Electronic nose and robot capable of rapid detection

Abstract

Rapid detection of gases in the environment. [Solution] An electronic nose according to one embodiment includes an air supply unit, a detection unit, a purification unit, an extraction unit, and a control system. The air supply unit introduces an external gas. The detection unit includes a chamber, a circulation pipeline, and a detection module. The circulation pipeline transports a circulating airflow to clean the chamber. The air supply unit transports an external gas awaiting detection. The purification unit is located inside the chamber and includes a carrier, a photocatalyst, and a light-emitting element. The extraction unit is connected to the circulation pipeline and forms a circulating airflow by generating negative pressure in the chamber. The control system is connected to the detection module and receives a detection signal generated by the detection module.

Description

Technical Field

[0001] The present invention relates to an electronic nose, and particularly to an electronic nose that can detect quickly and is suitable for mounting on a robot.

Background Art

[0002] Robots are widely used in various application fields in modern society, such as factory automation, home care, environmental exploration, disaster relief, security patrol, gas detection, etc. Generally, robots are provided with various sensing devices to detect the surrounding environment and take appropriate actions. Among these sensing devices, an electronic nose is a sensing device that can distinguish and quantify simple and complex odors. It uses gas sensors to detect gases in the environment, performs comparison and analysis, and then realizes many functions, such as detection and warning of harmful gases, monitoring of air quality, monitoring of dangerous situations such as fires or gas leaks, applications to diseases and public health, and food analysis.

Summary of the Invention

Problems to be Solved by the Invention

[0003] In some conventional electronic nose technologies, for example, in the case of non-optical gas sensors, in order to continuously monitor the environment, the calibration of the gas sensor and the identification process of gas detection must be continuously repeated. That is, regardless of whether the gas in the environment is about to change, it is necessary to execute the identification process over time. As a result, the change situation of the gas in the environment cannot be reflected in real time, and continuously executing the identification process not only consumes a large amount of power but also shortens the service life of the electronic nose.

[0004] Furthermore, conventional electronic noses generally require cleaning or purifying the internal chamber with clean air. A common method is to place a filtration device at the air intake. Regarding the selection of the filtration device, using commonly used activated carbon presents the problem of needing replacement. If molecular sieves are used, storage issues must be considered, such as the need for further waterproofing and vacuum protection. Therefore, there is room for improvement in the gas purification technology of electronic noses. [Means for solving the problem]

[0005] To solve the above problems, the present invention An air supply unit configured to introduce external gas, The system includes a chamber, a circulation pipeline, and a detection module, wherein the chamber's air inlet communicates with and jointly defines an air supply channel, the circulation pipeline is connected to the chamber's exhaust port and air inlet, the circulation pipeline defines a circulation channel, the detection module includes a gas detection element and one or more environmental detection elements, the gas detection element detects the gas in the chamber and generates a detection signal in response to the gas in the chamber, the environmental detection element is a detection unit that detects one or more environmental parameters of the chamber, the circulation channel is configured to transport a circulating airflow that cleans the chamber, and the air supply channel is configured to transport the external gas awaiting detection. A purification unit comprising a carrier located in the airflow path, a photocatalyst provided on the carrier, and a light-emitting element that emits light in relation to the photocatalyst on the carrier, A bleed unit connected to the circulation pipeline and guiding the gas in the chamber back from the exhaust port to the intake port, The present invention provides an electronic nose for use in a robot, which includes a control system connected to the detection module and receiving the detection signal generated by the detection module, and a control system that obtains judgment information related to the external gas based on the detection signal generated by the external gas entering the chamber through the air supply channel.

[0006] The present invention also provides a robot comprising a robot body and the above-mentioned electronic nose, wherein the electronic nose is provided on the robot body and communicates with the outside. [Brief explanation of the drawing]

[0007] [Figure 1] This is a schematic diagram of a robot according to one embodiment of the present invention. [Figure 2A] This is a schematic diagram of an electronic nose according to one embodiment of the present invention. [Figure 2B] This is a schematic diagram of an electronic nose according to another embodiment of the present invention. [Figure 2C] This is a schematic diagram of an electronic nose according to another embodiment of the present invention. [Figure 3] This is a schematic diagram of an electronic nose according to another embodiment of the present invention. [Figure 4] This is a schematic diagram of the operating procedure for one embodiment of the present invention. [Figure 5] This is a schematic diagram of the resistance change of the detection signal in the monitoring mode of one embodiment of the present invention. [Figure 6] This is a schematic diagram of the resistance change of the detection signal in the identification mode of one embodiment of the present invention. [Modes for carrying out the invention]

