CN101241019A - Robot bionic olfactory system - Google Patents
Robot bionic olfactory system Download PDFInfo
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- CN101241019A CN101241019A CNA2008100523422A CN200810052342A CN101241019A CN 101241019 A CN101241019 A CN 101241019A CN A2008100523422 A CNA2008100523422 A CN A2008100523422A CN 200810052342 A CN200810052342 A CN 200810052342A CN 101241019 A CN101241019 A CN 101241019A
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Abstract
The invention relates to a robot bionic olfactory system which comprises the shell body and the bionic nasal packaged in the shell body, suction system and integrated circuit boards, the liquid crystal display module and the control panel which is installed on the surface of integrated circuit boards; the Bionic nasal is formed by the superior vena plate, the inferior vena plate and the separator seal between the superior vena plate and the inferior vena plate; the superior vena plate opens a air inlet of the bionic nose, and forms the superior air chamber; the superior vena plate opens a air outlet of the bionic nose, and forms the inferior air chamber; the separator has the uniform stomata with the same number of the gas sensor designed; the inferior vena plate has the mounting hole with the same number of the gas sensor designed, which causes the corresponding number of gas sensor detection head fingering out to the inferior air chamber, and causes the air inlet of the gas sensor detection head corresponding to the stomata position one to one; the vertical section of the superior air chamber is cone-shaped body in +(30DEG to 60DEG); the vertical section of the inferior air chamber is cone-shaped body in -(30DEG to 60DEG); in addition to the gas sensor detection head, each adjacent region of the bionic nasal is sealed.
Description
Technical field
The present invention relates to a kind of Robotics, be specially a kind of robot bionic olfactory system, international Patent classificating number intends being Int.Cl.G01D 21/02 (2006.01).
Background technology
Along with the continuous development of Robotics, the intelligent degree of robot is more and more higher, requires robot should have multiple sensory faculty, to satisfy the application under the various occasions.In recent years, robot sense of smell has become a research focus.Olfactory function is to improve the indispensable important component part of intelligent robotization.Robot with olfactory function can be engaged in the work of the every field relevant with smell.For example, aspect national security, can be used for locate (detect) amine, search explosive, search and rescue the victim and wait work; Aspect social security, can replace security personnel's patrol, finish work such as detecting toxic gas, fire alarm; In commercial production, can detect and repair the leakage of all kinds of dangerous chemicals storage containers or conveyance conduit, work such as can also prospect.In addition, the modular design of robot also is a developing direction of Robotics: divide module according to the difference in functionality that robot had, design the standard package of each functional module, each standard package can independently be finished specific function, and has software or the hardware interface that is connected with other module easily.Can select corresponding functional modules at different application purposes in the practical application, be combined into required robot.Modular design method can shorten robot development's cycle, reduces repeated R﹠D work, and the function of flexible expansion robot helps the researchist and is absorbed in and utilizes robot to solve practical problems.
The substantive issue that the robot olfactory system will solve is by searching target smell gas, finally to navigate to the target odor source, thereby finish particular task (particularly allowing robot replace the people to be engaged in the work relevant with toxic and harmful).Most important in the robot olfactory system also is that the most basic link is exactly at first to allow robot have olfactory function.The sense of smell of robot realizes by gas sensor.Smell gas can make gas sensor respond with after gas sensor contacts, and exports certain voltage and current signal, can obtain the kind and the concentration information of smell gas by signal of sensor, realizes the olfactory function of robot.At present in the research work for robot sense of smell problem, the researcher mostly adopts single or multiple gas sensors directly is installed in robot, dispose the respective handling circuit again and realize olfactory function, for example, Hiroshi Ishida etc., gas/smell plume based on the gas sensor transient response is followed the tracks of ROBOT CONTROL, 53 phases of volume of IEEE Sensors Journal, 2005,537-545 (Hiroshi Ishida, Gouki Nakayama, Takamichi Nakamoto, et al.Controlling a Gas/Odor Plume-Tracking Robot Based on TransientResponses of Gas Sensors[J] .IEEE Sensors Journal, 2005,5 (3): 537-545.), Pawel Pyk etc., a kind of artificial moth: use robot realization chemical substance source location based on the neuron models of moth search strategy, the 20th phase