Research on inspection route of hanging environmental robot based on computational fluid dynamics

Abstract

The environment of a closed piggery is commonly characterized by spatial unevenness, and there are currently no specific standards for installation points of various environmental monitoring sensors. Therefore, the project team used the hanging track inspection robot (HTIR) as an environmental mon-itoring platform to seek the environmental monitoring points and ensure the scientific layout of moni-toring points. Ansys-CFD software was used to study the change rules of environmental parameters at 1.6 m (α plane), 0.7 m (β plane), and 0.4 m (γ plane) above the ground. The 300 monitoring points ((x1~x30) ×(y1~y10)) in each plane were analyzed to determine the most suitable monitoring points and inspection routes for HTIR. The results showed that: (1) All monitoring points could be arranged directly below the y3 track. (2) Monitoring points (x1, y3), (x10, y3) and (x30, y3) were environmental feature points. At (x1, y3), the maximum relative humidity and NH3 concentration on the α plane could be detected, and the maximum wind speed, maximum temperature, and maximum NH3 concentration on other planes could also be detected; At (x10, y3), the minimum temperature and maximum relative humidity of the β and γ planes could be detected; At (x30, y3), the maximum NH3 concentration in the α plane and the minimum relative humidity in all planes could be detected. This study scientifically arranged the inspection track and monitoring points for HTIR, improved the accuracy of environmental monitoring, and put forward suggestions for reducing NH3 concentration in closed piggeries, laying the foundation for the next step.