Sensor device for mobile robot

Abstract

The present invention relates to a sensor device for a mobile robot, comprising: a sensor housing forming an installation space and including a first inlet and outlet and a second inlet and outlet through which air flows in and out; a plurality of sensor modules disposed in the mounting space of the sensor housing; a first door and a second door configured to selectively block the first access and the second access of the sensor housing, respectively; an opening and closing device configured to operate the first door and the second door; and a first fan and a second fan configured to introduce air into the sensor housing or discharge air within the sensor housing to the outside.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2023-0092821, filed on Jul. 18, 2023, which is incorporated herein by reference in its entirety. Technical Field

[0003] The invention relates to a sensor device for a mobile robot. Background Art

[0004] In industrial sites such as vehicle manufacturing plants, various harmful gases (e.g., carbon dioxide gas, methane gas, etc.) that are harmful to the human body are used. If such harmful gases leak due to abnormal reasons, it may cause fatal injuries to workers working in the industrial sites.

[0005] In order to solve these problems, people are studying the technology of using mobile robots such as walking robots or wheeled drive robots to check the safety of industrial sites. To this end, a solution is being used to install various sensors on the mobile robots to detect pollutants (or harmful gases, etc.) through the sensors to check the safety of industrial sites.

[0006] However, various sensors on the mobile robot will increase the load, thereby increasing the power consumption of the battery, thus leading to problems such as a reduction in the running time (or mileage) of the mobile robot.

[0007] The above information disclosed in this Background section is only for enhancing understanding of the background of the invention. Therefore, this Background section may contain information that does not constitute the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0008] Embodiments of the present invention provide a sensor device for a mobile robot, which can increase the operating time or driving distance of the mobile robot by reducing the load of the sensor device.

[0009] In one embodiment, a sensor device may include: a sensor housing, which forms an installation space and has a first inlet and a second inlet for air to flow in and out. The sensor device also includes a plurality of sensor modules, which are arranged in the installation space of the sensor housing; a first door and a second door, which are configured to selectively block the first inlet and the second inlet of the sensor housing, respectively. The sensor device also includes an opening and closing device, which is configured to operate the first door and the second door. In addition, the sensor device also includes: a first fan and a second fan, which are configured to introduce air into the sensor housing or discharge the air in the sensor housing to the outside.

[0010] In one embodiment, a sensor module among the plurality of sensor modules comprises: a sensing unit configured to detect chemical substances contained in the air flowing into the sensor housing, and an interface unit configured to directly transmit a signal detected by the sensing unit to a mobile unit.

[0011] In another embodiment, the opening and closing device includes: a driving unit configured to generate power; and a power transmission device configured to transmit the power generated by the driving unit to the first door and the second door.

[0012] In one embodiment, the power transmission device includes: a worm gear disposed on a driving shaft of the driving unit; and a worm gear disposed on the transmission shaft and meshing with the worm gear. The power transmission device also includes a pair of intermediate gears, each intermediate gear being disposed on one side of the transmission shaft. The power transmission device also includes a rack disposed on each of the first door and the second door and meshing with each intermediate gear.

[0013] In one embodiment, the first inlet and the second inlet are respectively arranged on two sides of the sensor housing. The first door and the second door are respectively arranged at the first inlet and the second inlet. The first fan and the second fan are respectively arranged at the first inlet and the second inlet.

[0014] The first entrance and the second entrance are arranged to face each other.

[0015] In one embodiment, the sensor device further comprises an air guiding device configured to guide air from the first inlet and outlet and the second inlet and outlet through the plurality of sensor modules.

[0016] The air guide device includes: a bottom plate; and an upper plate, which is configured to cooperate with the bottom plate to form a placement portion, and a sensor module among the plurality of sensor modules is placed on the placement portion. The air guide device also includes at least one partition wall, which is arranged between the bottom plate and the upper plate, and is configured to cooperate with the bottom plate and the upper plate to form a placement portion, and a sensor module among the plurality of sensor modules is placed on the placement portion. In addition, an air guide hole is formed in at least one partition wall.

[0017] At a sensing position for measuring external air pollutants: the first door and the second door are open; the first fan is operated in a direction of introducing air into the installation space; and the second fan is operated in a direction of exhausting air from the installation space to the outside.

[0018] At a calibration position of a sensor module among the plurality of sensor modules: the first door and the second door are opened; and the first fan and the second fan are operated in a direction to exhaust air from the installation space to the outside, thereby forming a negative pressure in the installation space.

