A monitoring and early warning system integrating multifunctional sensors and origami robots

Abstract

A monitoring and early warning system integrating multifunctional sensors and an origami robot comprises an origami structure configured as an origami robot with a drive module configured to drive the origami robot to fold or unfold according to instructions from a control module; a sensor unit located on the origami robot's body for real-time monitoring of environmental changes; and a control unit located externally to the origami robot for receiving, processing, and displaying sensor data in real time, as well as for regulating the robot's status. This system not only monitors and provides feedback on environmental parameters in real time, ensuring rapid system response to environmental changes and improving accuracy and flexibility in task execution, but also enhances the system's security and adaptability, strengthening post-disaster recovery capabilities.

Description

Technical Field

[0001] The present invention relates to a monitoring and early warning system integrating a multifunctional sensor and an origami robot, and belongs to the technical field of environmental monitoring and disaster rescue robots. Background Art

[0002] In the current global challenges of climate change and natural disasters, integrated environmental monitoring and disaster relief technologies are crucial. Origami robots, as flexible and efficient micro-devices, are lightweight and adaptable, enabling rapid deployment in complex terrains. They overcome the limitations of traditional monitoring and rescue methods and are poised to play a vital role in environmental monitoring and disaster relief.

[0003] At present, there is an urgent need for a new technology that can combine origami robots with multifunctional sensors. The application of this technology should not only be able to monitor climate change in real time and provide data support for policy making, but also be able to respond quickly and effectively in emergencies.

[0004] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0005] The present invention aims to address, at least to some extent, one of the technical problems in the related art. To this end, the present invention proposes a monitoring and early warning system integrating a multifunctional sensor and an origami robot. This system not only monitors and provides feedback on environmental parameters in real time, ensuring rapid response to environmental changes and improving the accuracy and flexibility of task execution, but also enhances the system's security and adaptability, strengthening post-disaster recovery capabilities.

[0006] A monitoring and early warning system integrating a multifunctional sensor and an origami robot according to the present invention comprises:

[0007] An origami structure is configured as an origami robot having a driving module, the driving module being configured to drive the origami robot to perform a folding or unfolding action according to instructions from the control module;

[0008] A sensor unit is provided on the body surface of the origami robot and is used to monitor environmental changes in real time;

[0009] The control unit is arranged outside the origami structure and is used to receive and process sensor data and display it in real time, and is also used to regulate the state of the origami robot.

[0010] According to some embodiments of the present invention, the origami robot includes a retractable and deformable robot body, which is configured to be made of folded polyester film or polyethylene film; the front and rear ends of the robot body are also symmetrically provided with a head cover plate and a tail cover plate both in contact with the ground, and the friction coefficient between the tail cover plate and the ground is greater than the friction coefficient between the head cover plate and the ground.

[0011] According to some embodiments of the present invention, the driving module includes a plurality of SMA powered springs independently controlled by a control unit and an SMA powered wire, wherein the SMA powered wire is connected to all the SMA powered springs by a fixed copper wire to form an integrated structure capable of synchronization.

[0012] An SMA powered wire is movably disposed inside the origami robot, and the SMA powered wire is configured to restore the origami robot to its original shape by straightening when energized;

[0013] A plurality of SMA power springs are evenly fixed around the origami robot, and each SMA power spring is configured to control the origami robot to move forward or turn by contraction when powered on.

[0014] According to some embodiments of the present invention, there are four SMA power springs, and both ends of each SMA power spring are fixedly connected to the head cover plate and the tail cover plate respectively; the SMA power wire passes through the first center hole and the second center hole opened in the head cover plate and the tail cover plate in sequence, and its two ends are connected to the corresponding ends of the four SMA power springs through four fixed connecting copper wires.

[0015] According to some embodiments of the present invention, the sensor unit includes a multifunctional sensor and a wireless transmitter jointly arranged on the head of the origami robot. The multifunctional sensor is used to monitor and obtain a series of sensor data representing environmental changes, and the wireless transmitter is used to wirelessly transmit the received sensor data to the control unit for processing.

[0016] According to some embodiments of the present invention, the multifunctional sensor adopts an MPU-6050 sensor, a BME280 sensor, or an HC-SR04 ultrasonic sensor; and the wireless transmitter adopts a Bluetooth BLE module or a Zigbee module.

