Lifting type smell source intelligent search olfaction robot

Abstract

The utility model discloses a lifting type smell source intelligent search olfaction robot, and belongs to the technical field of robot equipment. The robot is mainly composed of a robot platform, a motion unit, a sensing unit and a lifting unit. Wherein the robot platform comprises a lower chassis, an upper chassis, a supporting rod and an intelligent control power supply module and is used for supporting and controlling other modules; the moving unit is composed of moving wheels and a driving motor and is responsible for providing moving ability for the robot; the sensing unit is composed of a gas sensor, an ultrasonic sensor, a wind direction sensor, a depth camera and a gas sensor group and is used for environment sensing and smell source positioning; and the lifting unit comprises a lifting base, a motor, a lead screw, a lifting platform, a lifting rod, a lead screw nut, a connecting rod and a gas sensor group, so that the robot can realize smell tracing in a three-dimensional space. According to the utility model, three-dimensional search can be carried out on smell sources at different heights in a three-dimensional space, so that the three-dimensional search device has higher practicability and value.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field, concretely relates to a lifting type smell source intelligent search olfactory robot. BACKGROUND

[0002] At present, with the rapid development of industrialization, toxic and harmful gas has become a potential danger source that people have to face in production and life. Therefore, the technical research on toxic and harmful smell source searching gradually attracts widespread attention. Effective smell source positioning method has extremely important practical significance for guaranteeing air quality, maintaining social safety and responding to emergencies.

[0003] Mobile olfactory robot as an intelligent technology can autonomously find, track and accurately locate toxic and harmful gas source without artificial intervention. However, in practical application, toxic and harmful gas source may be distributed in different height space positions. The current mobile olfactory robot has the following limitations: only horizontal plane search or only fixed height search in vertical direction can be carried out, and accurate positioning of smell source in three-dimensional space cannot be realized. SUMMARY

[0004] To solve the above problems, the utility model provides a lifting type smell source intelligent search olfactory robot, which is characterized by comprising a robot platform, a motion unit, a perception unit and a lifting unit.

[0005] Preferably, the robot platform is composed of a lower chassis, an upper chassis, a support rod and an intelligent control power module, which is used for supporting and controlling other modules, the lower chassis and the upper chassis are connected and fixed by the support rod, the intelligent control power module is fixedly arranged on the top of the lower chassis, and the intelligent control power module provides control and power for the motion unit, the perception unit and the lifting unit.

[0006] Preferably, the motion unit is composed of a moving wheel and a driving motor, which is used for providing the robot with moving ability, the driving motor receives the processed control signal through the intelligent control power module, drives the moving wheel to execute corresponding moving instructions, and the driving motor is electrically connected with the intelligent control power module.

[0007] Preferably, the three gas sensors of the olfactory robot are fixedly installed at the front end of the top of the lower chassis and are distributed at an angle of 90° (for example, the three gas sensors are arranged in a triangle shape). Figure 3The three gas sensors detect the gas concentration in real time during operation and transmit the data to the intelligent control power module; the intelligent control power module processes, analyzes and compares the data transmitted by the three sensors and drives the driving motor to rotate, thereby determining the next moving direction of the robot in the smoke plume tracking stage: the concentrations of the three gas sensors are (S_1) (front end), (S_2) (left side) and (S_3) (right side), and the next turning direction is determined according to the following rules: if (S_1) is the largest, the robot moves forward; if (S_2) is the largest, the robot turns left; if (S_3) is the largest, the robot turns right; if the gas concentrations detected by the three gas sensors are equal, the robot fine-tunes and detects again to ensure stable approach to the odor source; the gas sensor and the driving motor are electrically connected with the intelligent control power module.

[0008] Preferably, the ultrasonic sensor is used for robot obstacle avoidance, and the ultrasonic sensor is fixedly installed on the ultrasonic support, which is fixedly installed on the top front end of the upper chassis. The ultrasonic sensor is electrically connected with the intelligent control power module.

