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| 化工园区巡检机器人热辐射失效温度与路径规划分析 |
| Thermal radiation failure temperature and path planning analysis of inspection robot in chemical park |
| 投稿时间：2025-02-28 修订日期：2025-07-02 |
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| DOI： |
| 基金项目:辽宁省属本科高校基本科研业务费专项资金资助(LJ212410144051)；国家自然科学基金资助项目(52004120)；作者介绍：李莎莎(1988-),女,辽宁盘锦人,博士,副教授,研究方向安全系统工程,系统可靠性。 |
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| 中文关键词: 化工安全 储罐火灾 巡检机器人 热辐射失效温度 路径规划 |
| 英文关键词:chemical safety storage tank fire inspection robot thermal radiation failure temperature path planning |
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| 中文摘要: |
| 为研究化工园区储罐火灾对机器人巡检路径的影响,以巡检机器人热辐射失效温度为主要参考对不同情况下路径规划结果进行分析。论文讨论了化工园区机器人巡检、以及多模态数据流与因素值数据流的关系；研究了路径规划方案,数学模型及不同情况下的路径规划结果。研究表明：机器人需整合多模态数据并依赖物理数学模型预测火灾,路径规划需结合预测结果和智能算法；巡检机器人在储罐火灾时需考虑物理固定障碍和热辐射障碍规划路径,涉及热辐射障碍区域、巡检网络图和路径规划算法,给出了方案、参数和数学模型；路径规划分析表可得热辐射失效温度与路径规划结果的变化关系。实例中,移动速度越快,失效温度越高,失效热辐射强度也越高,越容易进行路径规划。最后给出了研究的意义和不足。 |
| 英文摘要: |
| In order to study the effect of storage tank fire on robot inspection path in chemical industry park, the result of path planning under different conditions was analyzed based on the thermal radiation failure temperature of inspection robot. This paper discusses the robot inspection in chemical industry park and the relationship between multimodal data flow and factor value data flow. The path planning scheme, mathematical model and the result of path planning under different conditions are studied. The research shows that the robot needs to integrate multi-modal data and rely on the physical-mathematical model to predict the fire, and the path planning needs to combine the prediction results and intelligent algorithms. In case of tank fire, the inspection robot needs to consider the physical fixed obstacle and thermal radiation obstacle to plan the path, which involves the thermal radiation obstacle area, inspection network diagram and path planning algorithm, and gives the scheme, parameters and mathematical model. The relationship between thermal radiation failure temperature and path planning results can be obtained from the path planning analysis table. In the example, the faster the moving speed, the higher the failure temperature, the higher the failure heat radiation intensity, the easier the path planning. Finally, the significance and deficiency of the study are given. |
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