Rotor type air-ground integrated amphibious active olfaction robot and odor detection method thereof

Abstract

The invention relates to a rotor type air-ground integrated amphibious active olfaction robot and an odor detection method thereof. A rotor motor and blades are mounted on an end of a rotor frame, thereby supplying a power for in-air flight of the robot. An expansion rod is arranged between frames and is provided with a gas sensor and an ultrasonic sensor. A driving motor is arranged below the top end of the other end of each frame. The driving motor is provided with a driving wheel, thereby making the robot perform ground motion. The gas sensor detects gas concentration in a three-dimensional space. The ultrasonic sensor performs assistance in making the robot dodge an obstacle and height measurement of the robot. A source finding task is performed by means of a spatial irritant gas tracking algorithm and an olfaction memory algorithm which aims at air-ground conversion. The rotor type air-ground integrated amphibious active olfaction robot and the odor detection method have advantages of realizing air-ground integrated odor source searching in all air domain of the three-dimensional space, improving searching efficiency of the robot and improving operation safety of the robot.

Description

technical field [0001] The invention relates to a rotor-type air-ground integrated amphibious active olfactory robot and an odor detection method thereof, belonging to the technical field of intelligent robots. [0002] technical background [0003] At present, the researches on olfactory robots at home and abroad mostly focus on the two-dimensional detection and search of the ground odor / gas source, but there is little research on the detection of the air odor / gas source. In order to deal with the increasingly serious environmental pollution problem, the use of active olfactory robots that can operate in a three-dimensional environment to monitor and locate the source of air pollutants has become an urgent problem to be studied and solved. [0004] Only using UAVs for odor / gas source detection also has its shortcomings. Its battery life is weak, which is not conducive to fixed-point long-term monitoring; at the same time, air pollution sources will physically attach to a cer...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the influence of the airflow generated by the propeller on the gas sensor for the shortcomings of simply using the ground mobile or air mobile platform for gas detection, and to solve the problem that the unmanned aerial vehicle has a relatively low battery life when performing odor / gas source detection. Weak, can not fixed-point long-term monitoring, provide a rotor-type air-ground integrated amphibious active olfactory robot and its odor detection method, which can efficiently complete the task of locating gas and odor sources in the entire airspace

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