Mobile robot with olfaction function

Abstract

The invention relates to a mobile robot with an olfactory function. The mobile robot comprises a moving mechanism; the breathing type gas detection instrument comprises a gas chamber, a gas inlet and a gas outlet, the gas inlet and the gas outlet are communicated with the gas chamber to form a first gas flow channel, a smell sensor is arranged in a detection section of the first gas flow channel, the gas chamber is connected back to the detection section through a second gas flow channel, and an air compression device and an air inlet valve are arranged in the first gas flow channel to form one-way gas inlet for the gas chamber. An electric control gas outlet valve is arranged in the second gas flow channel to control gas outlet of the gas chamber, gas for neutralization is stored in the gas chamber, and the gas chamber has a first state in which gas enters the gas chamber through the first gas flow channel and a second state in which the sensor is cleaned through the second gas flow channel; and the processor is configured to control the robot to move to a clean gas area to execute a gas exchange process after the breathing type gas detection instrument executes the gas detection process or when the concentration of target gas output by the middle gas chamber and used for cleaning the sensor or the percentage of the concentration to the standard is higher than a first threshold value.

Description

Technical Field

[0001] The present invention relates to the field of mobile robots, and in particular to a mobile robot with an olfactory function. Background Art

[0002] Mobile robots such as quadrupedal mechanical dogs and bipedal robots are equipped with olfactory perception functions. Based on smell, they can quickly complete tasks that assist humans, such as tracking and observing target species in protected areas, and quickly inspecting the nighttime excretion of the elderly in nursing homes.

[0003] In order to complete the assistance task, the olfactory perception of the mobile robot is required to have a higher dynamic response. However, the gas sensors are easily saturated in a high concentration gas environment, commonly known as sensor poisoning. Once saturated, it takes days for the sensor to recover. The long recovery time of gas sensor saturation or poisoning cannot meet the needs of the robot to quickly move to a position and distinguish odors.

[0004] Cleaning the gas sensor helps the sensor recover quickly. Currently, there are two solutions:

[0005] One type is equipped with gas cylinders to flush the sensors. Since gas cylinders are large in size and weight, they are basically used in static sensor scenarios. Mobile robots such as quadruped robot dogs have limited load and are difficult to carry.

[0006] The other type is to take gas from the outside for cleaning, such as CN113219134A, which discloses a gas detection device. During detection, the external gas enters from the first gas inlet and is sent to the exhaust gas recovery device through the first air suction pump; during cleaning, the second air suction pump pushes the external gas to flow through the air chamber and then outputs the sensor, and the gas chamber is built-in with a gas treatment device to achieve gas purification. CN205175984U provides a continuous detection gas detector with a self-cleaning function. Through the control of the solenoid valve module by the main control system, the gas enters the cleaning module from the air inlet of the cleaning module, and the gas cleaned by the cleaning module enters the air chamber through the solenoid valve module to calibrate the zero point of the sensor. The problem with this type of solution is that the device takes gas from the outside during cleaning, and the gas itself is the pollution source to be measured. Although the gas chamber is built-in with a gas treatment device for purification, it is difficult for the current purification technology to filter the gas clean in a short time, especially in the case where it is difficult for a mobile robot to carry a large purification device, the purification rate is more limited, so it is difficult to achieve an effective cleaning function for the gas sensor in the mobile robot scenario. Summary of the invention

[0007] The purpose of the present invention is to improve the deficiencies of the prior art and provide an olfactory mobile robot capable of continuous operation.

[0008] The mobile robot of the present invention comprises: a moving mechanism for driving the robot to perform spatial displacement; a breathing gas detection instrument, comprising a neutralizing air chamber, an air inlet and outlet, a first air flow channel, and a second air flow channel, wherein the air inlet and outlet are connected to the neutralizing air chamber to form a first air flow channel, the first air flow channel has a detection section, the detection section is equipped with at least one olfactory sensor, the neutralizing air chamber is connected back to the detection section via the second air flow channel, the first air flow channel is equipped with at least one air compression device for driving the air intake of the neutralizing air chamber, and an electrically controlled air intake valve or a one-way valve forms a one-way air intake to the neutralizing air chamber, and the second air flow channel is equipped with an electrically controlled air outlet valve for controlling the neutralization. The air outlet of the air chamber, the neutralization air chamber stores the gas for neutralization, and has at least a first state of taking in air through the first air channel driven by the air compression device, and a second state of deflation and cleaning of the olfactory sensor through the second air channel when the electrically controlled air outlet valve is opened; the processor is respectively coupled to the olfactory sensor, the air compression device, the electrically controlled valve and the moving mechanism, and is configured to control the robot to move to the clean gas area to perform the ventilation process after the respiratory gas detection instrument performs the gas detection process or when the concentration of the target gas for cleaning the sensor output by the neutralization air chamber or the percentage of the concentration to the benchmark is higher than the first threshold.