[0019] In one embodiment, a sensor device includes: a sensor housing, which forms an installation space and has a first inlet and a second inlet for air to flow in and out. The sensor device also includes: a plurality of sensor modules, which are arranged in the installation space of the sensor housing; a first fan, which is arranged at the first inlet; and a second fan, which is arranged at the second inlet.

[0020] The first entrance and the second entrance are arranged to face each other.

[0021] In one embodiment, the sensor device further comprises an air guiding device configured to guide air from the first inlet and outlet and the second inlet and outlet through the plurality of sensor modules.

[0022] The air guide device includes: a bottom plate; and an upper plate, which is configured to cooperate with the bottom plate to form a placement portion, and a sensor module among the plurality of sensor modules is placed on the placement portion. The air guide device also includes: at least one partition wall, which is arranged between the bottom plate and the upper plate, and is configured to cooperate with the bottom plate and the upper plate to form a placement portion, and a sensor module among the plurality of sensor modules is placed on the placement portion. In addition, an air guide hole is formed in at least one partition wall.

[0023] At a sensing position where external air pollutants are measured: the first fan is operated in a direction of introducing air into the installation space; and the second fan is operated in a direction of exhausting air from the installation space to the outside.

[0024] At a calibration position of a sensor module among the plurality of sensor modules, the first fan and the second fan are operated in a direction of exhausting air from the installation space to the outside, thereby forming a negative pressure in the installation space.

[0025] According to the sensor device for a mobile robot according to the present invention, the operation time or travel distance of the mobile robot can be increased by reducing the weight of the sensor device mounted on the mobile robot.

[0026] Furthermore, the reliability of the sensor module may be improved through a calibration operation of the sensor module mounted on the mobile robot.

[0027] Other effects that can be obtained or predicted by the embodiments will be described explicitly or implicitly in the detailed description of the present invention. In other words, various effects predicted according to the embodiments will be described in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] These drawings are only for reference in describing the embodiments of the present invention, so the technical idea of ​​the present invention should not be limited to the drawings, and wherein:

[0029] Figure 1A schematic diagram showing the configuration of a control system according to an embodiment of the present invention;

[0030] Figure 2 A block diagram showing the configuration of a control system according to an embodiment of the present invention;

[0031] Figure 3 A perspective view illustrating the configuration of a mobile robot according to an embodiment of the present invention;

[0032] Figure 4 A perspective view illustrating the configuration of a sensor device according to an embodiment of the present invention;

[0033] Figure 5 and 6 An exploded perspective view illustrating the configuration of a sensor device according to an embodiment of the present invention;

[0034] Figure 7 is a perspective view of a sensor device according to an embodiment of the present invention without some components;

[0035] Fig. 8A and 8B is an operation diagram for explaining the operation of a door according to one embodiment of the present invention;

[0036] Fig. 9 A perspective view illustrating the configuration of an air guide device according to an embodiment of the present invention;

[0037] Fig.10 A cross-sectional view illustrating the configuration of an air guide device according to an embodiment of the present invention;

[0038] Fig.11 A flow chart illustrating the operation of a mobile robot according to an embodiment of the present invention.

[0039] Fig.12 A perspective view illustrating the configuration of a sensor device according to another embodiment of the present invention;

[0040] Fig.13 An exploded perspective view illustrating the configuration of a sensor device according to another embodiment of the present invention.

[0041] It should be understood that the above drawings are not necessarily drawn to scale and thus present a somewhat simplified representation of various features illustrative of the basic principles of the invention. The specific design features of the present invention, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment.

[0042] Description of reference numerals:

[0043] 1: Control server

[0044] 2: Conditioning Room

[0045] 3: Personal portable terminal

[0046] 4: Mobile Robot

[0047] 100: Sensor device

[0048] 110: Sensor housing

[0049] 111: Lower housing

[0050] 112: Intermediate housing

[0051] 113: Upper shell

[0052] 114: Installation Space

[0053] 117: First Entrance and Exit

[0054] 118: Second Entrance and Exit

[0055] 120: Sensor module

[0056] 121: Sensing unit

[0057] 122: Conversion unit

[0058] 123: Interface unit

[0059] 131: The First Door

[0060] 132: The Second Door

[0061] 140: Opening and closing device

[0062] 141: Drive unit

[0063] 150: Power transmission device

[0064] 151: Drive shaft

[0065] 152: Worm gear

[0066] 153: Worm gear

[0067] 154: Drive shaft

[0068] 155: Intermediate gear

[0069] 156: Rack

[0070] 161: First Fan

[0071] 162: Second Fan

[0072] 170: Air guide device

[0073] 171: Base plate

[0074] 172: On the board

[0075] 173: Partition wall

[0076] 174: Air guide hole

[0077] 175: Resettlement Department. DETAILED DESCRIPTION

[0078] The terms used herein are only used for the purpose of describing specific embodiments and are not intended to limit the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. As used herein, the terms "comprise" and / or "include" refer to the presence of specific features, integers, steps, actions, elements and / or parts, etc., but it should also be understood that it does not exclude the presence or addition of one or more other features, integers, steps, actions, parts and / or their groups. As used herein, the term "and / or" includes any one or all combinations of one or more related items.

[0079] When a component, device, element, etc. of the present invention is described as having a purpose or performing an operation, function, etc., the component, device or element should be considered herein as being "configured to" satisfy the purpose or perform the operation or function.

[0080] Hereinafter, the present invention will be described more fully with reference to the accompanying drawings, in which embodiments of the present invention are shown. It should be appreciated by those skilled in the art that the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention.

[0081] The drawings and description are to be regarded as illustrative in nature and not restrictive, and like reference numerals refer to like elements throughout the specification.

[0082] In addition, for the sake of understanding and ease of description, the size and thickness of each configuration shown in the drawings are arbitrarily shown, but the present invention is not limited thereto. In addition, in order to clearly illustrate several parts and regions, the thickness of each configuration thereof is increased.

[0083] The term "unit" or "module" used in this specification means a unit that processes at least one function or operation, and can be implemented by hardware, software or a combination thereof. The operation or function of the method described in conjunction with the form disclosed herein can be directly embodied in hardware or a software module executed by a processor, or in a combination thereof.

[0084] In describing the embodiments of the present specification, when it is determined that a detailed description of known technologies associated with the present invention may obscure the gist of the present invention, it will be omitted.

[0085] The accompanying drawings are provided only for easy understanding of the embodiments disclosed in this specification and should not be interpreted as limiting the spirit disclosed in this specification. In addition, it should be understood that the present invention includes all modifications, equivalents and substitutes without departing from the scope and spirit of the present invention.

[0086] Terms including ordinal numbers such as first and second, etc. may be used to describe various components but should not be construed as limiting these components.

[0087] First, a control system including a mobile robot equipped with a sensor device is described.

[0088] Figure 1 A schematic diagram showing the configuration of a control system according to the present invention is shown below. Figure 2 : is a block diagram showing the configuration of a control system according to the present invention. In addition, Figure 3 is a perspective view showing the configuration of a mobile robot according to the present invention.

[0089] like Figure 1-3 As shown, the control system according to the present invention may include: a mobile robot 4 equipped with a sensor device 100, and a control server 1 connected to the mobile robot 4 via a wireless network. The control system may also include a personal portable terminal 3 connected to the control server 1 via a wireless network.

[0090] The mobile robot 4 can be connected to the control server 1 through a wireless network to transmit and receive data. The control server 1 can be connected to the portable terminal of the manager through a wireless network to transmit and receive data.

[0091] In the present invention, the mobile robot 4 equipped with the sensor device 100 is described as a quadrupedal mobile robot by way of example only. However, the scope of the present invention is not limited thereto and may also be applied to a wheel-based mobile robot.

[0092] The mobile robot 4 equipped with the sensor device 100 according to the present invention is configured to measure pollutants at a predetermined position while moving inside and outside an industrial site (eg, a manufacturing plant) according to an instruction of the control server 1 .

[0093] When the mobile robot 4 is located at a predetermined position (e.g., a sensing position), the sensor device 100 measures pollutants (e.g., carbon dioxide, methane gas, etc.) contained in the external air, and may transmit the measurement result to the control server 1. Information including the type of pollutants measured by the sensor device 100 and / or the concentration of the pollutants may be transmitted to the control server 1.

[0094] When it is determined from the sensor device 100 of the mobile robot 4 that pollutants have leaked at a predetermined location, the control server 1 can transmit a message (eg, a text message) to the manager's personal portable terminal 3. In this way, the manager can take immediate action at the site of the pollutant leak.