[0009] Preferably, the wind direction sensor works with the gas sensor to combine the detected wind direction information and gas concentration data to drive the robot to move against the wind in the smoke plume tracking stage. The wind direction sensor is fixedly installed on the top front end of the upper chassis and transmits the detected wind direction information to the intelligent control power module for processing and analysis, thereby controlling the robot to adjust the moving direction; the wind direction sensor is electrically connected with the intelligent control power module.

[0010] Preferably, the gas sensor group cooperates with the depth camera to accurately locate the position of the odor source. The gas sensor group is composed of six gas sensors arranged in a circular array, and the included angle between adjacent two gas sensors is 60° (as shown). Figure 3 The gas sensor group is fixedly installed on the top of the lifting platform, real-time monitors the gas concentration and transmits the data to the intelligent control power module, and the intelligent control power module processes, analyzes and compares the transmitted data and drives the servo motor to rotate, thereby realizing accurate positioning of the specific position of the odor source; the gas sensor group, the depth camera and the servo motor are electrically connected with the intelligent control power module.

[0011] Preferably, the lifting unit is used to realize the search and accurate positioning of the odor source in three-dimensional space, which comprises a lifting base, a motor, a lead screw, a lifting platform, a lifting rod, a lead screw nut, a connecting rod, a gas sensor and a gas sensor group, the lifting base is fixedly arranged at the top of the rear end of the upper chassis, the motor is fixedly arranged on the lifting base, and the output shaft of the motor is fixedly connected with a section of the lead screw; the lead screw nut is connected with the lead screw through thread engagement, and the lead screw nut moves back and forth along the lead screw shaft with the rotation of the lead screw, and drives the lifting rods at the lowermost end to slide back and forth through the connecting rod fixedly connected with the lead screw nut; all the lifting rods are sequentially hingedly connected, one end of the two lifting rods at the lowermost end is rotationally connected with the shaft hole on the lifting base, one end of the two lifting rods at the lowermost end is arranged in the guide rail of the lifting base, the two lifting rods at the lowermost end slide back and forth in the guide rail through the driving of the connecting rod, and the four lifting rods at the uppermost end are arranged in the guide rail of the lifting platform and can slide back and forth in the guide rail, so that the lifting platform realizes the lifting function through the mutual folding and unfolding of the lifting rods and the driving of the lead screw and the constraint of the guide rail; and the motor is electrically connected with the intelligent control power module.

[0012] Preferably, the gas sensor and the gas sensor group work cooperatively to compare and analyze the detected gas concentration information, if the average concentration detected by the gas sensor group is greater than the concentration (S_1) detected by the front-end gas sensor, the motor is started to drive the lead screw to rotate, the lead screw nut moves towards the front end of the robot along the lead screw shaft, and then drives the lifting platform to move upwards to approach the odor source; if the average concentration detected by the gas sensor group is less than the concentration (S_1) detected by the front-end gas sensor, the motor is started to drive the lead screw to rotate, the lead screw nut moves towards the rear end of the robot along the lead screw shaft, and then drives the lifting platform to move downwards to approach the odor source; if the average concentration detected by the gas sensor group is equal to the concentration (S_1) detected by the front-end gas sensor, the lifting unit keeps the current state and does not move.

[0013] Compared with the prior art, the lifting type odor source intelligent search olfactory robot has the following beneficial effects:

[0014] The lifting type odor source intelligent search olfactory robot can automatically search for an odor source and capture three-dimensional space gas concentration and airflow information, realizes real-time data acquisition and analysis of three-dimensional space gas concentration and wind direction information through various sensors and a robot control module, and enables the robot to more accurately and efficiently locate the specific position of the odor source. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to make the purpose, technical scheme and beneficial effects of the utility model more clear, the utility model provides the following drawings for description:

[0016] Figure 1 It is a three-dimensional structure schematic view of the lifting type odor source intelligent search olfactory robot of the patent;

[0017] Figure 2 It is a three-dimensional structure side view of the lifting type odor source intelligent search olfactory robot of the patent;

[0018] Figure 3 It is a three-dimensional structure partial cross-sectional view of the lifting type odor source intelligent search olfactory robot of the patent;

[0019] Figure 4 It is a structure schematic view of the lifting mechanism in the lifting type odor source intelligent search olfactory robot of the patent;

[0020] Figure 5 It is a structure schematic view of the depth camera module in the lifting type odor source intelligent search olfactory robot of the patent;

[0021] Figure 6 It is a structure schematic view of the lifting base in the lifting type odor source intelligent search olfactory robot of the patent.