[0017] According to some embodiments of the present invention, the control unit includes a housing and a microcontroller development board, a wireless communicator, a sensor data display screen, a PWM generator, a USB data line interface, a PWM wave frequency modulation knob, a PWM wave output interface and a PWM wave data display screen arranged in the housing.

[0018] According to some embodiments of the present invention, the microcontroller development board is disposed on the inner left side of the housing, the wireless communicator is fixed to the upper right side of the microcontroller development board, the sensor data display screen is fixed to the upper end of the microcontroller development board, and the USB data line interface is fixed to the lower end of the microcontroller development board;

[0019] The PWM generator is located at the inner right end of the shell, the PWM wave frequency modulation knob is fixed below the PWM generator, the PWM wave data display screen is fixed above the PWM generator, and the PWM wave output interface is fixed on the right side of the PWM generator.

[0020] According to some embodiments of the present invention, the sensor data display screen is further provided with a switch and a correction knob. The switch is fixed to the upper end of the outer shell; the correction knob is fixed to the lower left of the microcontroller development board.

[0021] According to some embodiments of the present invention, the housing is a plastic housing, the PWM generator is a PWM square wave signal generator, the switch of the sensor data display screen is a two-speed toggle switch, the correction knob and the PWM wave frequency modulation knob are both round knobs, the USB data cable interface is a USB type-C interface or a micro USB interface, the PWM wave data display screen and the sensor data display screen are both LED display screens, and the wireless communicator uses an HM-10 Bluetooth module.

[0022] According to the present invention, a monitoring and early warning system integrating a multifunctional sensor and an origami robot, by combining the origami robot with the multifunctional sensor, can not only significantly shorten response time and achieve more accurate and efficient rescue results, but also enhance the system's security and adaptability, and strengthen post-disaster recovery capabilities. The monitoring and early warning system of the present invention utilizes the integration of these dual functions to focus on optimizing the multiple functions and flexibility of the origami robot in environmental monitoring and disaster relief. This enables it to conduct environmental monitoring before a disaster occurs, providing real-time data to help formulate response strategies. After a disaster, it can quickly enter the affected area and perform search and rescue missions, reducing the risks to rescue personnel. While improving monitoring accuracy, it also makes rescue decisions more scientific and effective.

[0023] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and examples.

[0025] Figure 1 This is a schematic diagram of the overall structure of some embodiments of the origami structure in a monitoring and early warning system integrating a multifunctional sensor and an origami robot according to the present invention.

[0026] Figure 2 This is a schematic diagram of the head structure of some embodiments of the origami structure in a monitoring and early warning system integrating a multifunctional sensor and an origami robot according to the present invention, which includes a sensor unit.

[0027] Figure 3 This is a schematic diagram of the tail structure of some embodiments of the origami structure in a monitoring and early warning system integrating a multifunctional sensor and an origami robot according to the present invention.

[0028] Figure 4 Schematic diagram of the structure of some embodiments of a control unit in a monitoring and early warning system integrating a multifunctional sensor and an origami robot according to the present invention.

[0029] Meaning of the reference numerals in the figure:

[0030] 1-Origami structure;

[0031] 11-Origami robot; 111-Robot body; 112-Head cover; 112-1-First center hole; 113-Tail cover; 113-1-Second center hole;

[0032] 12- driving module; 121- SMA power spring; 122- SMA power wire; 123- fixed connection copper wire;

[0033] 2-Sensor unit;

[0034] 21-Multifunctional sensor;

[0035] 22- Wireless transmitter;

[0036] 3-Control unit;

[0037] 31-housing;

[0038] 32-microcontroller development board;

[0039] 33- Wireless communication device;

[0040] 34-Sensor data display screen; 341-Switch; 342-Correction knob;

[0041] 35-PWM generator;

[0042] 36-USB data cable interface;

[0043] 37-PWM wave frequency modulation knob;

[0044] 38-PWM wave output interface;

[0045] 39-PWM wave data display screen. DETAILED DESCRIPTION

[0046] Various exemplary embodiments disclosed in the embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure of the embodiments of the present invention and its application or use. The disclosure of the embodiments of the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the disclosure of the embodiments of the present invention thorough and complete, and to fully convey the scope of the disclosure of the embodiments of the present invention to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0047] The terms "first", "second" and similar terms used in the disclosure of the embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different parts. The terms "include" or "comprises" and similar terms mean that the elements before the term include the elements listed after the term, and do not exclude the possibility of also including other elements. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0048] In the disclosure of the embodiments of the present invention, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be connected to the other device without an intervening device but with an intervening device.

