It will be dangerous if hazard gas or inflammable gas arises in room without being noticed for a long time. A robot is a good choice to automatically detect the dangerous gas and send out accurate information and alarm. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional gas source searching ways is not satisfying. An intelligent robot mounted gas sensors, laser finder and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.
['Fujun He', 'Zhijiang Du', 'Xiaolei Liu', 'Yingfei Sun']
Indoor dangerous gas environment detected by mobile robot