[0095] If necessary, when the mobile robot 4 is located at a predetermined position (e.g., a calibration position) outside the industrial site, the sensor device 100 may perform a calibration operation. The calibration operation may refer to a process of desorbing pollutants adsorbed on the sensor device 100 by flowing fresh air into the sensor device 100 from the outside.

[0096] Hereinafter, the sensor device 100 according to the present invention will be described in detail with reference to the accompanying drawings.

[0097] Figure 4 It is a perspective view showing the configuration of the sensor device 100 according to the present invention. Figure 5 and 6 FIG. 1 is an exploded perspective view showing the configuration of a sensor device 100 according to the present invention.

[0098] refer to Figure 4-6 The sensor device 100 according to the present invention may include a sensor housing 110, which forms an installation space 114 and a pair of inlets and outlets. The sensor device 100 may also include at least one sensor module 120, which is arranged on the inner side of the sensor housing 110; and a pair of doors (131, 132), which are configured to selectively block a pair of inlets and outlets (117, 118) of the sensor housing 110. The sensor device 100 may also include an opening and closing device 140, which is configured to operate the pair of doors (131, 132); and a pair of fans (161, 162), which are configured to introduce air into the sensor housing 110 or discharge the air inside the sensor housing 110 to the outside.

[0099] The sensor housing 110 may include a lower shell 111, an intermediate shell 112 and an upper shell 113. The lower shell 111 is formed in a generally plate-like shape. The intermediate shell 112 is located at the upper portion of the lower shell 111 and is formed in a generally '┗┛' shape. The intermediate shell 112 has a first side surface formed with a first inlet and outlet 117 and a second side surface formed with a second inlet and outlet 118. The first inlet and outlet 117 and the second inlet and outlet 118 may be arranged to face each other. The upper shell 113 is located at the upper portion of the intermediate shell 112 and is formed in a generally plate-like shape. The lower shell 111, the intermediate shell 112 and the upper shell 113 may cooperate to form an installation space 114, in which various components are installed.

[0100] At least one sensor module 120 may be disposed in the installation space 114 of the sensor housing 110. In the present invention, a plurality of sensor modules 120 are provided, and for example, four sensor modules 120 may be disposed in the installation space 114 of the sensor housing 110.

[0101] The sensor module 120 may include a sensing unit 121 configured to detect pollutants (or chemicals) contained in the air introduced into the sensor housing 110; and an interface unit 123 configured to transmit a signal detected by the sensing unit 121. In the present invention, the sensor module 120 may be a chemical sensor that detects chemicals contained in the air. For example, the sensor module 120 may be a gas sensor that detects carbon dioxide (CO2), methane (CH4), etc. In the present invention, the sensor module 120 is not provided with a separate signal processor and / or battery, but is only provided with the sensing unit 121 and the interface unit 123, which is configured to transmit the signal detected by the sensing unit 121 to the mobile robot 4. In the present invention, since the signal detected by the sensing unit 121 is transmitted to the processor of the mobile robot 4, the sensor module 120 is not provided with an additional processor to process the signal detected by the sensing unit 121. Therefore, the overall configuration of the sensor device 100 mounted on the mobile robot 4 is simplified, and the quality of the sensor device 100 can be minimized. By doing so, the power consumption consumed by the mobile robot 4 can be minimized, and the moving distance (or operating time) of the mobile robot 4 can be increased.

[0102] The pair of doors may include a first door 131 disposed adjacent to the first access port 117 to selectively block the first access port 117 formed on the sensor housing 110. The pair of doors may also include a second door 132 disposed adjacent to the second access port 118 to selectively block the second access port 118.

[0103] The opening and closing device 140 can operate the first door 131 and the second door 132, and thus can selectively open the first entrance 117 and the second entrance 118. To this end, the opening and closing device 140 may include a driving unit 141 configured to generate power; and a power transmission device 150 that transmits the power generated by the driving unit 141 to the first door 131 and the second door 132.

[0104] The driving unit 141 may be a motor that generates power using supplied electric power.

[0105] refer to Figure 7The power transmission device 150 may include: a worm gear 152, which is provided on the driving shaft 151 of the driving unit 141; and a worm gear 153, which is provided on the transmission shaft 154 and meshed with the worm gear 152 (e.g., gear meshing). The power transmission device 150 may also include a first and a second intermediate gear 155 provided on both sides of the transmission shaft 154, and a first and a second rack 156 provided on the first door 131 and the second door 132, respectively. The first and the second rack 156 are respectively gear-meshed with the first and the second intermediate gear 155.