[0008] In this specification, the terms used in describing various embodiments are for the purpose of describing specific examples, not to impose limitations. Unless otherwise explicitly indicated in the context or specifically limited to a number of elements, the singular forms “one” and “the relevant” as used herein also include the plural forms. Furthermore, as used herein, the terms “include” and / or “contain” mean that the described features, elements and / or components exist and do not exclude the addition or existence of one or more other features, elements, components and / or groups thereof. The indefinite and definite articles include both singular and plural forms unless it is clearly indicated in the context that one refers to the other.

[0009] This invention discloses an electronic nose, which, in one example, is suitable for mounting on a robot, which may be an autonomous mobile robot, an automated guided vehicle, an articulated robot, a humanoid robot, a collaborative robot, or a hybrid robot, or a mechanical robot or a bionic robot. Non-limiting specific examples include, for example, a security robot, an exploration robot, or a home care robot. Although these examples are given, this invention is not limited to these, and the robot used herein should be interpreted broadly. Furthermore, the scope of this invention also covers uses other than robots.

[0010] Figure 1 shows a robot 1 according to one embodiment of the present invention, which is a wheeled robot equipped with an electronic nose 2. The robot 1 comprises a robot body 1a, and the electronic nose 2 is mounted on the robot body 1a. The electronic nose 2 performs real-time gas detection by exposing at least a portion of it from the housing of the robot 1 and coming into contact with the external gas. The electronic nose 2 allows the robot 1 to continuously monitor changes in the gas in the surrounding environment and take necessary actions based on the detection results. The external gas refers to the environmental gas in the space where the robot 1 or the electronic nose 2 is located.

[0011] For example, in a factory or home environment, there may be excess levels of harmful gases such as carbon monoxide, carbon dioxide, ozone, sulfur dioxide, nitrogen dioxide, volatile organic compounds, and formaldehyde. Robot 1, using its electronic nose 2, can replace manual work to detect whether these harmful gases are present, whether their concentrations exceed safety standards, and can then generate corresponding warnings or take action such as activating a ventilation system to improve the flow of gases to the outside. Alternatively, in unknown or extreme environments such as the deep sea, caves, or outer space, a mobile robot 1 can be employed to analyze the gases in the environment in real time using its electronic nose 2, thereby providing information on the gas composition of that environment.

[0012] Referring to Figure 2A, according to one example of the present invention, the electronic nose 2 includes an air supply unit 10, a detection unit 20, a purification unit 30, an extraction unit 40, and a control system 50.

[0013] The gas inlet 11 of the air supply unit 10 communicates with the outside, and the air supply unit 10 defines an air supply channel 12. In one example, the gas inlet 11 is provided in the housing of the robot 1 so as to come into contact with the external gas and enter the electronic nose 2. The detection unit 20 includes a chamber 21 and a detection module, the detection module including a plurality of identical or different detectors, and the detection module may be installed in the chamber 21, but is not limited to this, and may be installed in other locations where it can detect the environment inside the chamber 21. The chamber 21 includes an air intake port 210 and an exhaust port 211, the upstream of the chamber 21 is fluidly connected to the air intake unit 10 by the air intake port 210 to receive the external gas introduced from the air intake unit 10, the downstream of the chamber 21 is fluidly connected to the extraction unit 40 by the exhaust port 211, and the gas inside the chamber 21 can be discharged from the exhaust port 211 using the negative pressure generated by the extraction unit 40, or the external gas can be introduced from the air intake unit 10 into the chamber 21 and then discharged from the extraction unit 40. Furthermore, the air intake port 210 and exhaust port 211 of the chamber 21 are connected via a circulation pipeline 22, which defines a circulation channel 23.

