A portable 3D olfactory compass device for mobile robots

Abstract

A portable 3D olfactory compass device (100) for mobile robots, comprising: a base unit configured to carry a first servo motor providing rotary motion about a vertical axis; an intermediate mounting unit configured to carry a second servo motor providing angular tilting movement about a horizontal axis; a sensor support assembly mounted on the intermediate unit, the sensor support assembly comprising four arms radially spaced at 90-degree intervals around a central axis; a plurality of gas sensors mounted on respective arms of the sensor support assembly, each sensor positioned to detect the odor concentration from a single spatial direction; a plurality of slider-crank mechanisms, each coupled to a respective gas sensor, the mechanisms configured to provide a linear reciprocating motion simulating a sniffing action; a plurality of DC motors operatively connected to the corresponding slider-crank mechanisms to drive the linear movement; a control unit operatively configured to coordinate the movement of the servo motors and the DC motors to measure odor concentration gradients in three-dimensional space; wherein the device (100) is designed to determine the direction of the maximum odor concentration and to provide directional guidance to a mobile robot.

Description

[0001] The present invention relates to the field of mobile robotics and chemical sensing. More specifically, it concerns a wearable 3D odor compass device for mobile robots that enables autonomous localization of odor sources using orthogonally arranged gas sensors and a sniffing mechanism.

[0002] In recent years, the use of mobile robots for environmental monitoring, hazardous materials detection, and search and rescue operations has increased significantly. One of the critical challenges in these applications is the ability of robots to detect and locate the source of odor or gas emissions, which is essential for identifying chemical leaks, contaminant sources, or hazardous areas. Conventional odor source localization systems often rely on complex algorithms and sensor arrays that are computationally intensive, bulky, or limited to two-dimensional detection. Existing technologies in this field include electronic noses (e-noses), single-point gas sensors, and multi-sensor arrays. However, these systems typically suffer from limitations such as low spatial resolution, lack of directionality, and problems with 3D localization.Furthermore, most current designs are not readily adaptable to compact mobile robots due to their size, weight, and integration complexity. There is a need for a compact, lightweight, and easily integrated device that can accurately determine the direction of maximum odor concentration in three dimensions and guide a mobile robot to the source. The limitations of current systems in efficient, real-time 3D odor localization have driven the development of the present invention.

[0003] To solve this problem, the present invention provides a portable 3D olfactory compass device for mobile robots.

[0004] The device is designed to accurately detect and target sources of odor or gas emissions in three-dimensional space, providing enhanced spatial awareness for applications in environmental monitoring, hazardous leak detection, and robotic reconnaissance.

[0005] The device comprises a compact sensor unit with several orthogonally arranged gas sensors. This arrangement allows the device to measure spatial gradients in odor concentration across all three axes, enabling precise directional detection of odor plumes.

[0006] The device is mechanically optimized for portability and lightweight, allowing it to be easily mounted on a variety of mobile robot platforms without significantly compromising mobility or payload. The device utilizes cost-effective, commercially available components, supporting ease of manufacturing and scalability.

[0007] In one embodiment, the present invention provides a portable 3D odor compass device for mobile robots. The present invention discloses a portable 3D odor compass device for mobile robots, designed to assist autonomous systems in accurately locating the source of gas or odor emissions in three-dimensional space. The device includes four gas sensors arranged orthogonally on a servo-actuated frame, enabling the detection of concentration gradients along multiple axes to identify the direction of increasing odor intensity. This mechanical arrangement allows the sensors to traverse linear paths along the arms, improving spatial sensing and enabling a dynamic response to changing odor concentrations. The entire device is mounted on a two-axis rotating structure driven by two servo motors.The first servo motor enables rotation around the vertical (Z) axis, while the second provides a tilting movement that allows the sensors to adjust their orientation for comprehensive 3D sampling.

[0008] Thanks to its compact and lightweight design, the device is ideal for ground-based mobile robots and can also be used for Internet of Things (IoT) and industrial security applications. It can be used either as a standalone sensor unit or as a robot-mounted guidance system that guides robots to the highest detected gas concentration. The invention addresses the limitations of current gas sensing systems by providing improved spatial resolution, directional accuracy, and real-time odor localization, all in a portable and cost-effective design.

[0009] The invention is explained again below with reference to the figure. It shows: Fig. : the isometric exploded view of the portable 3D olfactory compass for mobile robots.