[0106] refer to Fig. 8A and 8B When the worm wheel 152 rotates by the rotation of the driving shaft 151, the worm gear 153 gear-engaged with the worm wheel 152 rotates. When the transmission shaft 154 rotates by the rotation of the worm gear 153, the first intermediate gear 155 and the second intermediate gear 155 provided on both side ends of the transmission shaft 154 rotate. When the first intermediate gear 155 and the second intermediate gear 155 rotate, the first rack 156 gear-engaged with the first intermediate gear 155 moves upward to open the first door 131, and the second rack 156 gear-engaged with the second intermediate gear 155 moves downward to open the second door 132.

[0107] The closing operation of the first door 131 and the second door 132 is opposite to the opening operation of the first door 131 and the second door 132 described above.

[0108] Therefore, since the two doors ( 131 , 132 ) can be opened or closed by the single driving unit 141 , the configuration of the sensor device 100 can be simplified, and the manufacturing cost and weight can be reduced.

[0109] Continue to refer Figure 3-5 The pair of fans (161, 162) configured to flow air into and out of the sensor housing 110 may include a first fan 161 disposed adjacent to the first inlet 117 and a second fan 162 disposed adjacent to the second inlet 118. The first fan 161 and the second fan 162 may be electric fans operated by power supply.

[0110] The sensor device 100 according to the present invention may further include an air guide device 170 configured to guide air to flow through the plurality of sensor modules 120 .

[0111] refer to Fig. 9 and 10When a plurality of sensor modules 120 are installed inside the sensor device 100, external air may not smoothly flow to the sensing units 121 of the sensor modules 120 due to the sensor modules 120 or other components. In order to solve this problem, the air guide device 170 is installed inside the sensor housing 110 so that the external air introduced through the first inlet and outlet 117 and / or the second inlet and outlet 118 can quickly flow to the sensing units 121 of the plurality of sensor modules 120.

[0112] In order to smoothly supply external air to the plurality of sensor modules 120 installed inside the sensor housing 110, the plurality of sensor modules 120 are sequentially arranged between the first inlet and outlet 117 and the second inlet and outlet 118. The sensing units 121 of the plurality of sensor modules 120 may be alternately arranged in the vertical direction. In other words, the sensing units 121 of adjacent sensor modules 120 may be arranged opposite to each other in the vertical direction.

[0113] For example, when four sensor modules 120 are provided in the sensor device 100, the sensing unit 121 of the first sensor module 120 disposed closest to the first entrance 117 is disposed adjacent to the first entrance 117. The sensing unit 121 of the second sensor module 120 adjacent to the first sensor module 120 is disposed to be located at a position lower than the sensing unit 121 of the first sensor module 120. The sensing unit 121 of the third sensor module 120 adjacent to the second sensor module 120 is disposed to be located at a position lower than the sensing unit 121 of the second sensor module 120. In addition, the sensing unit 121 of the fourth sensor module 120 adjacent to the third sensor module 120 is disposed to be located at a position lower than the sensing unit 121 of the third sensor module 120, and is disposed adjacent to the second entrance 118.

[0114] Each sensor module 120 (first to fourth sensor modules 120 to 120 ) may be arranged in the air guiding device 170 .

[0115] The air guide device 170 may include a bottom plate 171, an upper plate 172 disposed above the bottom plate 171, and at least one partition wall 173 disposed between the bottom plate 171 and the upper plate 172. A seating portion 175 on which the sensor module 120 is seated is formed by the bottom plate 171, the upper plate 172, and the partition wall 173.

[0116] In the present invention, three partition walls 173 are formed, and each sensor module 120 may be partitioned by the partition walls 173. In other words, the number of the partition walls 173 may be one less than the number of the sensor modules 120. An air guide hole 174 is formed in each partition wall 173. The air guide hole 174 is formed to fluidly connect the sensing units 121 of the sensor modules 120 so as to minimize the distance therebetween.