[0014] Whether gas passes through the air supply channel 12 of the air supply unit 10 is controlled by the first fluid control device 13, and whether gas passes through the circulation channel 23 of the circulation pipeline 22 is controlled by the second fluid control device 231. Furthermore, the first fluid control device 13 and the second fluid control device 231 can also control the gas flow rates of the air supply channel 12 and the circulation channel 23. In this example, the circulation channel 23 is connected to the air supply channel 12 and further to the air inlet 210. The first fluid control device 13 and the second fluid control device 231 are each three-way control devices, for example, three-way switching valves (or three-way valves). The first opening 131, second opening 132, and third opening 133 of the first fluid control device 13 are connected to the gas inlet 11, the downstream of the circulation pipeline 22, and the air inlet 210 of the chamber 21, respectively. The first opening 232, second opening 233, and third opening 234 of the second fluid control device 231 are connected to the exhaust port 211 of the chamber 21, the upstream of the circulation pipeline 22, and the gas outlet 14, respectively. This selectively allows gas to enter through the gas inlet 11, through the air supply port 210 into the chamber 21 (opening the first opening 131 and the third opening 133 of the first fluid control device 13, and closing the second opening 132 of the first fluid control device 13), and be discharged through the exhaust port 211 of the chamber 21 via the gas outlet 14 (opening the first opening 232 and the third opening 234 of the second fluid control device 231, and closing the second opening 233 of the second fluid control device 231). It is possible to allow gas to flow from the exhaust port 211 of the chamber 21 through the circulation channel 23 (opening the first opening 232 and the second opening 233 of the second fluid control device 231 and closing the third opening 234 of the second fluid control device 231) and backflow into the chamber 21 from the air intake port 210 (opening the second opening 132 and the third opening 133 of the first fluid control device 13 and closing the first opening 131 of the first fluid control device 13).

[0015] The purification unit 30 includes a carrier 31 and a light-emitting element 32. The carrier 31 may be a mesh or other element that can allow gas to pass through, for example, it may be a filter mesh. A photocatalyst is provided on the carrier 31, and the light-emitting element 32 irradiates light onto the photocatalyst provided on the carrier 31. In one example, the photocatalyst may be titanium dioxide (TiO2), zinc oxide (ZnO), manganese dioxide (MnO2), iron(III) oxide (Fe2O3), or a combination thereof, or it may be a composite photocatalyst material. For example, it may be a combination of the aforementioned photocatalyst material with silver, graphene, or carbon nanotubes. The light-emitting element 32 can emit ultraviolet light, for example, deep ultraviolet light (UVC). In one example, the carrier 31 is provided within the chamber 21. In one example, the purification unit 30 has a filtering and purification function. The single carrier 31 can filter the passing gas, and the combination of the light-emitting element 32 and the photocatalyst can purify the passing gas. In some examples, there may be multiple purification units 30. The carriers 31 can be provided in the chamber 21 at intervals from each other. Using a single light-emitting element 32, it is possible to irradiate light onto the photocatalyst provided on these carriers 31, or corresponding light-emitting elements 32 can be provided at positions adjacent to each carrier 31. As shown in FIG. 2C, the carrier 31 has a multi-layer structure.

[0016] In another example, not only is the photocatalyst provided on the carrier 31, but activated carbon can also be provided. The activated carbon can also purify the passing gas. The activated carbon has the characteristic of rapid adsorption. When the photocatalyst is irradiated with light, by decomposing the substances adhering to the activated carbon, the activated carbon is less likely to become saturated, so the purification time can be significantly shortened, and the problem of having to constantly replace the activated carbon can also be alleviated.

[0017] The air extraction unit 40 is configured to form a negative pressure with respect to the chamber 21 and extract air. The air extraction unit 40 is connected to a position before the second fluid regulating device 231.

[0018] The chamber 21 includes an upstream region 21a and a downstream region 21b. The upstream region 21a is connected to and near the air supply port 210, and the downstream region 21b is connected to and near the exhaust port 211. When the air extraction unit 40 is activated to generate a negative pressure in the chamber 21, the gas in the chamber 21 flows from the upstream region 21a to the downstream region 21b. The carrier 31 is provided in the path through which the gas in the chamber 21 flows, and the light-emitting element 32 can be provided in the chamber 21 or at a position where it emits light with respect to the carrier 31.