[0009] The following are the attached improvement schemes implemented as the present invention:

[0010] As an optional implementation, the processor performs the following steps: at least an electronic geographic fence is used to divide the space into a clean gas area and a detection area; after the robot is controlled to move to the detection area to perform a gas detection process or when the concentration of the target gas output in the neutralization chamber for cleaning the sensor or the percentage of the concentration to the benchmark is higher than a first threshold, the robot is controlled to move to the clean gas area to perform a ventilation process. Further, the clean gas area is configured as a space where the concentration of the target gas or the percentage of the concentration to the benchmark is lower than a second threshold.

[0011] As an optional implementation, the ventilation process is configured to continuously switch between the first state and the second state until the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to the benchmark is lower than a third threshold.

[0012] As an optional implementation, olfactory sensor data is collected in the second state to characterize the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to a benchmark; or, an olfactory sensor coupled to a processor is built into the neutralization chamber to detect the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to a benchmark.

[0013] As an optional implementation, it includes a measuring device for sensing the air intake volume of the neutralization air chamber; the processor is coupled to the measuring device, and is used to evaluate the internal pressure of the neutralization air chamber based on the air intake volume, and to use the comparison between the internal pressure of the neutralization air chamber and a fourth threshold as a judgment condition for switching between the first state and the second state.

[0014] As an optional implementation, the neutralization air chamber is configured as an elastic air bag. Further, a molecular filtration membrane or activated carbon is built into the neutralization air chamber. Also, the neutralization air chamber is connected to a pressure valve for overpressure relief.

[0015] As an optional implementation, a front-end electrically controlled valve coupled to a processor is provided in the flow channel between the air inlet and outlet and the corresponding detection section. Furthermore, the air inlet and outlet and their corresponding flow channels and valves constitute a breathing component; the breathing component has at least two groups distributed in different positions, and the first flow channels of each group of breathing components converge together to the neutralizing air chamber, and the air compression device is arranged on the converging main channel for unified drive. Furthermore, each group of breathing components forms a periodic time-sharing operation through corresponding valve control. Furthermore, the air compression device is selected as a device with adjustable air intake volume, and / or the front-end electrically controlled valve is a flow valve; when it is detected that the target gas concentration is higher than the fifth threshold value, the air intake volume of the air inlet and outlet is reduced or closed by the air compression device and / or the front-end electrically controlled valve.

[0016] As an optional implementation, each olfactory sensor is arranged with multiple detection points to form a detection array, and different detection points produce different responses to the same odor; the mobile robot is provided with an encoder and an SNN neural model;

[0017] The encoder performs discrete pulse encoding on the detection output signal of each olfactory sensor, wherein the encoding rule is configured to trigger an output spike as an event when the degree of signal change exceeds a sixth threshold; the SNN neural model receives a time series formed by encoding the detection output signal as a model input, and generates an output pulse sequence representing the classification and concentration of the odor; the processor obtains the classification identification and corresponding concentration of various gases from the SNN neural model, and selects the concentration of the target gas or the percentage of the concentration to the benchmark for comparison.

[0018] The present invention can quickly solve the sensor saturation / poisoning problem of the mobile robot's olfactory perception function, while maintaining the mobile robot's efficient operation and ensuring the mobile robot's continuous operation capability of olfactory perception, which is beneficial to the mobile robot's rapid movement to distinguish odors. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 An exemplary structure of a mobile robot is given;

[0020] Figure 2 An exemplary flow channel structure of a breath-type gas detection instrument is provided;

[0021] Figure 3 The control process of ventilation of mobile robot is given;

[0022] Figure 4 The structure diagram of the elastic airbag and its filtering protection is given; and

[0023] Figure 5 A schematic diagram of the dual electronic nose structure is given. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] Mobile robots are autonomous mobile systems, such as four-legged robot dogs, that move freely within a set area according to instructions and are used to replace humans to complete tasks. Figure 1 An exemplary structure of a mobile robot is given, including a moving mechanism 100, a breathing gas detection instrument 200, and an internal main control circuit.

[0026] The mobile mechanism 100, such as the mobile foot of the robot, includes but is not limited to wheel-foot type, track-type, leg-foot type or track-type, and is used to drive the robot to perform spatial displacement.