[0022] Reference signs: 1 - moving wheel, 2 - lower chassis, 3 - gas sensor, 4 - upper chassis, 5 - ultrasonic sensor, 6 - ultrasonic support, 7 - wind direction sensor, 8 - depth camera, 9 - rudder, 10 - gas sensor group, 11 - lifting mechanism, 111 - lifting base, 112 - motor, 113 - lead screw, 114 - lifting platform, 115 - lifting rod, 116 - lead screw nut, 117 - connecting rod, 12 - intelligent control power module, 13 - support rod, 14 - drive motor. DETAILED DESCRIPTION

[0023] The present application and its embodiments are described in conjunction with the drawings, which is not restrictive, and the actual embodiments are not limited thereto. In general, if a person skilled in the art is inspired by it, without departing from the purpose of the present application, without creative design, similar structure and embodiments of the technical solution are not creative, which should belong to the protection scope of the present application.

[0024] Specifically, as shown in Figure 1 The present application discloses a lifting type odor source intelligent search olfactory robot, and the preparation stage includes turning on the power supply, the gas sensor (3), the ultrasonic sensor (5), the wind direction sensor (7), the depth camera (8) and the gas sensor group (10) are all in working condition.

[0025] Further, as shown in Figure 1 and Figure 3As shown, when the robot moves in the environment, the gas sensor (3) transmits the detected gas concentration data to the intelligent power module (12), the intelligent power module (12) processes, analyzes and compares the data transmitted by the three gas sensors (3), and drives the driving motor (14) to rotate according to the analysis result, so as to determine the next moving direction of the olfactory robot in the smoke plume tracking stage.

[0026] Further, as shown in Figure 1 , when the robot moves in the environment, if an obstacle is encountered, the ultrasonic sensor (5) is used for obstacle avoidance; at the same time, the wind direction sensor (7) transmits the detected wind direction information to the intelligent power module (12), and the intelligent power module (12) combines the gas concentration information detected by the gas sensor (3), and drives the olfactory robot to move in the direction of strong gas concentration and against the wind in the smoke plume tracking stage after comprehensive analysis.

[0027] Further, as shown in Figure 1 , Figure 4 and Figure 6 , when the robot moves in the environment, the gas sensor (3) and the gas sensor group (10) work cooperatively to compare and analyze the detected gas concentration information. If the average concentration detected by the gas sensor group (10) is greater than the concentration (S_1) detected by the front-end gas sensor (3), the motor (112) is started to drive the lead screw (113) to rotate, and the lead screw nut (116) moves axially along the lead screw (113) to the front end of the robot, thereby driving the lifting platform (114) to move upwards to approach the odor source. If the average concentration detected by the gas sensor group (10) is less than the concentration (S_1) detected by the front-end gas sensor (3), the motor (112) is started to drive the lead screw (113) to rotate, and the lead screw nut (116) moves axially along the lead screw to the rear end of the robot, thereby driving the lifting platform (114) to move downwards to approach the odor source. If the average concentration detected by the gas sensor group (10) is equal to the concentration (S_1) detected by the front-end gas sensor (3), the lifting unit maintains its current state without any movement.

[0028] Further, as shown in Figure 1 , Figure 4 and Figure 5 , when the robot moves in the environment, the lifting platform (114) is fixedly provided with a gas sensor group (10) on the top, which is composed of six gas sensors arranged in a circular array. The real-time detected gas concentration data is transmitted to the intelligent power module (12), the intelligent power module (12) processes, analyzes and compares the transmitted data, and drives the servo (9) to rotate the depth camera (8), so as to realize accurate positioning of the specific position of the odor source.