[0019] The detection module includes a gas detection element 24 and one or more environmental detection elements 25. As shown in FIGS. 2B and 2C, the gas detection element 24 and the environmental detection element 25 can be provided in the chamber 21, or at least a part thereof can be exposed in the chamber 21. Without being limited thereto, the detection module can be provided at other positions where it can detect the inside of the chamber 21, as long as it can contact and detect the gas in the chamber 21. In one example, the gas detection element 24 is a device that can react to the gas and generate or change an electrical signal. For example, it is a chemical resistance (or electrochemical) gas sensor array or a semiconductor gas detector. The present invention is not limited thereto, and as the gas detection element 24, gas detection chips of other forms or structures, such as optical gas sensors and electrochemical gas sensors, can also be adopted.

[0020] The gas detection element 24 detects the gas or changes in the gas in the chamber 21, and can also detect the type of gas in the chamber 21, whether one or more specific components are present in the gas, the concentration or amount of the specific component (or whether it reaches a specific value), whether the gas in the chamber 21 conforms to a specific composition, or changes in the specific component, composition or concentration of the gas in the chamber 21. The specific component is, for example, oxygen, carbon monoxide, hydrogen sulfide, ammonia, chlorine, ozone, sulfur dioxide, nitrogen dioxide, natural gas, liquefied gas, methane, propane, etc. The specific composition is, for example, toxic gas, flammable gas, etc.

[0021] The gas detection element 24 detects the gas in the chamber 21 and generates a detection signal, which is a response to the gas in the chamber 21. When a chemical resistance gas sensor array is used, the detection signal is a resistance value (for example, changing from 0 to a certain value) or a change in resistance value (for example, changing from an initial first value to a second value) generated in response to the reaction between the gas and the sensor array. The detection signal can be used to obtain decision information related to the external gas, which may include the presence of one or more specific components in the external gas, the concentration or amount of such specific components (or reaching a specific value), whether the external gas conforms to a specific composition, or whether a specific component, composition, or concentration of the external gas has changed.

[0022] The environmental sensing element 25 detects one or more environmental parameters in the chamber 21, which may include temperature, humidity, pressure (atmospheric pressure), or any combination thereof. Referring to Figure 3, depending on the detected environmental parameter, the environmental sensing element 25 may include a temperature sensing element 251, a humidity sensing element 252, a pressure (atmospheric pressure) sensing element 253, or any combination thereof. The temperature sensing element 251, humidity sensing element 252, and pressure sensing element 253 measure the temperature, humidity, and pressure in the chamber 21, respectively.

[0023] The control system 50 controls the switching and adjustment of the first fluid control device 13 and the second fluid control device 231, and also controls the opening and closing of the extraction unit 40. The control system 50 can also control the light-emitting element 32 of the purification unit 30 and is connected to the gas detection element 24 and / or the environmental detection element 25. By controlling the first fluid control device 13 and the second fluid control device 231, the control system 50 can selectively implement two types of gas flow methods: circulating flow and unidirectional flow.

[0024] In this circulating flow, gas flows from the exhaust port 211 of the chamber 21 through the circulation channel 23 (opening the first opening 232 and the second opening 233 of the second fluid control device 231, and closing the third opening 234 of the second fluid control device 231), and flows back into the chamber 21 from the air supply port 210 (opening the second opening 132 and the third opening 133 of the first fluid control device 13, and closing the first opening 131 of the first fluid control device 13).

[0025] In this unidirectional flow, the gas does not flow backward, and the gas enters from the gas inlet 11, enters the chamber 21 via the air supply port 210 (opening the first opening 131 and the third opening 133 of the first fluid control device 13, and closing the second opening 132 of the first fluid control device 13), and is discharged from the exhaust port 211 of the chamber 21 via the gas outlet 14 (opening the first opening 232 and the third opening 234 of the second fluid control device 231, and closing the second opening 233 of the second fluid control device 231).

[0026] In the example shown in Figure 3, the electronic nose 2 is mounted on the robot 1 in module form, and the control system 50 may be further connected to a control unit 60 of the robot 1. The control unit 60 may include a processor 61, a database 62, and a transmission interface 63, and the control unit 60 can control the control system 50, receive signals from the control system 50, or be used as a connection path to other external elements of the electronic nose 2. In one example, the processor 61 can receive and process the detection signal from the gas detection element 24 and the environmental parameters from the environmental detection element 25, for example, by comparing the detection signal with data in the database 62 to generate analysis results related to the external gas. In one example, the processor 61 may be a processor capable of performing artificial intelligence calculations, so that the robot 1 can perform generating artificial intelligence calculations on the detection signal and / or the environmental parameters locally. In other examples, the control unit 60 may be connected to an external device 70, such as a server or an external database, via a transmission interface 63, and the transmission interface 63 may be hardware compatible with a wired or wireless communication protocol, the communication protocol being at least one of, for example, WiFi, BLE, Bluetooth®, Z-Wave, USB, and Zigbee. In other examples, it can be understood that the control unit 60 is not limited to the above configuration and may be used as a module integrated with the electronic nose 2.