[0027] Figure 2 A flow channel structure of an exemplary respiratory gas detection instrument is given. The gas detection instrument 200 includes a neutralization chamber 210, a first flow channel 220, a second flow channel 230, and an air inlet and outlet 240. The air inlet and outlet 240 serve as windows for the gas input and gas output of the detection instrument, and are connected to the neutralization chamber 210 to form the first flow channel 220, which serves as a path for the detection gas to enter the neutralization chamber 210. The first flow channel 220 has an air compression device 2201 and an air intake valve 2202 built in. The air compression device 2201 drives the air intake of the air chamber, and can be a device that generates gas pressure energy through mechanical work, such as an air pump. The air intake valve 2202 is arranged at the inlet and / or outlet of the air pump to form a one-way air intake to the neutralization chamber 210. The air intake valve 2202 can be an electrically controlled air intake valve, which is opened when needed and closed when not needed; or a one-way valve formed by a mechanical structure such as a duckbill valve can be used to save control logic participation.

[0028] The first airflow channel 220 is divided into a section as a detection section, and the detection section has a built-in olfactory sensor to perform gas detection. The olfactory sensor uses multiple detection points to form a detection array pattern. Different detection points produce different responses to the same odor, such as a 3X3 array sensor. The sampling combination of each point can form a distinction between more than 200 types of gases. In order to meet the robot's rapid movement position to distinguish odors, the sensor is required to have a high time resolution. For this reason, the robot is further provided with an encoder and an SNN neural model. The encoder performs discrete pulse encoding on the detection output signal of each olfactory sensor, wherein the encoding rule is configured to trigger an output spike as an event when the signal change degree exceeds the sixth threshold. The SNN neural model receives the time series formed by encoding the detection output signal as the model input, and generates an output pulse sequence representing the classification and concentration of the odor. The main control circuit includes a processor constructed by a CPU or an MCU, which is used to couple each olfactory sensor, an air compression device, an electric control valve, and a moving mechanism to perform logic control, and is configured to obtain the classification and identification of various gases and the corresponding concentrations from the SNN neural model, select the concentration of the target gas or the percentage of the concentration with the benchmark for comparison, and provide a basis for ventilation detection. In view of the changing characteristics of the array sensors, due to the complex changes in characteristics, the use of pulse neural network (SNN) for artificial learning analysis can greatly improve the accuracy. At the same time, the pulse code is converted by the encoder and then input into the SNN to perform event-responsive gas classification and recognition, which further improves the sensor's time resolution and lays a good foundation for the robot to quickly move and distinguish odors.

[0029] The neutralization chamber 210 has an outlet, which is connected back to the detection section to form a second air channel 230, which serves as a path for the neutralization gas to flush the sensor. The second air channel 230 has a built-in electrically controlled air outlet valve 2301 to control the air outlet of the neutralization chamber 210. The neutralization chamber 210 stores gas for neutralization, which is pre-input and stored using a clean gas source. The clean gas source is configured so that the concentration of the target gas or the concentration and the percentage of the reference do not exceed a set threshold at most. The neutralization chamber 210 has a first state in which air is taken in through the first air channel 220 driven by the air compression device 2201, and a second state in which the olfactory sensor is deflated and cleaned through the second air channel 230 when the electrically controlled air outlet valve 2301 is opened. During the process of the gas to be tested being inhaled from the air inlet and outlet 240, the sensor detection is implemented in the front section of the first air channel 220, and then the gas is sent to the air chamber to be neutralized with the clean gas stored in advance, and the gas in the air chamber is compressed at the same time; after the second air channel 230 is opened, the neutralized gas flushes the sensor and is exhaled through the air inlet and outlet 240. Among them, the gas detection instrument achieves the following effects with the help of anthropomorphic bionics of the human nose and lungs and their connections: the air chamber, as a bionic lung, stores the gas for neutralization, and neutralizes with the gas to be tested to quickly reduce the gas concentration; the unique air channel topology structure composed of the air inlet and outlet, the sensor, the air chamber, the first and second flow channels forms a coordinated cooperation between the breathing bionic electronic nose and the bionic breathing lung, simulating the breathing and ventilation process of the human nose and lungs, achieving both gas detection and sensor flushing during breathing, and achieving excellent cleaning effect while the detection instrument works efficiently, which is conducive to the dynamic response of the mobile robot to quickly move the position to distinguish the odor.