[0049] All terms (including technical or scientific terms) used in the disclosure of the embodiments of the present invention have the same meanings as those understood by those skilled in the art to which the embodiments of the present invention pertain, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as those used in general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or highly formalized sense, unless explicitly defined herein.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0051] In related technologies, origami robots, due to their lightweight and deformable characteristics, are easy to quickly deploy in complex terrains and can play an important role in environmental monitoring and disaster relief. However, in environmental monitoring and disaster relief, higher requirements are placed on the multiple functionality and flexibility of origami robots. Not only do they need to be able to monitor the environment before a disaster occurs, provide real-time data, and help formulate response strategies, but they also need to be able to quickly enter the disaster-stricken area after the disaster, perform search and rescue missions, and reduce the risks to rescue personnel. In view of this, the embodiments of the present invention disclose an embodiment that provides a monitoring and early warning system that integrates multifunctional sensors and origami robots, which can not only improve the accuracy of environmental monitoring, but also make rescue decisions more scientific and effective.

[0052] Figure 1 1 is an overall structural diagram of an origami structure 1 in a monitoring and early warning system disclosed according to some embodiments of the present invention. Figure 2 1 is a diagram of the head structure of the origami structure 1 in the monitoring and early warning system disclosed according to some embodiments of the present invention. Figure 3 It is a tail structure diagram of the origami structure 1 in the monitoring and early warning system disclosed according to some embodiments of the present invention. Figure 4 1 is a structural diagram of a control unit in a monitoring and early warning system according to some embodiments of the present invention. Figure 1-Figure 3 The embodiment of the present invention discloses an embodiment that provides a monitoring and early warning system integrating a multifunctional sensor 21 and an origami robot, including an origami structure 1, a sensor unit 2 and a control unit 3, wherein the origami structure 1 is configured as an origami robot 11 having a driving module 12, and the driving module 12 is used to drive the origami robot 11 to perform folding or unfolding actions according to the instructions of the control module; the sensor unit 2 is arranged on the body surface of the origami robot 11 for real-time monitoring of environmental changes; the control unit 3 is arranged on the outside of the origami robot 11 for receiving, processing sensor data and displaying it in real time, and at the same time for regulating the state of the origami robot 11.

[0053] In specific implementation, the sensor unit 2 can have multiple detection functions such as temperature, humidity, pressure, etc. based on the multi-function sensor 21, and can monitor environmental changes in real time. During the movement of the origami robot 11, the sensor unit 2 collects the real-time temperature, humidity and pressure information around the origami robot 11, and at the same time uses the wireless transmitter 22 to transmit the sensor data.

[0054] The monitoring and early warning system of the present invention integrates multiple sensing functions with the origami robot 11, achieving intelligent environmental response. It can automatically adjust the shape and movement of the origami robot 11 based on real-time environmental parameters such as temperature, humidity, and air pressure. This makes the monitoring and early warning system not only real-time, ensuring rapid data feedback and processing, but also flexible, able to adapt to different environmental changes and meet various application needs. This system has broad application potential, including in smart agriculture, environmental monitoring, and disaster warning.

[0055] Equipped with the multifunctional sensor 21, the origami robot 11 can collect and analyze key environmental data in real time, further developing the following technical effects:

[0056] During a disaster, the Origami Robot 11 can be rapidly deployed to the affected area, using its integrated sensing capabilities to detect the location of trapped individuals and assess the safety of the surrounding environment. For example, after an earthquake, the Origami Robot 11 can use a temperature sensor to detect the body temperature of survivors, while using an acoustic sensor to capture faint cries for help, thereby improving the success rate of positioning and potentially increasing the survival detection rate by 30%.

[0057] In post-disaster environmental monitoring, real-time data collection can effectively assess environmental safety and detect the risk of secondary disasters. For example, the Origami Robot 11 can monitor water quality and detect contaminants in real time, helping rescue teams quickly assess the safety of drinking water. After a flood, the Origami Robot 11 can be deployed to hazardous areas to monitor water levels and flow rates in real time, providing crucial data support for evacuation and rescue efforts.

[0058] The Origami Robot 11 can reduce rescue response times by at least 20%, significantly improving the efficiency of rescue operations. This dual-functional integration not only enhances rescue effectiveness but also strengthens post-disaster recovery capabilities, providing users with reliable data support.

