Indoor harmful gas leakage source positioning robot

Abstract

The utility model discloses an indoor harmful gas leakage source positioning robot. The robot is composed of a movement unit, a control unit, a lifting unit and a sensing unit, environment harmful gas information is obtained through a gas sensor set, a top end sensor and a bottom end sensor, and movement and steering of a trolley are adjusted through a controller; searching in a transverse plane is achieved, a driving motor is controlled to adjust longitudinal movement of a ball screw sliding block, longitudinal harmful gas information sensing is achieved, obstacle avoidance and leakage source positioning are conducted through a millimeter wave radar and a laser radar, and harmful gas leakage source positioning is achieved.

Description

Technical Field

[0001] The utility model relates to the research field of leakage source positioning, in particular to a robot for positioning indoor harmful gas leakage sources. Background Art

[0002] In chemical enterprises, sulfur hexafluoride, freon, carbon dioxide, alkane gas, chlorine and ammonia are widely used because of their easy storage and low cost. Once these gases, especially harmful gases, leak, they will cause harm to the environment and even cause disasters such as fire and explosion, seriously threatening the safety of society and people's lives and property.

[0003] For harmful gas leaks, it is necessary to quickly and accurately locate the leak source, which is an important measure to effectively control the leak source. Since the diffusion of gas is three-dimensional, a self-adjusting height positioning leak source is needed to locate the leak source at different heights, which is of great significance to protecting human health and environmental safety. Utility Model Content

[0004] The utility model provides a robot for locating indoor harmful gas leakage sources, which solves the above technical problems.

[0005] In order to solve the above technical problems, the utility model provides an indoor harmful gas leakage source positioning robot composed of four parts: a motion unit, a control unit, a lifting unit and a sensing unit. The environmental harmful gas information is obtained through a gas sensor group, a top sensor and a bottom sensor. The movement and steering of the trolley are adjusted by a controller to realize the search in the horizontal plane and control the driving motor to adjust the longitudinal movement of the ball screw slider to realize the longitudinal harmful gas information perception. The millimeter wave radar and the laser radar are used for obstacle avoidance and leakage source position estimation to realize environmental perception and harmful gas leakage source positioning.

[0006] Preferably, the electric box in the motion unit drives the rear drive wheel axle to rotate, and the rear drive wheel axle is connected to the rear drive wheel to drive rotation; the rear drive wheel end cover is fixed to the rear drive wheel by a fixing screw, and the front steering wheel is connected to the front steering axle by a front steering sleeve, and the rear drive wheel and the front steering wheel jointly drive the track to rotate.

[0007] Preferably, the controller in the control unit is installed behind the flat panel, and the outer side is protected by a controller protection shell, and the millimeter wave radars are distributed on the flat panel.

[0008] Preferably, the drive motor cooperates with the bevel gear through a key, the ball screw cooperates with the bevel gear through a key, and the drive motor and the ball screw are transmitted through the meshing of the bevel gears; the drive protective shell is sleeved on the periphery of the drive motor, the bottom end of the support rod is fixed on the drive protective shell, and the top end is fixed on the support rod fixing plate to fix the ball screw.

[0009] Preferably, the top sensor and the bottom sensor are respectively fixed at the two ends of the ball screw, the fixing frame is connected to the slider through the hexagonal bolts and nuts, the gas sensor group is installed on the sensor array frame and fixed to the fixed template together with the laser radar, and the fixed template is connected to the fixing frame through the supporting short rod.

[0010] Preferably, the controller integrates a central processing unit, a drive motor control module, and a data acquisition module. The drive motor control module controls the forward and reverse rotation of the motor to adjust the movement of the ball screw slider; the data acquisition module is used to collect environmental perception data information, including a gas sensor group, a top sensor, and a bottom sensor.

[0011] Preferably, the motion unit has a built-in electric box to provide power for the robot, the control unit, the sensing unit, and the lifting unit.

[0012] Preferably, the base connecting frame is connected to the flat plate.

[0013] Preferably, the sensors in the gas sensor group are distributed in groups of two on the sensor array board, receive environmental gas data of half a plane, and transmit the data to the controller to drive the turning and movement of the motion unit.

[0014] Compared with the related art, the indoor harmful gas leakage source positioning robot provided by the utility model has the following beneficial effects:

[0015] The utility model provides a robot for locating indoor harmful gas leakage sources. In the utility model, a gas sensor group and a laser radar sensor are arranged on a slider on a ball screw, so as to realize gas data collection and environmental perception of the external environment. A driving motor is used to drive the ball screw to rotate, so as to realize the movement of the gas sensor group and the laser radar sensor, expand the longitudinal environmental perception, and at the same time, the ball screw is used to realize map construction of different height positions and detection of environmental gas component content at different height positions, so as to realize rapid and accurate positioning of the leakage source. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional structural diagram of a robot for locating indoor harmful gas leakage sources.

