室内动态通风环境中时变源的多机器人三维溯源实验研究  

Experimental Research on 3-dimensional Source Localization of Multi-robots with the Time-varying Source in Indoor Dynamic Ventilation Environment

作　　者：郭讯 蔡浩 鲁静雨 吕芳 李斐 房电伟 GUO Xun;CAI Hao;LU Jingyu;LYU Fang;LI Fei;FANG Dianwei(College of Urban Construction,Nanjing Tech University,Nanjing 211800,China;Research Institute for National Defense Engineering of Academy of Military Science PLA China,Bejing 100036,China)

机构地区：[1]南京工业大学城市建设学院,南京211800 [2]军事科学院国防工程研究院,北京100036

出　　处：《建筑科学》2022年第8期70-77,86,共9页Building Science

基　　金：国家自然科学基金“受限空间中多个危险重气泄漏源的快速辨识问题研究”(51478468);国家重点基础研究发展计划(973计划)“燃(油)气泄漏爆燃灾害安全性基础研究”(2015CB058000);江苏省研究生科研与实践创新计划项目(SJCX21_0532)。

摘　　要：快速、准确地定位室内气体污染源/危险源对保证室内空气质量和环境安全具有重要意义。前期针对室内机械通风环境中污染源定位的研究主要是机器人二维溯源,即假设源高度已知,且机器人所携带的传感器高度固定不变。然而,二维溯源可能难以在实际应用中有效应对源高度未知和不确定的场景。本文设计搭建了3台可实现传感器在高度(0.5~1.5 m)上受控移动的三维溯源机器人,将前期开发的基于粒子群算法的改进粒子群方法(IPSO)运用于三维溯源。本文在某实训中心开展实验,机器人的活动范围为7.65 m×4.1 m。实验中通过柜式空调送风百叶的周期性摆动来营造典型的动态环境,在下风区的0.75 m和1.05 m高度设置周期性源。每种源定位工况均开展了15组实验。当源位于二维溯源中传感器的高度时(1.05 m),二维溯源和三维溯均成功了11组,成功率均为73.3%;当源低于二维溯源中传感器的高度时(0.75 m),二维溯源和三维溯源分别成功了3组和10组,成功率分别为20%和66.7%。研究结果表明,在本文的实验环境中,二维溯源在源高度为1.05 m时溯源的成功率较高,但在源高度为0.75 m时的成功率显著下降,已无法满足实际应用的需求。三维溯源在两种情况下均具有较高的成功率,且在源高度为0.75 m时溯源的成功率明显高于二维溯源。Fast and accurate positioning of indoor gas pollution sources/hazard sources is of great significance to indoor air quality and environmental safety.The previous study on the positioning of pollution sources in the indoor mechanical ventilation environment mainly relied on robots for 2 D source localization,that is,it is assumed that the height of the source is known and the height of the sensor carried by the robot is fixed.However,2 D source localization may be difficult to effectively deal with scenarios with unknown and uncertain source heights in practical applications.In this paper,three robots for 3 D source localization that can realize the movement of sensors at height(0.5~1.5 m)were designed and built,and the improved particle swarm method(IPSO)based on the particle swarm algorithm developed in the early stage was applied to 3 D source localization.This paper carried out experiments in a training center,and the robot’s range of activity was 7.65 m×4.1 m.In the experiment,a typical dynamic environment was created by periodically swinging the air supply shutters of the cabinet-type air conditioner,and the periodic sources were set at the height of 0.75 m and 1.05 m in the downwind area.Fifteen sets of experiments were carried out for each source positioning condition.When the source was located at the height of the sensor in the 2 D source localization(1.05 m),11 sets of 2 D and 3 D source localization were successful,with a success rate of 73.3%;when the source was lower than the height of the sensor in the 2 D source localization(0.75 m),2 D and 3 D source localization succeeded in three groups and 10 groups respectively,with the success rates of 20%and 66.7%,respectively.The research results show that in the experimental environment of this paper,the success rate of 2 D source localization is higher at a source height of 1.05 m,but the success rate is significantly reduced at a source height of 0.75 m,which can no longer meet the needs of practical applications.3 D source localization has a higher s

关 键 词：室内环境 机械通风 三维溯源 污染源定位 机器人嗅觉 

分 类 号：TU831[建筑科学—供热、供燃气、通风及空调工程]