Claims

1. A lift-type odor source intelligent search olfactory robot, characterized in that, The robot platform, the motion unit, the perception unit and the lifting unit are included, wherein the robot platform specifically includes a lower chassis (2), an upper chassis (4), a support rod (13) and an intelligent control power module (12); the motion unit specifically includes a mobile wheel (1) and a driving motor (14); the perception unit specifically includes a gas sensor (3), an ultrasonic sensor (5), an ultrasonic support (6), a wind direction sensor (7), a depth camera (8), a rudder (9) and a gas sensor group (10); and the lifting unit specifically includes a lifting base (111), a motor (112), a lead screw (113), a lifting platform (114), a lifting rod (115), a lead screw nut (116), a connecting rod (117), the gas sensor (3) and the gas sensor group (10).

2. The lift-type intelligent search olfactory robot of a smell source according to claim 1, characterized in that: The lower chassis (2) and the upper chassis (4) of the olfactory robot are connected and fixed by the support rod (13), and the intelligent control power module (12) is fixedly arranged on the top of the lower chassis (2).

3. The lift-type intelligent search olfactory robot of a smell source according to claim 1, characterized in that: The three gas sensors (3) of the olfactory robot are fixedly installed on the front end of the top of the lower chassis and are distributed at an angle of 90°.

4. The lift-type intelligent search olfactory robot of a smell source according to claim 1, characterized in that: The ultrasonic sensor (5) of the olfactory robot is fixedly arranged on the ultrasonic support (6), and the ultrasonic support (6) is fixedly arranged on the top of the front end of the upper chassis (4).

5. The lift-up odor source intelligent search olfactory robot according to claim 1, wherein: The wind direction sensor (7) of the olfactory robot is fixedly arranged on the top of the upper chassis (4) and located behind the ultrasonic support (6), transmits the detected wind direction information to the intelligent control power module (12), and drives the olfactory robot to move against the wind in the smoke plume tracking stage in combination with the concentration information detected by the gas sensor (3).

6. The lift-up odor source intelligent search olfactory robot according to claim 1, wherein: The lifting platform (114) of the olfactory robot is fixedly provided with the gas sensor group (10) on the top, which is composed of six gas sensors arranged in a ring array with an included angle of 60° between each other, and the gas sensor group (10) transmits the detected gas concentration data to the intelligent control power module (12), and the intelligent control power module (12) analyzes and compares the transmitted data to drive the rudder (9) to rotate the depth camera (8).

7. The lift-up odor source intelligent search olfactory robot according to claim 1, wherein: The lifting base (111) of the olfactory robot is fixedly installed on the top of the rear end of the upper chassis (4), the lead screw (113) is fixedly connected with the output shaft of the motor (112), the lead screw nut (116) is threadedly engaged with the lead screw (113), when the lead screw (113) rotates, the lead screw nut (116) moves along the axial direction of the lead screw and synchronously drives the connecting rod (117) fixedly connected therewith to move, and the other end of the connecting rod (117) is fixedly connected with the distal end of the lowermost rear lifting rod (115).

8. The lift-type intelligent search olfactory robot of a smell source according to claim 7, characterized in that: All the lifting rods (115) of the olfactory robot are sequentially hinged and connected in head-to-tail, wherein the ends of the two lifting rods (115) at the lowermost front end are rotationally connected with the shaft holes on the lifting base (111), the ends of the two lifting rods (115) at the lowermost rear end are arranged in the guide rails of the lifting base (111) and slide forward and backward in the guide rails under the driving of the connecting rods (117), and the ends of the four lifting rods (115) at the uppermost end are arranged in the guide rails of the lifting platform (114) and can slide forward and backward in the guide rails, so that the lifting function of the lifting platform (114) is realized through the mutual folding and unfolding of the lifting rods (115), the driving of the motor (112) and the constraint of the guide rails.

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