[0059] The significance of the Origami Robot 11 in environmental monitoring and disaster relief lies in its multifunctionality and flexibility. It can monitor the environment before a disaster strikes, providing real-time data to aid in the development of response strategies. After a disaster, it can quickly enter the affected area and conduct search and rescue missions, mitigating risks to rescuers. Its integrated sensing capabilities not only improve monitoring accuracy but also enable more effective and efficient rescue decisions.

[0060] Reference Figures 1 to 3The origami robot 11 of the embodiment of the present invention includes a retractable and deformable robot body 111, which is configured to be made of folded polyester film or polyethylene film; the front and rear ends of the robot body 111 are also symmetrically provided with a head cover piece 112 and a tail cover piece 113 both in contact with the ground, and the friction coefficient between the tail cover piece 113 and the ground is greater than the friction coefficient between the head cover piece 112 and the ground.

[0061] The friction coefficient is set so that the tail cover 113 can provide friction when the origami robot 11 deforms and moves forward. This allows the robot's tail to be fixed at a single point, serving as a support point for its movement. More specifically, the tail cover 113 can be made of a frosted surface to achieve a higher friction coefficient, better providing friction when the origami robot 11 deforms and moves forward.

[0062] The structure of the robot body 111 is not an improvement point of the present application. It can be a folding structure as shown in the figure, or it can be selected from any structure in the prior art. In terms of material, it is preferred to use a lightweight film material that can automatically adjust its shape when the environment changes, such as polyester film (PET) or polyethylene film (PE). Polyester film has good strength and transparency, and polyethylene film has excellent flexibility and water resistance, and the creases are more obvious.

[0063] In the embodiment of the present invention, referring to Figure 1-3 The driving module 12 includes a plurality of SMA power springs 121 and an SMA power wire 122 which are independently controlled by the control unit 3. The SMA power wire 122 and all the SMA power springs 121 are connected by a fixed copper wire 123 to form an integrated structure that can be synchronized.

[0064] An SMA power wire 122 is movably disposed inside the origami robot 11 . The SMA power wire 122 is configured to restore the origami robot 11 to its original shape by straightening when energized.

[0065] A plurality of SMA power springs 121 are evenly fixedly disposed around the origami robot 11 . Each SMA power spring 121 is configured to control the origami robot 11 to move forward or turn by contracting when powered on.

[0066] Specifically, the fixed connecting copper wire 123 is used to connect the SMA power-carrying wire 122 and the SMA power-carrying spring 121. On the one hand, it can ensure that when either the SMA power-carrying wire 122 or the SMA power-carrying spring 121 is deformed, it can affect the other parts. On the other hand, it can simultaneously ensure that the SMA power-carrying wire 122 and the SMA power-carrying spring 121 can be close to the surface of the origami structure 1 to avoid falling off during movement.

[0067] In this embodiment, both the SMA energized spring 121 and the SMA energized wire 122 are made of SMA material, and utilize the SMA material's ability to change shape when energized. The SMA energized spring 121 and the SMA energized wire 122 are precisely driven by PWM signals output by the control unit 3, enabling the origami structure 1 to flexibly fold and unfold according to environmental changes, thereby achieving intelligent environmental response.

[0068] In order to realize external power supply, such as Figure 1 As shown, the SMA power wire 122 and the SMA power spring 121 need to be provided with a conductor. The SMA power wire 122 will become straight when energized, and is used to restore the initial shape of the origami robot 11. The SMA power spring 121 will contract when energized, and is used to control the robot to move forward or turn. When the SMA power springs 121 on both sides of the lower body of the origami robot 11 contract, the robot body will become a bow shape, and the SMA power spring 121 will stop being energized, and then the SMA power wire 122 will be energized to restore the robot posture. During this process, the tail cover 113 will fix the position of the robot's tail, thereby pushing the robot forward.

[0069] Reference Figure 1-3 In the embodiment of the present invention, there are four SMA power springs 121, and both ends of each SMA power spring 121 are fixedly connected to the head cover 112 and the tail cover 113 respectively; the SMA power wire 122 passes through the first center hole 112-1 and the second center hole 113-1 opened in the head cover 112 and the tail cover 113 in sequence, and its two ends are respectively connected to the corresponding ends of the four SMA power springs 121 through four fixed connecting copper wires 123.