of Auton Robot, 2006,: 197-213 (Pawel Pyk, Sergi Berm ' udez i Badia, UlyssesBernardet, et al.An artificial moth:Chemical source localizationusing a robot based neuronal model of moth optomotor anemotacticsearch[J] .Auton Robot.2006, (20): 197-213.) just reported such technology; Also there is the researcher to develop easy sense of smell device voluntarily, for example, Ishida H etc., the autonomous mobile sensor systematic study that is used for the odor source location based on gas sensor and wind transducer, 45 2 phases of volume of Sensors andActuators A, 1994,153-157 (Ishida H, Suetsugu K, Nakamoto T, et al.Study of autonomous mobile sensing system forlocalization of odor source using gas sensors and anemometricsensors[J] .Sensors and Actuators A, 1994,45 (2): 153-157.), Lilienthal A etc., a kind of tridimensional electronic nose that is used for mobile inspection machine people, 1stInternational Workshop on Robotic Sensing proceeding, 2003,1-6 (Lilienthal A, Duckett T.A stereo electronic nose for a mobileinspection robot[C] .ROSE ' 03.1st International Workshop onRobotic Sensing.USA:IEEE, 2003:1-6.) disclose such technology.In these prior aries, the performance of gas sensor is subject to the influence of installation site, and exactly the ad hoc structure with employing robot of institute is relevant in the installation site of gas sensor, should not change, and existing olfactory system function singleness, poor stability, versatility are also bad, can not satisfy the needs of practical application.
Summary of the invention
At the deficiencies in the prior art, the technical problem to be solved in the present invention is, design a kind of robot bionic olfactory system, this olfactory system is followed robot modularized design philosophy based on bionic principle, adopt modular design, the level of integrated system height, function is many, and has easy mechanical interface and communication interface, can make up with various types of robots, realize olfactory function.
The technical scheme that the present invention solves described olfactory system technical matters is: design a kind of robot bionic olfactory system, this olfactory system comprises shell body and encapsulation bionic nasal cavity within it, suction system and surface-mounted integrated circuit are installed in its surperficial LCD MODULE and control panel; Described bionic nasal cavity by cavity plate, cavity of resorption plate and between the dividing plate sealing constitute; Have the air intake opening of a bionic nasal cavity on the cavity plate, and constitute upper chamber with dividing plate; Have the gas outlet of a bionic nasal cavity on the cavity of resorption plate, and constitute lower chamber with dividing plate; Leave on the described dividing plate and the identical uniform pore of gas sensor design number; Also have with gas sensor on the described cavity of resorption plate and design the same number of mounting hole, the detecting head of the gas sensor of corresponding number is extend in the lower chamber, and make the blowhole on the probe of gas sensor corresponding one by one with the pore position on the described dividing plate; The longitudinal section of described upper chamber is+(30-60) cone-shaped body of degree cone angle; The longitudinal section of described lower chamber is-cone-shaped body of (30-60 degree) cone angle; The blowhole on the gas sensor probe, each junction of bionic nasal cavity all seals with O-ring seal.
Compared with prior art, olfactory system of the present invention has following advantage:
The robot bionic olfactory system of the present invention's design, owing to adopted the modular construction design, also designing on the shell body has many places to use the mounting hole that is threaded, thereby can be suitable for being applied to require to have in the various robots of olfactory function, help robot to finish the danger work relevant with toxic and harmful.
Olfactory system of the present invention is according to bionic principle, and apish olfactory system has designed bionic nasal cavity and suction system, and the gas in the working environment can be contacted with gas sensor fully, reaches the optimum performance of gas sensor.Simultaneously, the sense of smell principle that discloses the people also had certain inspired significance.
Olfactory system of the present invention utilizes modular design method, adopts the form of slot that gas sensor is connected with circuit board, is convenient to change gas sensor, also is beneficial to the blanket gas sensor, the damage when avoiding welding its lead-in wire.The modular construction of olfactory system of the present invention, it is little to have a volume, and characteristics such as highly versatile can be used as modular unit and are assembled into (as mobile robot, humanoid robot and bio-robot etc.) on the various robot bodies.This structural design makes olfactory system of the present invention when detecting gas with various, only needs to change corresponding gas sensor, trains again or demarcate to get final product, and can effectively strengthen the olfactory function of robot, is easy to expand its practical ranges.