[0030] In order to solve the problem that the internal gas source of the gas chamber becomes a pollution source and affects the detection after multiple neutralization, refer to Figure 3 , the processor executes: Step S1. Detect whether the breathing gas detection instrument has completed the gas detection process or whether the concentration of the target gas output by the neutralization chamber for cleaning the sensor or the percentage of the concentration to the benchmark is higher than the first threshold; Step S2. If it is, control the robot to move to the clean gas area to perform the ventilation process. By combining the mobility of the robot, the air in the air chamber can be kept clean in real time, ensuring the continuous operation capability of the mobile robot's olfactory perception.

[0031] The clean gas area is configured as a space where the concentration of the target gas or the percentage of the concentration to the benchmark is lower than the second threshold. As an optional implementation of the robot addressing such a space, an electronic geographic fence can be pre-divided from the free moving space into the clean gas area and the detection area. After the robot is controlled to move to the detection area to perform the gas detection process or when the concentration of the target gas output in the neutralization chamber for cleaning the sensor or the percentage of the concentration to the benchmark is higher than the first threshold, the robot is controlled to move to the clean gas area to perform the ventilation process. By combining the mobile robot's own electronic map capability, the purpose of rapid addressing and ventilation can be achieved.

[0032] Further, the ventilation process is configured to continuously switch between the first state and the second state until the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to the benchmark is lower than the third threshold. As an optional implementation, the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to the benchmark can be detected by multiplexing the olfactory sensor, and characterized by the olfactory sensor data collected in the second state. In the second state, the gas in the air chamber is fully neutralized, which can obtain higher accuracy and is conducive to cost simplification; or, the neutralization chamber has an olfactory sensor coupled to a processor to independently detect the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to the benchmark.

[0033] Further, refer to Figure 2 The robot includes a measuring device 2101 for sensing the air intake of the neutralizing air chamber 210. The measuring device 2101 can reflect the air intake through the change of the internal air pressure using a gas pressure sensor, or directly detect the air intake using a flow meter, or control the air intake rate per unit time, and reflect the air intake based on time through a timer. The processor is coupled to the measuring device 2101, and evaluates the internal pressure of the neutralizing air chamber 210 according to the air intake. Based on the comparison between the internal pressure of the neutralizing air chamber 210 and the fourth threshold value, the processor switches from the first state to the second state to perform flushing when the internal pressure is greater than the fourth threshold value.

[0034] As an implementation, the neutralization chamber 210 can be any type of chamber structure. Based on the compression of the internal gas by the air pump, when the second air flow channel is opened, the internal and external air pressure difference is used to form flushing kinetic energy for the sensor. Figure 4 The neutralization air chamber 210 uses an elastic airbag, which swells when inflated and forms greater flushing kinetic energy when deflated in combination with the elastic recovery of the airbag. Preferably, the neutralization air chamber 210 is connected to a pressure valve 2102 for overpressure relief, and the pressure valve 2102 is used for relief protection when the airbag is over-inflated. Another preferred embodiment is that the neutralization air chamber 210 is further equipped with an air filter 2103 such as a molecular filtration membrane or activated carbon for gas purification, thereby extending the usable time of the gas stored in the air chamber.

[0035] As another alternative embodiment, refer to Figure 2 A front-end electric control valve 2203 coupled to a processor is provided in the flow channel 220 between the air inlet and outlet 240 and the corresponding detection section, wherein the air compression device 2201 is selected as a device capable of adjusting the air intake volume, and / or the front-end electric control valve 2203 is a flow valve. When the gas concentration is detected to be higher than the fifth threshold, the air intake volume of the air inlet and outlet 240 is reduced or closed through the air compression device 2201 and / or the front-end electric control valve 2203 to simulate the human body's nose-covering action. On this basis, further, Figure 5A schematic diagram of the flow channel structure of a two-way electronic nose is given. The air inlet and outlet 240 and its corresponding air channels and valves form a breathing component. The breathing component has at least two groups distributed in different positions. The first air channels of each group of breathing components converge to the neutralization air chamber. The air compression device is arranged on the converging main channel for unified drive to simulate the double nose structure of the human body. Since a certain distance is formed between the two air inlets and outlets 240, based on the step distribution characteristics of the air source in the air, the direction of the gas source can be detected based on the numerical difference between the two groups of sensors. Furthermore, on the basis of having a front-end control valve, each group of breathing components forms a periodic time-sharing operation through the corresponding valve control, and the two groups of sensors work alternately in time to avoid simultaneous poisoning.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A mobile robot with olfactory function, characterized in that: include: A moving mechanism, used for driving the robot to perform spatial displacement; A breathing gas detection instrument, comprising a neutralizing air chamber, an air inlet and outlet, a first air flow channel, and a second air flow channel, wherein the air inlet and outlet are connected to the neutralizing air chamber to form a first air flow channel, the first air flow channel has a detection section, the detection section is equipped with at least one olfactory sensor, the neutralizing air chamber is connected back to the detection section via the second air flow channel, the first air flow channel is equipped with at least one air compression device for driving the air intake of the neutralizing air chamber, and an electrically controlled air intake valve or a one-way valve for forming a one-way air intake to the neutralizing air chamber, the second air flow channel is equipped with an electrically controlled air outlet valve for controlling the air outlet of the neutralizing air chamber, the neutralizing air chamber stores gas for neutralization, and has at least a first state of air intake through the first air flow channel driven by the air compression device, and a second state of deflation and cleaning of the olfactory sensor through the second air flow channel when the electrically controlled air outlet valve is opened; The processor is respectively coupled to the olfactory sensor, the air compression device, the electric control valve and the moving mechanism, and is configured to control the robot to move to the clean gas area to perform the ventilation process after the respiratory gas detection instrument performs the gas detection process or when the concentration of the target gas output by the neutralization chamber for cleaning the sensor or the percentage of the concentration to the benchmark is higher than the first threshold.