[0070] The SMA powered wire 122 and the SMA powered spring 121 will deform when energized, and the body posture of the origami robot 11 will continuously deform and recover during this process. The tail position of the origami robot 11 is fixed by the tail cover 113, and the robot body (i.e., the robot body 111) is pushed forward while the posture of the robot returns to its initial state.

[0071] In a specific implementation, four SMA energized springs 121 and one SMA energized wire 122 constitute the drive module 12. Drive module 12 is precisely driven by PWM signals output by control unit 3, enabling the origami structure 1 to flexibly fold and unfold according to environmental changes, thereby achieving intelligent response to the environment. In a more specific example, PWM generator 35 can generate five independent PWM waves, each connected to the four SMA energized springs 121 and one SMA energized wire 122. When energized, these waves move in different directions and for different durations, thereby controlling the robot's motion.

[0072] According to some embodiments of the present invention, referring to Figure 2 The sensor unit 2 includes a multifunctional sensor 21 and a wireless transmitter 22 which are jointly arranged on the head of the origami robot 11. The multifunctional sensor 21 is used to monitor and obtain a series of sensor data representing environmental changes, and the wireless transmitter 22 is used to wirelessly transmit the received sensor data to the control unit 3 for processing.

[0073] In an embodiment of the present invention, the multi-function sensor 21 can adopt an MPU-6050 sensor, a BME280 sensor or an HC-SR04 ultrasonic sensor; it can be understood that the specific type of the multi-function sensor 21 can be replaced as needed. When the MPU-6050 sensor with an integrated accelerometer and gyroscope is adopted, it can be used for posture detection and motion monitoring. When the BME280 sensor is adopted, it integrates temperature, humidity and air pressure sensing functions, which is suitable for environmental monitoring. When the HC-SR04 ultrasonic sensor is adopted, it is mainly used for distance measurement and can detect obstacles, etc.

[0074] The wireless transmitter 22 of the embodiment of the present invention preferably adopts a low-power Bluetooth BLE module or a Zigbee module. By being equipped with a tiny wireless transmitter 22, it is easy to be arranged on the origami robot 11, which is conducive to wirelessly transmitting the sensor data collected by the sensor to the control unit 3 in a low-energy manner, and then wirelessly transmitting it to the mobile device or host computer through the wireless communicator 33 of the control unit 3, thereby finally realizing remote monitoring.

[0075] During the movement of origami robot 11, sensor unit 2 located on its body surface collects real-time data about temperature, humidity, and air pressure around it and wirelessly transmits this data. This data is then output or exported and stored by control unit 3. In emergency situations such as post-disaster rescue, origami robot 11 can use sensors to detect the temperature and humidity in the affected area, helping rescuers assess the situation and locate trapped individuals. Furthermore, in industrial areas or heavily polluted environments, origami robot 11 can be equipped with gas sensors to monitor the concentration of harmful gases and promptly report pollution levels, providing data support for environmental protection. The sensors can also continuously monitor environmental parameters, collecting data on temperature, humidity, and air pressure.

[0076] In the embodiment of the present invention, referring to Figure 4 The control unit 3 includes a housing 31 and a microcontroller development board 32, a wireless communicator 33, a sensor data display screen 34, a PWM generator 35, a USB data line interface 36, a PWM wave frequency modulation knob 37, a PWM wave output interface 38 and a PWM wave data display screen 39.

[0077] The PWM generator 35 is used to transmit PWM waves to control the movement of the origami robot 11. The wireless communicator 33 is used to help users export sensor data based on specific needs, facilitating further analysis and processing. For example, it can be transmitted in real time to a host computer or mobile device for remote monitoring. During use, the PWM frequency modulation knob 37 is used to adjust the frequency, which is displayed on the PWM wave data display 39 and output through the PWM wave output interface 38. The wireless communicator 33 imports the sensor data into the microcontroller development board 32 and displays the temperature, humidity, and pressure of the origami robot 11's environment in real time on the sensor data display 34. The control unit 3 can then intelligently adjust the shape and position of the origami structure 1 based on the received sensor data to adapt to different environmental conditions, thereby improving the system's flexibility and response efficiency while also extending the robot's operating time.