[0027] When the electronic nose 2 detects something, the operation of the extraction unit 40 is one of the main power consumptions. If the extraction unit 40 is opened and the external gas is introduced into the chamber 21 while the electronic nose 2 is running, the power consumption increases, which shortens the operating time of the electronic nose 2 and reduces the service life of the extraction unit 40. Therefore, the present invention proposes operating the electronic nose 2 in monitoring mode or identification mode. The monitoring mode can be considered a stage with low detection accuracy and low power consumption, while the identification mode can be considered a stage with high detection accuracy and high power consumption. In one example, the electronic nose 2 is normally in monitoring mode and operates continuously in monitoring mode, but enters identification mode only when the electronic nose 2 detects a change in the external gas that requires further judgment.

[0028] The monitoring mode consists of multiple cycles combining standby time and short-duration supply. The monitoring mode continues until the detection signal during the short-duration supply meets specific conditions, at which point it switches from the monitoring mode to the identification mode. The identification mode is a single cycle of long-duration supply and subsequent detection. The aforementioned short duration is relative to the long duration, and it is understood that in this mode, each duration may be the same or different; for example, the standby time is greater than the duration of the short-duration supply. By adjusting the ratio or value of the short duration to the long duration, and the ratio or value of the standby time to the duration of the short-duration supply, the working time required by the extraction unit 40 over the entire detection time of the electronic nose 2 can be significantly reduced, saving power consumption and extending the service life.

[0029] In the example below, the gas detection element 24 is a chemical resistance gas sensor, and the detection signal is a resistance value. Refer to Figures 4, 5, and 6 together, which show the operating procedure of the Electronic Nose 2. The Electronic Nose 2 is normally operated in the monitoring mode and is operated in the identification mode only when the specific conditions are met. In this example, before performing the monitoring mode, it first operates under the circulating flow and the purification unit 30 is opened (i.e., the light-emitting element 32 is activated), and the gas continuously and repeatedly passes through the chamber 21 via the circulation channel 23, and only after the resistance value obtained by the gas detection element 24 stabilizes (operation 80) does it enter the monitoring mode. The purpose of operation 80 is to clean the chamber 21 and / or bring the chamber 21 to an equilibrium state before detection, and since the gas first passes through the carrier 31 before passing through the chamber 21, the gas passing near the gas detection element 24 is purified gas.

[0030] Next, the system enters the monitoring mode, and the gas flow in this monitoring mode adopts a unidirectional flow. The electronic nose 2 operates repeatedly in a cycle consisting of the standby time and the short-time air supply. Since the extraction unit 40 and the light-emitting element 32 do not activate during the standby time, there is no gas entering the chamber 21, and no detection occurs. The extraction unit 40 activates during the short-time air supply (the light-emitting element 32 remains closed). At this time, the circulation channel 23 is closed, and the external gas awaiting detection enters the chamber 21 from the gas inlet 11 via the air supply port 210, passes through the carrier 31 and the gas detection element 24 (operation 81), and is discharged from the exhaust port 211 of the chamber 21 via the gas outlet 14. Because the light-emitting element 32 is closed, the gas detected by the gas detection element 24 is not purified, and is detected by the gas detection element 24 as it passes through the gas detection element 24 (operation 82).

[0031] Figure 5 shows the change in the resistance value ΔRs of the gas detection element 24 over time during the monitoring mode, where ΔRs = R S(t) -R S(t-1) And R S(t) R represents the resistance value at time t, S(t-1)This represents the resistance value at the previous time t-1, and the difference between time t and the previous time t-1 can be set according to the needs. The monitoring mode includes multiple standby time periods Ts (the standby time) and multiple detection time periods Td (the short-time air supply), where the detection time period Td follows the standby time period Ts, and the extraction unit 40 does not extract air during the standby time period Ts, but the extraction unit 40 extracts air only during the short detection time period Td. In other words, since there is no external gas introduced into the chamber 21 during the standby time period Ts, the change in resistance value △Rs is very small, as shown by the change in resistance value △Rs for the five Ts intervals in Figure 5. During the detection time period Td, the external gas is introduced into the chamber 21, so the resistance value changes, as shown by the change in resistance value △Rs for the five Td intervals in Figure 5.