[0117] For example, the air guide hole 174 formed on the partition wall 173 disposed between the first sensor module 120 and the second sensor module 120 is formed in a top-down direction so as to connect the sensing unit 121 of the first sensor module 120 and the sensing unit 121 of the second sensor module 120 with a minimum distance. The air guide hole 174 formed on the partition wall 173 disposed between the second sensor module 120 and the third sensor module 120 is formed in a bottom-up direction so as to connect the sensing unit 121 of the second sensor module 120 and the sensing unit 121 of the third sensor module 120 with a minimum distance. In addition, the air guide hole 174 formed on the partition wall 173 disposed between the third sensor module 120 and the fourth sensor module 120 is formed in a bottom-up direction so as to connect the sensing unit 121 of the third sensor module 120 and the sensing unit 121 of the fourth sensor module 120 with a minimum distance.

[0118] Therefore, the external air introduced from the first inlet and outlet 117 through the air guide device 170 may be quickly supplied to the sensing unit 121 of the sensor module 120, thereby allowing any chemical substance to be detected in a short time.

[0119] If necessary, the sensor device 100 according to the present invention may further include a controller configured to control the operation of the first fan 161, the second fan 162, and the opening and closing device 140. To this end, the controller may be implemented using one or more processors operating according to a preset program. In addition, program instructions programmed to perform each step of the method according to the present invention through one or more processors are stored in the memory of the controller.

[0120] In some embodiments, the controller may not be provided in the sensor device 100. Instead, the operations of the first fan 161, the second fan 162, and the opening and closing device 140 may be controlled by a main controller provided in the mobile robot 4.

[0121] Hereinafter, the operation of the mobile robot 4 having the sensor device 100 according to the present invention is described with reference to the drawings.

[0122] Fig.11 A flow chart for explaining the operation of the mobile robot 4 according to the present invention.

[0123] refer to Fig.11 , in step S10 , according to the instruction of the control server 1 , the mobile robot 4 performs a calibration operation of the sensor device 100 in the conditioning room 2 .

[0124] The pressure, temperature and humidity in the adjustment chamber 2 are in a state satisfying standard pressure, standard temperature and standard humidity conditions. A calibration operation (e.g., initialization operation) of the sensor device 100 is performed. As described above, the calibration operation of the sensor device 100 refers to a process of removing contaminants when the contaminants are adsorbed by the sensing unit 121 of the sensor module 120 installed in the sensor device 100.

[0125] When the calibration operation is performed, the opening and closing device 140 is operated by the controller, and the first door 131 and the second door 132 are opened. In addition, by the controller, the first fan 161 is operated in a direction of exhausting air into the installation space 114 of the sensor housing 110, and the second fan 162 is operated in a direction of exhausting air from the installation space 114 of the sensor housing 110 to the outside. Therefore, a negative pressure is formed in the installation space 114 of the sensor housing 110, and contaminants adsorbed to the sensing unit 121 of the sensor module 120 are quickly exhausted to the outside of the sensor housing 110. When the calibration operation of the sensor module 120 is completed, the first door 131 and the second door 132 are blocked, and the installation space 114 of the sensor housing 110 is closed and sealed.

[0126] In step S20 , when the mobile robot 4 moves to a sensing position within the industrial site, the sensor device 100 measures whether pollutants (eg, toxic gases) are contained in the external air.

[0127] When the mobile robot 4 detects whether the outside air is polluted at a sensing location (for example, inside a factory at an industrial site), the opening and closing device 140 is operated by the controller to open the first door 131 and the second door 132 .

[0128] In addition, by the controller, the first fan 161 is operated in a direction of introducing air into the installation space 114 of the sensor housing 110, and the second fan 162 is operated in a direction of exhausting air from the installation space 114 of the sensor housing 110 to the outside. Therefore, the external air is introduced into the installation space 114 of the sensor housing 110 through the first inlet and outlet 117, and is exhausted to the outside of the sensor housing 110 through the second inlet and outlet 118. In addition, in a case where the flow rate of the external air flowing into the installation space 114 of the sensor housing 110 is stabilized while waiting for a predetermined time, the plurality of sensor modules 120 detect the chemical substances contained in the external air.

[0129] Since the external air introduced through the first inlet and outlet 117 passes through the plurality of sensor modules 120 through the air guide device 170, the chemical substances contained in the external air can be detected quickly. When the measurement of the external air by the sensor module 120 is completed, the first door 131 and the second door 132 are blocked, and the installation space 114 of the sensor housing 110 is closed and sealed.

[0130] In step S30 , when the mobile robot 4 moves to the outside of the factory of the industrial site after performing the sensing operation at the sensing position within the industrial site, a calibration operation of the sensor device 100 is performed.