[0010] The present invention relates to a portable 3D odor compass device (100) that enables mobile robots to detect the direction of a gas or odor concentration and navigate autonomously to its source. The device is lightweight, compact, and designed to be easily mounted on various robotic platforms, particularly ground-based mobile robots. The device (100) comprises a base unit, an intermediate mounting unit, a sensor support assembly, a plurality of gas sensors, a plurality of slider-crank mechanisms, a plurality of DC motors, and a control unit. The base unit is configured to support a first servomotor enabling rotational movement about a vertical axis. Mounted on the base is an intermediate unit supporting a second servomotor enabling angular tilting movement about a horizontal axis.A sensor mount is connected to the intermediate unit and includes four arms arranged radially at 90-degree intervals around a central axis. A plurality of gas sensors are mounted on the respective arms of the sensor support assembly, with each sensor oriented to detect odor concentration from a specific spatial direction. Each gas sensor is coupled to a slider-crank mechanism that provides a linear reciprocating motion, simulating a sniffing action. These mechanisms are driven by individual DC motors. The device (100) further includes a control unit configured to coordinate the movement of both the servo and DC motors so that it can detect odor concentration gradients in three-dimensional space.The device (100) is capable of determining the direction of the maximum odor concentration and subsequently guiding a mobile robot to locate the odor source.

[0011] Fig.: shows the isometric exploded view of the wearable 3D olfactory compass for mobile robots. The device consists of four main structural components – Part A, Part B, Part C, and Part D – which all contribute to the mechanical functionality of the sensing system. Part A serves as the base and houses a servomotor (J1) that enables rotation around the vertical (Z) axis. Attached to Part A is Part B, which houses a second servomotor (J2) that enables tilting rotation through Part C, allowing angle adjustment for direction sensing. Part C is connected to Part D, the primary sensor mounting structure, which consists of four arms arranged orthogonally at 90 degrees. Each arm supports a gas sensor plate (G1, G2, G3, G4) that can perform linear reciprocating motion via a slider-crank mechanism.This mechanism, consisting of components E1, F1, H1, and H2 (or their equivalents for each arm), is driven by corresponding DC motors (K1, K2, K3, K4). The sensor plates slide on rails integrated into the arms of part D, simulating a sniffing action to improve odor detection. Mounting screws (I1-I4) secure the servo motors, while screws (15-18) connect part D to part C. This structural arrangement enables the sensor module to perform three-dimensional odor localization through coordinated sensor movement and base rotation, making it suitable for mobile and IoT applications.

[0012] The device (100) is designed for integration with mobile robots to detect and control odor or gas sources in three-dimensional space. The device (100) consists of four main components labeled A, B, C, and D. Part A forms the base and houses the servomotor J1, which provides rotational movement along the vertical (Z) axis. Part B, mounted on part A via J1, carries a second servomotor J2, which enables tilting movement through part C. Part C is connected to part D, which consists of four radial arms offset by 90 degrees. These arms house DC motors (K1-K4), each of which controls a gas sensor plate (G1-G4) via a slider-crank mechanism composed of elements E1 (crank), F1 (joint), and H1-H2 (guides), which converts the rotational movement into a linear sniffing movement.The orthogonal arrangement of the sensors enables accurate detection of spatial gradients in the X, Y, and Z directions. During operation, servo motors J1 and J2 align the array in space, while DC motors initiate controlled air sampling. The device (100) processes real-time data to calculate odor concentration gradients and output a directional vector that guides the robot toward the strongest source. This compact, lightweight, and cost-effective system uses readily available materials such as aluminum or 3D-printed polymers and is compatible with commercial gas sensors such as the MQ series.It supports standalone IoT operation or direct robot integration with a design that emphasizes modularity, sensor algorithm alignment, and enhanced biomimetic sniffing behavior, making it ideal for applications such as gas leak detection, hazard reconnaissance, and environmental monitoring.

Claims

[1] A portable 3D olfactory compass device (100) for mobile robots, comprising: a base unit configured to carry a first servo motor providing rotary motion about a vertical axis; an intermediate mounting unit configured to carry a second servo motor providing angular tilting movement about a horizontal axis; a sensor support assembly mounted on the intermediate unit, the sensor support assembly comprising four arms radially spaced at 90-degree intervals around a central axis; a plurality of gas sensors mounted on respective arms of the sensor support assembly, each sensor positioned to detect the odor concentration from a single spatial direction; a plurality of slider-crank mechanisms, each coupled to a respective gas sensor, the mechanisms configured to provide a linear reciprocating motion simulating a sniffing action; a plurality of DC motors operatively connected to the corresponding slider-crank mechanisms to drive the linear movement; a control unit operatively configured to coordinate the movement of the servo motors and the DC motors to measure odor concentration gradients in three-dimensional space; wherein the device (100) is designed to determine the direction of the maximum odor concentration and to provide directional guidance to a mobile robot. [2] The device (100) of claim 1, wherein the gas sensors are mounted orthogonally to each other to enable spatial scanning in three perpendicular directions. [3] The device (100) of claim 1, wherein the slider-crank mechanism comprises a crank, a connecting arm, a guide rail, and a sensor mount configured to convert rotary motion into linear sensor displacement. [4] The device (100) of claim 1, wherein the first servomotor enables 360-degree rotation about the vertical axis and the second servomotor enables ±120-degree tilt about the horizontal axis [5] The device (100) of claim 1, wherein the control unit is embedded in the device and configured to generate vector-based odor gradients from sensor data. [6] The apparatus (100) of claim 1, wherein each gas sensor is selected based on a target gas type, including but not limited to methane, ethanol, or carbon dioxide.

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