[0032] If the change in resistance ΔRs caused by the external gas is not large or is below the threshold, the electronic nose 2 continues to operate in the monitoring mode as shown in the first to fourth Td intervals in Figure 5 (operation 83). However, if the change in resistance ΔRs caused by the external gas is large or is above the threshold, the electronic nose 2 switches to the identification mode as shown in the fifth Td interval in Figure 5 (operation 84). In one example, the detection time period Td is shorter than the standby time period Ts. In one example, the ratio of the detection time period Td to the standby time period Ts is between 0 and 1, and is smaller than, for example, 1 / 5, 1 / 10, 1 / 15, etc.

[0033] Figure 6 shows the change in resistance value Rs over time under the identification mode. The identification mode includes two stages: the first is the pre-detection stage P1, and the second is the detection stage P2. In the pre-detection stage P1, the control system 50 controls the gas flow to become a circulating flow, and the purification unit 30 is opened (i.e., the light-emitting element 32 is activated). As a result, the purified external gas (purified gas) enters the downstream region 21b of the chamber 21 (operation 84). This purified gas can be considered not as a gas awaiting detection, but as a background gas, reference gas, or cleaning gas that can bring the chamber 21 to equilibrium before detection. In some embodiments, the pre-detection stage P1 can also be considered as a pre-cleaning stage.

[0034] When a configuration is adopted in which the photocatalyst and the activated carbon are provided on the carrier 31, the time required for the pre-detection stage P1 and operation 80 can be further reduced compared to when only the photocatalyst is provided.

[0035] The control system 50 receives the detection signal obtained by the gas detection element 24 and the environmental parameters obtained by the environmental detection element 25, and observes and determines whether the equilibrium state has been reached based on the numerical values ​​of the detection signal and the environmental parameters (operation 84). The equilibrium state refers to whether the detection signal and one or more environmental parameters in the chamber 21 have reached equilibrium values, and the environmental parameters may be temperature, humidity and / or pressure. The definition of the equilibrium state includes both the case where one environmental parameter (e.g., only temperature) has reached equilibrium and the case where multiple environmental parameters have reached equilibrium, and it is understood that the more environmental parameters that have reached equilibrium, the more advantageous it is for detection. Reaching the equilibrium value means that the detection signal and the environmental parameters in the chamber 21 are substantially constant. For example, substantially constant may mean that they are substantially the same over time, and may change within a range of positive or negative values, for example, within ±10%, ±5%, or ±1%. The control system 50 can determine whether the equilibrium state has been reached, for example, if the resistance value and the environmental parameters (temperature, humidity, pressure, or any combination thereof) remain substantially constant for a set time threshold, then the equilibrium state is considered to have been reached. In other words, the equilibrium state is one in which the detection signal and the environmental parameters are each continuously maintained substantially constant within a range within the pre-detection stage P1. In one example, the extraction unit 40 is controlled so that the flow rate of the purified gas entering the chamber 21 is substantially constant, and the stable gas flow rate passing through the chamber 21 is advantageous for reaching the equilibrium state in a short time.

[0036] As shown in Figure 6, in the pre-detection stage P1, the resistance value of the detection signal generated by the gas detection element 24 gradually increases over time from the initial resistance R0, and stabilizes at a first resistance value R1 (time T1), at which point the equilibrium state is reached. The period from the start to time T1 is the first time interval.

