实验,机器人的活动范围是7.65 m×4.1 m,二维溯源时传感器的高度为1.05 m。当源高度为1.05 m和0.75 m时,三维溯源的成功率分别为60%(9组/15组)和53.3%(8组/15组),平均定位步数分别为30步和32.8步;二维溯源的成功率分别为80%(12组/15组)和26.7%(4组/15组),平均定位步数分别为16步和42步。结果表明:在室内弱气流环境下,SPSO方法对不同源高度下的三维溯源具有良好的适应性,能够应用于源高度未知的场景,但其成功率有待提高;SPSO方法用于二维溯源能适用于源高度已知的场景,但并不适用于源高度未知的场景。Indoor weak airflow environment usually refers to the indoor environment without ventilation or poor ventilation.The existing experimental research on robot source localization in indoor weak airflow environment is two-dimensional source localization by a single robot.The success rate and efficiency of single robot two-dimensional source localization are low,and it may not be able to cope with the scene of unknown source height in real application.In view of the above limitations,a multi robot three-dimensional source localization system composed of three robots was developed.The sensors of each robot could move under control in the height range of 0.5 m~1.5 m.At the same time,a three-dimensional source localization method based on particle swarm optimization(SPSO method)was proposed.60 groups of source positioning experiments were carried out in a training center and the range of robot activity was 7.65 m×4.1m,the height of sensor was 1.05 m when two-dimensional source localization experiments were carried out.At the source heights of 1.05 m and 0.75 m,the success rates of three-dimensional source localization were 60%(9/15)and 53.3%(8/15),and the average localization steps were 30 and 32.8 steps,respectively.The success rates of twodimensional source localization were 80%(12/15)and 26.7%(4/15),and the average number of localization steps was 16 and 42,respectively.The results show that:in the indoor weak airflow environment,SPSO method had good adaptability to the three-dimensional source localization at different source heights,and could be applied to the scene with unknown source height,but its success rate needed to be improved.For twodimensional source localization,SPSO method could be applied to the scene with known source height,but not to the scene with unknown source height.

关 键 词：室内弱气流环境 污染源定位 机器人嗅觉 三维溯源方法 粒子群算法 

分 类 号：TU831[建筑科学—供热、供燃气、通风及空调工程]