[0131] When the mobile robot 4 calibrates the sensor device 100 at a calibration location (for example, outside a factory at an industrial site), the opening and closing device 140 is operated by the controller to open the first door 131 and the second door 132 .

[0132] In addition, by the controller, the first fan 161 is operated in a direction of exhausting air into the installation space 114 of the sensor housing 110, and the second fan 162 is operated in a direction of exhausting air from the installation space 114 of the sensor housing 110 to the outside. Therefore, negative pressure is formed in the installation space 114 of the sensor housing 110, and pollutants adsorbed by the sensing unit 121 of the sensor module 120 are quickly exhausted to the outside of the sensor housing 110. When the calibration operation of the sensor module 120 is completed, the first door 131 and the second door 132 are blocked, and the installation space 114 of the sensor housing 110 is closed and sealed.

[0133] Hereinafter, a configuration of a sensor device 100 according to another embodiment of the present invention is described in detail with reference to the accompanying drawings.

[0134] refer to Fig.12 and 13 In the sensor device 100 according to another embodiment of the present invention, the door and the power transmission device 150 are removed compared to the above-mentioned sensor device 100. In addition, the other configurations except the door and the power transmission device 150 are the same as those of the above-mentioned sensor device 100.

[0135] Hereinafter, the operation of the sensor device 100 according to another embodiment of the present invention is described in detail.

[0136] When the mobile robot 4 performs the calibration operation of the sensor device 100 in the conditioning room 2, the first fan 161 is operated in a direction of exhausting air into the installation space 114 of the sensor housing 110, and the second fan 162 is operated in a direction of exhausting air from the installation space 114 of the sensor housing 110 to the outside through the controller. Therefore, negative pressure is formed in the installation space 114 of the sensor housing 110, and pollutants adsorbed by the sensing unit 121 of the sensor module 120 are quickly exhausted to the outside of the sensor housing 110.

[0137] When the mobile robot 4 moves from the conditioning room 2 to the sensing position, the first fan 161 and the second fan 162 are operated by the controller to exhaust air from the installation space 114 to the outside. Therefore, the outside air of the sensor housing 110 is blocked from flowing into the installation space 114.

[0138] When the mobile robot 4 has moved to the sensing position and detects whether the external air is polluted, the first fan 161 is operated in a direction of introducing air into the installation space 114 of the sensor housing 110, and the second fan 162 is operated in a direction of exhausting air from the installation space 114 of the sensor housing 110 to the outside through the controller. Therefore, the external air is introduced into the installation space 114 of the sensor housing 110 through the first inlet and outlet 117, and is exhausted to the outside of the sensor housing 110 through the second inlet and outlet 118. In addition, in the case where the flow rate of the external air flowing into the installation space 114 of the sensor housing 110 is stable while waiting for a predetermined time, the plurality of sensor modules 120 detect the chemical substances contained in the external air. Since the external air introduced through the first inlet and outlet 117 passes through the plurality of sensor modules 120 through the air guide device 170, the chemical substances contained in the external air can be quickly detected. When the measurement of the external air by the sensor module 120 is completed, the first door 131 and the second door 132 are blocked, and the installation space 114 of the sensor housing 110 is closed and sealed.

[0139] When the mobile robot 4 has moved to the calibration position and calibrated the sensor device 100, through the controller, the first fan 161 is operated in a direction of exhausting air into the installation space 114 of the sensor housing 110, and the second fan 162 is operated in a direction of exhausting air from the installation space 114 of the sensor housing 110 to the outside. Therefore, negative pressure is formed in the installation space 114 of the sensor housing 110, and pollutants adsorbed by the sensing unit 121 of the sensor module 120 are quickly exhausted to the outside of the sensor housing 110.

[0140] According to the sensor device 100 mounted on the mobile robot 4 of the present invention, the sensor device 100 can be reduced in size because the control signal and power are supplied from the mobile robot 4. Therefore, the load applied to the mobile robot 4 can be reduced, and the operating time (e.g., moving distance) of the mobile robot 4 can be increased.

[0141] Furthermore, when the mobile robot 4 moves to the sensing position, the interior of the sensor housing 110 is closed and sealed, thereby sealing the sensor module 120 and preventing it from being contaminated by external factors.