[0017] Figure 2 Front view of a robot for locating sources of indoor hazardous gas leaks.

[0018] Figure 3 An enlarged view of the local structure of the lifting unit of the robot used to locate the source of indoor harmful gas leakage.

[0019] Figure 4 An enlarged view of some local structures of the robot perception unit for locating the source of indoor harmful gas leakage.

[0020] Figure 5 Millimeter-wave radar of the robot and the location distribution map of the control unit for locating the source of indoor harmful gas leakage.

[0021] Figure 6 Schematic diagram of the structure of the robot motion unit for locating the source of indoor harmful gas leakage.

[0022] Figure 7 Motion logic diagram of the lifting unit of the robot for locating indoor harmful gas leakage sources.

[0023] Figure 8 Workflow diagram for locating the source of indoor harmful gas leakage using a robot to locate the source of leakage. DETAILED DESCRIPTION

[0024] The utility model patent designs a robot for locating indoor harmful gas leakage sources, which utilizes a millimeter wave radar (410) to avoid obstacles, a laser radar (402) to achieve position estimation, and a gas sensor group (404) on a ball screw (304) and a transmission structure combined with a control algorithm to sense the environment, fuse and analyze gas information, and locate the leakage source.

[0025] The utility model provides an indoor harmful gas leakage source positioning robot, wherein a rear drive wheel shaft (103) is driven to rotate by an electric box (107) in a motion unit (1), and the rear drive wheel shaft (103) is connected to a rear drive wheel (102) to drive the rotation; a rear drive wheel end cover (104) is fixed to the rear drive wheel (102) by a fixing screw (105), and a front steering wheel (108) is connected to a front steering shaft (110) by a front steering sleeve (109), and the rear drive wheel (102) and the front steering wheel (108) jointly drive the crawler track (101) to rotate.

[0026] The driving motor (301) cooperates with the bevel gear (302) via a key (303), the ball screw (304) cooperates with the bevel gear (302) via a key (303), and the driving motor (301) and the ball screw (304) are meshed and transmitted via the bevel gear (302).

[0027] The drive protection shell (307) covers and protects the drive motor (301) and part of the bottom end of the ball screw (304), and fixes the support rod (305) together with the support rod fixing plate (308).

[0028] The top sensor (401) and the bottom sensor (407) are respectively fixed to the top and bottom of the ball screw (304), and the lifting and lowering of the slider (306) is controlled by the difference between the two sensors to determine the maximum longitudinal concentration position in the area.

[0029] The gas sensor group (404) distributed on the sensor array board (403) receives environmental gas data of half a plane, and transmits the data to the controller (202) to drive the turning and movement of the motion unit.

[0030] The laser radar (402) is fixed on the fixed template (408), and the millimeter wave radar (410) is fixed on the flat plate (201), and is connected to the controller (202) via a wire.

[0031] The utility model provides an indoor harmful gas leakage source positioning robot, the connection process comprising: the power lines of the controller (202) and the sensing unit and the driving motor are all connected to the electrical box of the motion unit; the communication interface guide lines of the gas sensor group (404), the millimeter wave radar (410), the top sensor (401), and the bottom sensor (407) are connected to the corresponding module interface of the controller (202); the laser radar (402) wire is connected to the corresponding interface of the controller (202); the millimeter wave radar (410) wire is connected to the corresponding interface of the controller (202); and the communication control interface of the driving motor (301) is connected to the corresponding interface of the controller (202) through a wire.

[0032] The utility model provides a robot for locating indoor harmful gas leakage sources, and the leakage source locating process is summarized as three stages: plume discovery, plume tracking, and leakage source confirmation. The robot is started, and the leakage source locating robot will randomly search the search site. When the smoke plume is detected, the plume discovery stage is completed and the plume tracking stage is entered; the leakage source locating robot uses the gas sensor group (404) to collect ambient gas information, and adjusts the height of the slider (306) in the ball screw (304) according to the concentration gradient method to analyze the collected information and determine the next target point, and then completes the plume tracking stage and enters the leakage source confirmation stage; when the leakage source locating robot reaches the target point, the laser radar (410) on the fixed template (408) is used to confirm the high-precision and high-resolution position information of the leakage source, and the leakage source confirmation and positioning are completed.

[0033] The utility model provides an indoor harmful gas leakage source positioning robot, wherein the height direction operation logic of the lifting unit includes: the controller receives the gas concentration values ​​of the top sensor (401) and the bottom sensor (407) and the concentration of the gas sensor group (404) for calculation, and transmits the calculated next height position to the drive motor (301) control module, driving the ball screw (304) to adjust, as shown in formula (1) and formula (2):

[0034] (1)

[0035] (2)

[0036] in:

[0037] ——The height value of the gas sensor group in the next step;

[0038] ——Current gas sensor group height value;

[0039] ——Gas concentration value of the top sensor;

[0040] ——The average gas concentration of the gas sensor group;

[0041] ——Gas concentration value of the bottom sensor;

[0042] ——Unit feed height coefficient;

[0043] ——The maximum moving height of the slider.