[0037] Once the equilibrium state is reached, the system enters detection stage P2 (operation 85). In this example, the system enters detection stage P2 from pre-detection stage P1, and the control system 50 maintains the activation of the extraction unit 40 and adjusts the first fluid control device 13 and the second fluid control device 231 so that the gas flows under the unidirectional flow, and also closes the purification unit 30 (i.e., the light-emitting element 32 is closed). In this way, the gas that enters the chamber 21 and passes through the downstream region 21b is the unpurified, awaiting detection external gas. In this example, the extraction unit 40 is continuously activated. In the pre-detection stage P1, the first opening 232 and the second opening 233 of the second fluid control device 231 are opened, the third opening 234 of the second fluid control device 231 is closed, the second opening 132 and the third opening 133 of the first fluid control device 13 are opened, and the first opening 131 of the first fluid control device 13 is closed. In the detection stage P2, the first opening 131 and the third opening 133 of the first fluid control device 13 are opened, the second opening 132 of the first fluid control device 13 is closed, the first opening 232 and the third opening 234 of the second fluid control device 231 are opened, and the second opening 233 of the second fluid control device 231 is closed.

[0038] When different gases pass through the gas detection element 24, as shown in Figure 6, the resistance value of the detection signal generated by the gas detection element 24 changes from a first resistance value R1 to a second resistance value R2, and stabilizes after a certain period of time (time T2, where time T1 to time T2 is the second time interval). The second resistance value R2 responds to one or more properties of the unpurified external gas. The control system 50 receives the detection signal obtained by the gas detection element 24 and the environmental parameters obtained by the environmental detection element 25 (operation 86), and obtains the judgment information based on the detection signal. In one example, all of the above detection is performed at room temperature, i.e., the gas in the chamber 21 is not heated. However, the present invention is not limited thereto, and in some examples, detection can be performed while heating the gas in the chamber 21.

[0039] In one example, the equilibrium state specifically refers to the state in which the gas in the chamber 21 is flowing (i.e., it is an airflow and not a stationary gas). In one example, when moving from the pre-detection stage P1 to the detection stage P2, the extraction unit 40 is not closed, and therefore the gas is continuously (without interruption) introduced into the chamber 21 from the circulation channel 23 or from the outside. In one example, the purified circulating gas is a first airflow flowing in the chamber 21, and the unpurified external gas is a second airflow flowing in the chamber 21, with the first airflow flowing in the pre-detection stage P1 and the second airflow flowing in the detection stage P2 having substantially the same flow rate. When moving from the pre-detection stage P1 to the detection stage P2, the extraction unit 40 is not closed, meaning that the airflow continues to flow in the chamber 21, but it is a different gas. As can be understood, the degree to which the environmental parameters in chamber 21 fluctuate becomes smaller, meaning that the equilibrium state is less affected or destroyed, and the environment within chamber 21 does not need to re-establish equilibrium. Therefore, the accuracy of the measurement can be improved and the time can be reduced. In the operation described above, the equilibrium state can be interpreted as dynamic equilibrium.

[0040] In this invention, when introducing the external gas awaiting detection and detecting it, the stability of the detection environment is maintained, and accurate detection results can only be obtained once this equilibrium state is reached. Therefore, before introducing the unpurified gas awaiting detection, the environment in the chamber 21 is first maintained in this dynamic equilibrium; that is, while the gas is flowing, each environmental parameter is maintained substantially constant, and then, without stopping the gas flow, the unpurified gas awaiting detection is switched on and introduced, maintaining substantially the same flow rate (i.e., the atmospheric pressure in the chamber 21 is maintained to be substantially the same in the two stages).

[0041] However, in some aspects of the present invention, the equilibrium state is not necessarily dynamic equilibrium, but may be static equilibrium, and the difference in operation is that after the pre-detection stage P1 is completed, the extraction unit 40 is first closed to bring the detection signal and the numerical values ​​of the environmental parameters to the equilibrium state under conditions where there is no gas flowing in the chamber 21, before proceeding to the detection stage P2. According to one aspect of the present invention, the electronic nose 2 may be operated selectively in the mode of dynamic equilibrium or static equilibrium.

[0042] The electronic nose 2 of the present invention is designed to operate in the monitoring mode under normal conditions and to enter the identification mode only when specific conditions are met. In the monitoring mode, the working time of the extraction unit 40 is much longer than the closing time, which significantly reduces power consumption and extends the service life of the extraction unit 40.