[0078] The microcontroller development board 32 of the embodiment of the present invention is arranged on the inner left side of the housing 31, the wireless communicator 33 is fixed to the upper right side of the microcontroller development board 32, the sensor data display screen 34 is fixed to the upper end of the microcontroller development board 32, and the USB data line interface 36 is fixed to the lower end of the microcontroller development board 32; the PWM generator 35 is arranged at the inner right end of the housing 31, the PWM wave frequency modulation knob 37 is fixed below the PWM generator 35, the PWM wave data display screen 39 is fixed above the PWM generator 35, and the PWM wave output interface 38 is fixed to the right side of the PWM generator 35.

[0079] More specifically, the sensor data display screen 34 may also be provided with a switch 341 and a correction knob 342 , wherein the switch 341 is fixed to the upper end of the outer shell 31 ; and the correction knob 342 is fixed to the lower left of the microcontroller development board 32 .

[0080] Initially, wireless transmitter 22 receives sensor data and transmits it to control unit 3 for processing. Control unit 3 then drives the movement of origami robot 11 via PWM signals. Later, when environmental data needs to be exported, the user can utilize wireless communicator 33 to receive the data via a mobile device or host computer. Switch 341 activates sensor data display 34, which displays real-time information such as temperature, humidity, and pressure. Correction knob 342 corrects the data when sensor data display 34 is activated, ensuring accurate and reliable display.

[0081] In this embodiment of the present invention, the housing 31 is a plastic housing 31, the PWM generator 35 is a PWM square wave signal generator, the switch 341 of the sensor data display screen 34 is a two-speed toggle switch 341, the correction knob 342 and the PWM wave frequency modulation knob 37 are both round knobs, the USB data line interface 36 is a USB type-C interface or a micro USB interface, the PWM wave data display screen 39 and the sensor data display screen 34 are both LED display screens, and the wireless communicator 33 is an HM-10 Bluetooth module.

[0082] The overall working process of the control unit 3 in the embodiment of the present invention can be as follows:

[0083] The USB data line interface 36 is primarily responsible for powering the control unit 3. When sensor data needs to be exported, it can be exported to the host computer for storage via this USB data line interface 36. Switch 341 turns on the LED display, and the wireless communicator 33 receives data from the sensor unit 2. The calibration knob 342 is responsible for zeroing the sensor when it is turned on. When the sensor data is transmitted to the sensor data display screen 34 via wireless communication, the PWM wave data display screen 39 displays the sensor data. When the PWM generator 35 outputs a PWM waveform, the PWM wave frequency modulation knob 37 controls the PWM wave frequency. The PWM generator 35 can generate five independent PWM waveforms, which are output to the five SMA devices of the driver module 12 via the PWM wave output interface 38. The PWM waveform data is then displayed on the PWM wave data display screen 39. When the origami robot 11 is moving, it will first receive a PWM signal sent from the control unit 3. The PWM signal will control the SMA power spring 121 and the SMA power wire 122 on the origami robot 11. The SMA power spring 121 will contract after being energized, causing the robot body to become arched. Then, the power to the SMA power spring 121 will be stopped, and the power to the SMA power wire 122 will be energized to restore the robot's posture. Then, the power to the SMA power wire 122 will be stopped, and the power to the SMA power spring 121 will be restored. This process will be repeated to control the movement of the origami robot 11 through the morphological changes of these SMA devices.

[0084] In practical comprehensive applications, the monitoring and early warning system provided by the embodiment of the present invention, which integrates the multifunctional sensor 21 and the origami robot, has at least the following technical advantages:

[0085] 1) High safety: In dangerous environments, the origami robot 11 can replace humans in entering high-risk areas for detection, reducing personnel safety risks. At the same time, it can effectively assess environmental safety and collect important data.

[0086] 2) Strong Structural Adaptability: Origami Robot 11 uses shape memory alloy (SMA) as its driving material, enabling it to flexibly change shape according to environmental demands. This adaptability enables the robot to operate efficiently in complex and changing environments, particularly by dynamically adjusting to specific tasks.

[0087] 3) Fast response, improved accuracy, and flexibility: The monitoring and early warning system of this embodiment of the present invention, combined with the multifunctional sensor 21, can monitor environmental parameters in real time and transmit them to the control unit 3 in real time. This real-time feedback mechanism ensures that the system can quickly respond to environmental changes, improving the accuracy and flexibility of task execution.

[0088] 4) Diverse application scenarios: The monitoring and early warning system designed in the embodiments of the present invention can be flexibly applied in multiple application fields (such as environmental monitoring, rescue missions, logistics handling, etc.), and has broad market potential and adaptability.