Olfactory system of the present invention both can be assembled on the robot body and use, and also can be used as portable sense of smell device and independently used.In the time of on being assembled into robot, can send the kind and the concentration information of the gas of surveying in real time to the main control computer of robot system by communication interface; When independently using, can obtain relevant detection information by the LCD MODULE on the shell body as mancarried device.In addition, memory module of the present invention can write down information such as detected gas concentration in the process of working online, and is convenient to behind the off-line survey data be analyzed and managed.
Olfactory system of the present invention can be realized the olfactory function that designs fully, and for the main control computer of robot system, it just receives the net result of detection information, so saved the resource of main control computer, has improved the work efficiency of robot.
Description of drawings
Fig. 1 is the one-piece construction synoptic diagram of a kind of embodiment of robot bionic olfactory system of the present invention.
Fig. 2 is the bionic nasal cavity structural representation of a kind of embodiment of robot bionic olfactory system of the present invention.
Fig. 3 is the surface-mounted integrated circuit structural representation of a kind of embodiment of robot bionic olfactory system of the present invention.
Fig. 4 is the outer shell construction synoptic diagram of a kind of embodiment of robot bionic olfactory system of the present invention.
Fig. 5 is the suction system structural representation of a kind of embodiment of robot bionic olfactory system of the present invention.
Fig. 6 is the control panel structure synoptic diagram of a kind of embodiment of robot bionic olfactory system of the present invention.
Embodiment
Be described in detail the present invention below in conjunction with embodiment and accompanying drawing thereof.Embodiment is to be to implement under the prerequisite with the technical solution of the present invention, has provided detailed embodiment and process.But the protection domain of claim of the present invention is not limited to following embodiment.
The robot bionic olfactory system (hereinafter to be referred as olfactory system, referring to Fig. 1,4) of the present invention's design based on bionics principle, is followed robot modularized design philosophy, adopts modular design, designs according to people's olfactory system principle of work.This olfactory system comprises: shell body 6 and encapsulation bionic nasal cavity 1 within it, suction system 3 and surface-mounted integrated circuit 2 are installed in its surperficial LCD MODULE 4 and control panel 5.
The described bionic nasal cavity 1 of olfactory system of the present invention (referring to Fig. 2,1) is to the present invention is based on bionics principle original creation, it by cavity plate 11, cavity of resorption plate 110 and between dividing plate 17 sealings constitute.Have the air intake opening 13 of a bionic nasal cavity 1 on the described cavity plate 110, and constitute upper chamber 12 with dividing plate 17.The air intake opening 13 of embodiment is opened the center in cavity plate 11; Have the gas outlet 15 of a bionic nasal cavity 1 on the described cavity of resorption plate 110, and constitute lower chamber 19 with dividing plate 17.The gas outlet 15 of embodiment is opened the center (because of arranging to have mounting hole 18 in the center) at cavity of resorption plate 110 as far as possible; Leave on the described dividing plate 17 and the identical uniform pore 14 of gas sensor 24 design numbers, can make the gas of suction enter into lower chamber 19 swimmingly by upper chamber 12.Also have on the described cavity of resorption plate 110 and the same number of mounting hole 18 of gas sensor 24 designs, the detecting head of the gas sensor 24 of corresponding number is extend in the lower chamber 19, and making the position of the pore 14 on blowhole and the described dividing plate 17 on the probe of gas sensor 24 corresponding one by one, design helps gas sensor 24 and fully contacts with environmental gas like this.The longitudinal section of described upper chamber 12 is+cone-shaped body of (30-60 °) cone angle; The longitudinal section of described lower chamber 19 is-cone-shaped body of (30-60 °) cone angle.Described cone-shaped body comprises cone-shaped body and cone table, and shape can be conically shaped body or square cone-shaped body.The cone angle of embodiment adopted ± and 45 °.This structural design meets hydromechanical ultimate principle, and what can make that air-flow can be in bionic nasal cavity 1 concentrates fast flows to blowhole on gas sensor 24 probes.Described upper and lower air chamber 12,19 and central dividing plate 17 embodiment have adopted screw 16 to link together, and the blowhole on the gas sensor probe, bionic nasal cavity 1 each junction all seals with O-ring seal.Air intake opening 13 places of described bionic nasal cavity 1 can install screen pack additional, enter in the upper chamber 13 to prevent big fouls such as dust.