[0142] Furthermore, when the mobile robot 4 moves to the calibration position, the reliability of the sensor module 120 may be enhanced through the calibration operation of the sensing module.

[0143] While the present invention has been described in conjunction with what are presently considered to be practical embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but rather is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A sensor device, comprising: a sensor housing forming a mounting space and including a first inlet and a second inlet for air to flow in and out; A plurality of sensor modules are arranged in the installation space of the sensor housing; a first door and a second door configured to selectively block a first entrance and a second entrance of the sensor housing, respectively; an opening and closing device configured to operate the first door and the second door; as well as The first fan and the second fan are configured to introduce air into the sensor housing or discharge the air in the sensor housing to the outside.

2. The sensor device according to claim 1, wherein: The sensor modules in the plurality of sensor modules include: a sensing unit configured to detect chemical substances contained in the air flowing into the sensor housing; and The interface unit is configured to transmit the signal detected by the sensing unit directly to the mobile unit.

3. The sensor device according to claim 1, wherein: The opening and closing device comprises: a drive unit configured to generate power; and A power transmission device is configured to transmit power generated by the driving unit to the first door and the second door.

4. The sensor device according to claim 3, wherein: The power transmission device comprises: A worm gear is arranged on a driving shaft of the driving unit; a worm gear, disposed on the transmission shaft and meshing with the worm wheel; a pair of intermediate gears, wherein each intermediate gear is disposed on one side of the transmission shaft; and A rack is provided on each of the first door and the second door and meshes with each intermediate gear.

5. The sensor device according to claim 1, wherein: The first inlet and the second inlet are respectively arranged on two sides of the sensor housing; The first door and the second door are respectively arranged at the first entrance and the second entrance; and The first fan and the second fan are respectively disposed at the first inlet and the second inlet.

6. The sensor device according to claim 5, wherein: The first entrance and the second entrance are arranged to face each other. 7 . The sensor device according to claim 1 , further comprising an air guide device configured to guide air from the first inlet and the second inlet through the plurality of sensor modules.

8. The sensor device according to claim 7, wherein: The air guiding device comprises: Base plate; an upper plate configured to cooperate with the bottom plate to form a placement portion, on which a sensor module among the plurality of sensor modules is placed; and at least one partition wall is disposed between the bottom plate and the upper plate and is configured to cooperate with the bottom plate and the upper plate to form the placement portion, and a sensor module among the plurality of sensor modules is placed on the placement portion, Wherein, an air guide hole is formed in the at least one partition wall.

9. The sensor device according to claim 1, wherein: At the sensing location for measuring external air pollutants: the first door and the second door are opened; The first fan is operated in a direction to introduce air into the installation space; and The second fan is operated in a direction to discharge air from the installation space to the outside.

10. The sensor device according to claim 1, wherein: At a calibration position of a sensor module among the plurality of sensor modules: The first door and the second door are open; and The first fan and the second fan are operated in a direction of exhausting air from the installation space to the outside, thereby forming a negative pressure in the installation space.

11. A sensor device comprising: a sensor housing forming a mounting space and including a first inlet and a second inlet for air to flow in and out; A plurality of sensor modules are arranged in the installation space of the sensor housing; A first fan, disposed at the first inlet and outlet; and The second fan is arranged at the second inlet and outlet.

12. The sensor device according to claim 11, wherein: The first entrance and the second entrance are arranged to face each other. 13 . The sensor device of claim 11 , further comprising an air guide configured to guide air from the first inlet and the second inlet through the plurality of sensor modules.

14. The sensor device according to claim 13, wherein: The air guiding device comprises: Base plate; an upper plate configured to cooperate with the bottom plate to form a placement portion, on which a sensor module among the plurality of sensor modules is placed; and at least one partition wall is disposed between the bottom plate and the upper plate and is configured to cooperate with the bottom plate and the upper plate to form the placement portion, and a sensor module among the plurality of sensor modules is placed on the placement portion, Wherein, an air guide hole is formed in the at least one partition wall.

15. The sensor device according to claim 11, wherein: At the sensing location for measuring external air pollutants: The first fan is operated in a direction to introduce air into the installation space; and The second fan is operated in a direction to discharge air from the installation space to the outside.

16. The sensor device according to claim 11, wherein: At a calibration position of a sensor module among the plurality of sensor modules: The first fan and the second fan are operated in a direction of exhausting air from the installation space to the outside, thereby forming a negative pressure in the installation space.

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