[0089] Thus far, the various embodiments disclosed in the embodiments of the present invention have been described in detail. To avoid obscuring the concepts disclosed in the embodiments of the present invention, some details well known in the art have not been described. Based on the above description, those skilled in the art will fully understand how to implement the technical solutions disclosed herein.

[0090] Although some specific embodiments disclosed in the embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are for illustration only and are not intended to limit the scope of the embodiments disclosed in the present invention. Those skilled in the art should understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the embodiments disclosed in the present invention. The scope of the embodiments disclosed in the present invention is defined by the appended claims.

Claims

1. A monitoring and early warning system integrating a multifunctional sensor and an origami robot, characterized in that: include: An origami structure configured as an origami robot having a driving module, the driving module being configured to drive the origami robot to perform a folding or unfolding action according to instructions from a control module; A sensor unit is provided on the body surface of the origami robot and is used to monitor environmental changes in real time; A control unit, which is located outside the origami structure and is used to receive and process sensor data and display it in real time, as well as to regulate the state of the origami robot; The origami robot comprises a retractable and deformable robot body, which is configured to be made by folding a polyester film or a polyethylene film; The driving module includes a plurality of SMA power springs and an SMA power wire that are independently controlled by a control unit. The SMA power wire is connected to all the SMA power springs via a fixed copper wire to form an integrated structure that can be synchronized. An SMA powered wire is movably disposed inside the origami robot, and the SMA powered wire is configured to restore the origami robot to its original shape by straightening when energized; A plurality of SMA power springs are evenly fixed around the origami robot, and each SMA power spring is configured to control the origami robot to move forward or turn by contraction when powered on.

2. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 1, characterized in that: The front and rear ends of the robot body are symmetrically provided with a head cover plate and a tail cover plate both in contact with the ground, and the friction coefficient between the tail cover plate and the ground is greater than the friction coefficient between the head cover plate and the ground.

3. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 2, characterized in that: There are four SMA power springs, and both ends of each SMA power spring are fixedly connected to the head cover and the tail cover respectively; the SMA power wire passes through the first center hole and the second center hole opened in the head cover and the tail cover in sequence, and its two ends are connected to the corresponding ends of the four SMA power springs through the four fixed connecting copper wires.

4. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 1, characterized in that: The sensor unit includes a multifunctional sensor and a wireless transmitter which are jointly arranged on the head of the origami robot. The multifunctional sensor is used to monitor and obtain a series of sensor data representing environmental changes, and the wireless transmitter is used to wirelessly transmit the received sensor data to the control unit for processing.

5. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 4, characterized in that: The multifunctional sensor adopts an MPU-6050 sensor, a BME280 sensor or an HC-SR04 ultrasonic sensor; the wireless transmitter adopts a Bluetooth BLE module or a Zigbee module.

6. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 1, 2, 3, 4, or 5, characterized in that: The control unit includes a shell and a microcontroller development board, a wireless communicator, a sensor data display screen, a PWM generator, a USB data line interface, a PWM wave frequency modulation knob, a PWM wave output interface and a PWM wave data display screen arranged in the shell.

7. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 6, characterized in that: The microcontroller development board is arranged on the inner left side of the housing, the wireless communicator is fixed to the upper right side of the microcontroller development board, the sensor data display screen is fixed to the upper end of the microcontroller development board, and the USB data line interface is fixed to the lower end of the microcontroller development board; The PWM generator is arranged at the inner right end of the shell, the PWM wave frequency modulation knob is fixed below the PWM generator, the PWM wave data display screen is fixed above the PWM generator, and the PWM wave output interface is fixed on the right side of the PWM generator.

8. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 7, characterized in that: The sensor data display screen is also provided with a switch and a correction knob. The switch is fixed to the upper end of the outer shell; the correction knob is fixed to the lower left of the microcontroller development board.

9. The monitoring and early warning system integrating a multifunctional sensor and an origami robot according to claim 8, characterized in that: The shell is a plastic shell, the PWM generator is a PWM square wave signal generator, the switch of the sensor data display screen is a two-speed toggle switch, the correction knob and the PWM wave frequency modulation knob are both round knobs, the USB data cable interface is a USB type-C interface or a micro USB interface, the PWM wave data display screen and the sensor data display screen are both LED display screens, and the wireless communicator uses an HM-10 Bluetooth module.

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