[0044] The utility model provides an indoor harmful gas leakage source positioning robot, and the movement and steering strategy based on the gas sensor group (404) is as follows: the gas sensor group has a total of ten sensors, and two sensors are arranged in a group, distributed in half a plane, that is, in five directions: front, left, left front, right, and right front. In an indoor harmful gas environment, by receiving five groups of gas data in different directions, the steering of the motion unit is controlled based on the concentration gradient method, and the leakage source positioning robot is set to move one meter per step, and the next step of decision-making is performed after the movement.

[0045] The above description is a preferred embodiment of the present invention and is not intended to limit the present invention. For ordinary technicians in this technical field, several modifications and changes can be made without departing from the principles and principles described in the present invention, which should all be included in the protection scope of the present invention.

Claims

1. A robot for locating indoor harmful gas leakage sources, characterized in that: The motion unit (1) comprises a crawler track (101), a rear driving wheel (102), a rear driving wheel shaft (103), a rear driving wheel end cover (104), a fixing screw (105), a base connecting frame (106), an electric box (107), a front steering wheel (108), a front steering sleeve (109), and a front steering shaft (110); the electric box (107) drives the rear driving wheel shaft (103) to rotate, and the rear driving wheel shaft (103) is connected to the rear driving wheel (102) to drive the rotation; the rear driving wheel end cover (104) is fixed to the rear driving wheel (102) by the fixing screw (105), and the front steering wheel (108) is connected to the front steering shaft (110) by the front steering sleeve (109), and the crawler track (101) is driven to rotate by the rear driving wheel (102) and the front steering wheel (108); The control unit (2) comprises a flat plate (201), a controller (202), and a controller protective shell (203); the controller (202) is installed behind the flat plate (201), and the outer side is protected by the controller protective shell (203); the lifting unit (3) comprises a driving motor (301), a bevel gear (302), a key (303), a ball screw (304), a support rod (305), a slider (306), a driving protective shell (307), and a support rod fixing plate (308); the The driving motor (301) is matched with the bevel gear (302) through a key (303), the ball screw (304) is matched with the bevel gear (302) through a key (303), and the driving motor (301) and the ball screw (304) are meshed and driven through the bevel gear (302); the driving protection shell (307) is sleeved on the outer periphery of the driving motor (301), the bottom end of the support rod (305) is fixed on the driving protection shell (307), and the top end is fixed on the support rod fixing plate (308) to fix the ball screw (304), The sensing unit (4) comprises a top sensor (401), a laser radar (402), a sensor array frame (403), a gas sensor group (404), a fixing frame (405), a hexagon socket bolt nut (406), a bottom sensor (407), a fixing template (408), a supporting short rod (409), and a millimeter wave radar (410); the top sensor (401) and the bottom sensor (407) are respectively fixed to the two ends of the ball screw (304); the fixing frame (405) is connected to the slider (306) through the hexagon socket bolt nut; the gas sensor group (404) is installed on the sensor array frame (403) and is fixed on the fixing template (408) together with the laser radar (402); the fixing template (408) is connected to the fixing frame (405) through the supporting short rod (409).

2. The robot for locating indoor harmful gas leakage sources according to claim 1, characterized in that: The electrical box (107) is electrically connected to the controller (202), the drive motor (301), the top sensor (401), the laser radar (402), the gas sensor group (404), the bottom sensor (407) and the millimeter wave radar (410) respectively.

3. The robot for locating indoor harmful gas leakage sources according to claim 1, characterized in that: The controller (202) integrates a central processing unit, a drive motor control module, and a data acquisition module into one.

4. The robot for locating indoor harmful gas leakage sources according to claim 3, characterized in that: The driving motor control module in the controller (202) controls and adjusts the forward and reverse rotation of the driving motor (301), thereby adjusting the movement of the ball screw (304) and the slider (306); the data acquisition module is used to collect environmental information, including a gas sensor group (404), a top sensor (401), and a bottom sensor (407).

5. The robot for locating indoor harmful gas leakage sources according to claim 1, characterized in that: The laser radar (402) and the millimeter wave radar (410) are connected to the controller (202) via wires.

6. The robot for locating indoor harmful gas leakage sources according to claim 1, characterized in that: The gas sensor group (404) comprises a total of ten gas sensors, each of which is a group of two, fixed on the sensor array frame (403) and connected to the top sensor (401) and the bottom sensor (407) via wires with the controller (202).

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