Bionic nasal cavity 1 of the present invention adopts the structure of similar people's nasal cavity, and its air intake opening 13 communicates with the external world as people's anterior naris, is the passage that gas enters bionic nasal cavity 1 in the environment; Its gas outlet 15 communicates with the air intake duct 32 of suction system 3 as people's choana, and the gas that is drawn into bionic nasal cavity 1 is drawn into described gas within the bionic nasal cavity 1 through suction system 3.The air intake opening 13 of the bionic nasal cavity 1 of olfactory system of the present invention can external software or hardware wireway, make the gas in the working environment not be subjected to the influence of its installation site with contacting of gas sensor, in other words can be according to the practical structures of robot, select suitable installation site, thereby can make the serviceability of olfactory system more stable.Bionic nasal cavity of the present invention 1 adopts lightweight and is difficult for and various chemical gas react or adsorbing made, for example: teflon, PEP or silicon rubber etc.
The suction system 3 of olfactory system of the present invention (referring to Fig. 1,5) is made of miniature asepwirator pump 31, air intake duct 32 and gas outlet 33, and air intake duct 32 links to each other with the air entry of miniature asepwirator pump 31, and gas outlet 33 links to each other with the exhausr port of miniature asepwirator pump 31.This system adopts the lung of miniature asepwirator pump 31 as olfactory system, to finish aspiratory action, realizes the function of similar people's respiratory system.The air intake duct 32 of described suction system 3 is connected with gas outlet 15 pipelines of the lower chamber 19 of bionic nasal cavity 1; The gas outlet 33 of suction system 3 is connected with the gas outlet mounting hole 66 of shell body 6, the gas in the bionic nasal cavity 1 can be discharged outside the shell body 6.The opening and closing of miniature asepwirator pump 31 are finished by the MCU processor unit 22 on the surface-mounted integrated circuit 2, and operating rate can be set.Described miniature asepwirator pump 31 can be installed on the appropriate location in the shell body 6, as on the cavity of resorption plate 110 or inwall first-class (referring to Fig. 4).
The described surface-mounted integrated circuit 2 of olfactory system of the present invention (referring to Fig. 1,3) comprises gas sensor array 24, signal condition module 23, A/D modular converter 29, MCU processor unit 22, power module 27, temperature, humidity compensate module 25, memory module 26 and communication module 28.Described each module all suitably is integrated on the circuit substrate 21.Described gas sensor array 24 links to each other with circuit substrate 21 by slot, and all the other each modules and built-up circuit thereof all are welded on the circuit substrate 21.Electric connecting relation is: gas sensor array 24---signal condition module 23---A/D modular converter 29---MCU processor unit 22---communication module 28; Temperature, humidity compensate module 25 directly link to each other with MCU processor unit 22 with memory module 26, and power module 27 links to each other with all components and parts that need power.Described surface-mounted integrated circuit 2 be the present invention according to the needs of olfactory system function specialized designs, but its each functional module has adopted current techique.
Described gas sensor array 24 is meant that cylindrical encapsulation has the gas sensor of metal column pin, adopts 4-8 this gas sensor array that is square to be installed in arrangement on the surface-mounted integrated circuit 2.The pin of the described gas sensor of the embodiment of the invention adopts female type to be connected with integrated circuit 2, so that change, also is beneficial to the protection sensor, the damage of pin lead-in wire when avoiding welding.The present invention can adopt and can form described gas sensor array 24 to the gas sensor of gas not of the same race response (as the conductor oxidate gas sensor etc.), utilize the difference of gas sensor, realize the qualitative and quantitative analysis of gas by common pattern recognizers such as neural network, principal component analysis (PCA)s the gas with various susceptibility; Also can adopt several sensors at specific gas response (as galvanochemistry type gas sensor etc.) to form described gas sensor array 24, finish detection task particular target gas.When using the gas sensor array that responds at specific gas, need in olfactory system, not use algorithm for pattern recognition that gas is carried out identification, thereby can reduce the resource overhead of olfactory system greatly, improve the accuracy rate of gaseous species identification and the work efficiency of entire machine robot system.The embodiment of the invention has been used gas sensor of the same type, isonomic, can simplify signal Conditioning Circuit Design like this, and can be designed to unified size to the mounting hole 18 of the socket of gas sensor and bionic nasal cavity cavity of resorption plate 110 respectively, the gas sensor of change detection gas with various easily, realize the variation of sense of smell module detected gas kind easily, thus the range of application of expansion robot olfactory system.