[0043] Furthermore, the electronic gas cleaning technology employed in this invention avoids replacement and storage problems, and can also perform automated gas detection more efficiently by combining different modes (monitoring mode, identification mode) or stages (pre-detection stage P1, detection stage P2). [Explanation of Symbols]

[0044] 1 Robot 1a Robot body 2 electronic nose 10 Air supply unit 11 Gas Inlet 12 supply air channels 13. First fluid control device 131 First opening 132 Second opening 133 The third opening 14 Gas outlet 20 detection units 21 Chambers 21a Upstream region 21b Downstream region 210 Air supply port 211 Exhaust port 22 Circulation Pipeline 23 Circulation Channels 231 Second fluid control device 232 First opening 233 Second opening 234 Third opening 24 Gas detection elements 25 Environmental detection features 251 temperature sensing elements 252 Humidity sensing element 253 Click the pressure sensing button 30 Purification Units 31 Carrier 32 Light-emitting elements 40 extraction units 50 Control Systems 60 control units 61 processors 62 Databases 63 Transmission Interface 70 External device 80, 81, 82, 83, 84, 85, 86 operations Ts waiting time period Td detection time period P1 Pre-detection stage P2 detection stage R0 Initial resistance R1 First resistance value R2 Second resistance value T1 time T2 hours

Claims

1. An air supply unit configured to introduce an external gas, A detection unit comprising a chamber, a circulation pipeline, a detection module, and a purification unit, wherein the chamber's air inlet communicates with the air supply unit and jointly determines an air supply channel, the circulation pipeline is connected to the chamber's exhaust port and air inlet, the circulation pipeline determines a circulation channel, the detection module comprises a gas detection element and one or more environmental detection elements, the gas detection element detects the gas in the chamber and generates a detection signal in response to the gas in the chamber, the environmental detection element detects one or more environmental parameters of the chamber, the circulation channel is configured to transport a circulating airflow that cleans the chamber, and the air supply channel is configured to transport the external gas awaiting detection. A purification unit provided within the chamber and through which the circulating airflow passes, comprising a carrier, a photocatalyst provided on the carrier, and a light-emitting element that emits light in relation to the photocatalyst on the carrier, A bleed unit connected to the circulation pipeline guides the gas in the chamber back to the intake port from the exhaust port, A control system connected to the detection module and receiving the detection signal generated by the detection module, including a control system that obtains judgment information related to the external gas based on the detection signal generated by the external gas entering the chamber from the air supply channel, An electronic nose used in robots.

2. Step 1-1, wherein each time a waiting time cycle has elapsed, the external gas is allowed to enter the chamber through the air supply channel, the air supply time is for the duration of the detection time cycle, and the detection time cycle is shorter than the waiting time cycle. Step 1-2 is repeated until the detection signal meets the specific conditions. Steps 1-3, in which, when the aforementioned specific conditions are met, the supply air channel is closed, the circulation channel is opened to allow the gas in the chamber to be discharged from the chamber through the exhaust port, and the circulating airflow is formed by the gas entering the chamber through the circulation channel and the supply air port, and this continues until the detection signal and the environmental parameters reach equilibrium, The system is configured to perform steps 1-4: closing the circulation channel, opening the air supply channel to allow the external gas to enter the chamber through the air supply channel, and obtaining the determination information based on the detection signal generated by the external gas entering the chamber through the air supply channel. The light-emitting element is opened in steps 1-1 and 1-3, and closed in step 1-4. The electronic nose according to claim 1, wherein the extraction unit is closed during the standby time cycle and activated during the detection time cycle.

3. The electronic nose according to claim 2, wherein the specific condition is that the amount of change in the detection signal generated by the gas detection element during the detection time period reaches a threshold.

4. Step 2-1 involves closing the supply air channel, opening the circulation channel to allow the gas in the chamber to be discharged from the chamber through the exhaust port, and further, allowing the gas to enter the chamber via the circulation channel and the supply air port to form the circulating airflow, and continuing until the detection signal and the environmental parameters reach an equilibrium state. The system is configured to perform step 2-2, which involves closing the circulation channel, opening the air supply channel to allow the external gas to enter the chamber through the air supply channel, and obtaining decision information related to the external gas based on the detection signal generated by the external gas entering the chamber through the air supply channel. The electronic nose according to claim 1, wherein the light-emitting element is opened in step 2-1 and closed in step 2-2.

5. The electronic nose according to claim 4, wherein the equilibrium condition for observing and determining whether the equilibrium state has been reached is that the detection signal and the environmental parameter are each continuously maintained substantially constant within a time interval.

6. The robot body and A robot comprising an electronic nose according to any one of claims 1 to 5, which is provided on the robot body and communicates with the outside.

Images