2. The mobile robot according to claim 1, characterized in that: The processor executes the following steps: Electronic geo-fencing to spatially demarcate at least clean gas areas and detection zones; After the robot is controlled to move to the detection area to perform the gas detection process or when the concentration of the target gas for cleaning the sensor output in the neutralizing gas chamber or the percentage of the concentration to the benchmark is higher than the first threshold, the robot is controlled to move to the clean gas area to perform the ventilation process.

3. The mobile robot according to claim 1 or 2, characterized in that: The clean gas area is configured as a space where the concentration of the target gas or the percentage of the concentration to a reference is lower than a second threshold.

4. The mobile robot according to claim 1, characterized in that: The ventilation process is configured to continuously switch between the first state and the second state until the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to the benchmark is lower than a third threshold.

5. The mobile robot according to claim 4, characterized in that: In the second state, the olfactory sensor data is collected to represent the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to the reference; Alternatively, the neutralization chamber is equipped with an olfactory sensor coupled to a processor to detect the concentration of the target gas output by the neutralization chamber or the percentage of the concentration to a reference value.

6. The mobile robot according to claim 4, characterized in that: including a measuring device for sensing the amount of air intake into the neutralizing chamber; The processor is coupled to the measuring device and is used to evaluate the internal pressure of the neutralization chamber according to the intake air volume, and to use the comparison between the internal pressure of the neutralization chamber and a fourth threshold as a judgment condition for switching between the first state and the second state.

7. The mobile robot according to claim 1, characterized in that: The neutralizing air chamber is configured as an elastic air bag.

8. The mobile robot according to claim 7, characterized in that: The neutralizing gas chamber is provided with a molecular filtration membrane or activated carbon.

9. The mobile robot according to claim 7, characterized in that: The neutralizing air chamber is connected to a pressure valve for overpressure relief.

10. The mobile robot according to claim 1, characterized in that: A front-end electric control valve coupled to a processor is arranged in the flow channel between the air inlet and outlet and the corresponding detection section.

11. The mobile robot according to claim 10, characterized in that: The air inlet and outlet and their corresponding air flow channels and valves constitute a breathing assembly; The breathing components have at least two groups distributed at different positions. The first airflow channels of each group of breathing components converge to the neutralizing air chamber, and the air compression device is arranged on the converging main channel for unified driving.

12. The mobile robot according to claim 11, characterized in that: Each group of breathing components is controlled by corresponding valves to form periodic time-sharing work.

13. The mobile robot according to claim 10, characterized in that: The air compression device is selected to be a device with adjustable air intake volume, and / or the front-end electric control valve is a flow valve; When it is detected that the target gas concentration is higher than the fifth threshold value, the air intake of the air inlet and outlet is reduced or closed through the air compression device and / or the front-end electric control valve.

14. The mobile robot according to claim 1, characterized in that: Each olfactory sensor is arranged with multiple detection points to form a detection array, and different detection points produce different responses to the same odor; The mobile robot is provided with an encoder and an SNN neural model; The encoder performs discrete pulse encoding on the detection output signal of each olfactory sensor, wherein the encoding rule is configured to trigger an output spike as an event when the degree of signal change exceeds a sixth threshold; The SNN neural model receives a time sequence formed by encoding the detection output signal as a model input, and generates an output pulse sequence representing the odor classification and concentration; The processor obtains the classification and identification of various gases and their corresponding concentrations from the SNN neural model, and selects the concentration of the target gas or the percentage of the concentration with the benchmark for comparison.

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