The function of described signal condition module 23 is that the feeble signal of gas sensor output is amplified, after the Filtering Processing, sent into A/D modular converter 29, converts to be input to MCU processor unit 22 after the digital signal and to handle accordingly.Described power module 27 is responsible for supplying with the used electric power of described gas sensor, miniature asepwirator pump 31 and MCU processor unit 22.Described temperature, humidity compensate module 25 adopt temperature sensor and humidity sensor respectively, with the temperature and humidity in the measurement environment, for the backoff algorithm that guarantees the linear output of gas sensor provides temperature, humidity data.Described memory module 26 adopts independently storer of outsides, writes down the described olfactory system detected gas concentration information in the process that works online, and is convenient to behind the off-line survey data be analyzed and managed.The main control computer (system) that described communication module 28 is responsible for olfactory system and robot carries out communication, institute's measurement information is transferred to the robot master control system in real time, so that robot makes corresponding decision according to task.Communication module 28 embodiment have adopted the communication interface of standard, as serial ports or USB interface.On described surface-mounted integrated circuit 2, be equipped with gas sensor and design the same number of gas sensor socket, be used to install described gas sensor.
The described LCD MODULE 4 of olfactory system of the present invention is installed on be easy to (referring to Fig. 1) on the observation place of shell body 6, with real-time demonstration with conveniently watch gaseous species and concentration information in the working environment.Even this design can make olfactory system of the present invention not be integrated in the robot, also can be used as the portable gas testing tool and use.
The described control panel of olfactory system of the present invention 5 adopts the form (referring to Fig. 1,6) of film face-plates, and design has power switch 51 it on, miniature asepwirator pump speed setting 52, and speed increases 53, and speed subtracts 54 and store function buttons such as 55 are set.
The described shell body 6 (overlook and see) of olfactory system of the present invention can be square body or round.Embodiment is designed to square box-like (referring to Fig. 1,4).Described shell body 6 can be described bionic nasal cavity 1, surface-mounted integrated circuit 2, suction system 3, and LCD MODULE 4 and control panel 5 sealings are installed as one.Design respectively on the described shell body 6 LCD MODULE mounting hole 61, control panel mounting hole 62, bionic nasal cavity air intake opening mounting hole 63, miniature asepwirator pump mounting hole 65, suction system gas outlet mounting hole 66, power interface mounting hole 67, communication interface mounting hole 68 and surface-mounted integrated circuit mounting hole 610 are arranged.In addition, described shell body 6 on three-dimensional also design extension limit 69 is arranged, uniformly be equipped with shell body mounting hole 64 in right amount on extension limit 69, so that olfactory system of the present invention adapts with the installing space of different robot body.Described shell body mounting hole 64 can be a unthreaded hole, also can be threaded hole, to use screw or bolt easily olfactory system of the present invention is connected in the robot.
The present invention does not address part and is applicable to prior art.
Technical scheme according to the present invention below provides specific embodiments of the invention:
Embodiment 1
At first, according to the kind and the requirement of gas that olfactory system is surveyed, the type of selection and definite gas sensor.Adopted 5 gas sensors to form described sensor array in the present embodiment.Wherein, 4 gas sensors are 4 serial electrochemical principle gas sensors (productions of Britain city technology company limited), respectively can be to CO, SO
2, H
2S and O
2Respond.This gas sensor is subjected to the influence of other gas or disturbs very little only to described specific gas response.The PID gas sensor (U.S. Baseline company produce, ZPP6000102 type) of other 1 gas sensor for surveying volatile organic matter gas.This gas sensor is only to the volatile organic matter response, but when using, need know the kind of the escaping gas of surveying in advance; Select the PID gas sensor according to the kind of the escaping gas that will detect in other words.Obviously, the olfactory system of present embodiment can detect 5 kinds of different gases simultaneously, because of the gas sensor that is adopted all is only pure gas to be responded, thereby can save algorithm for pattern recognition, significantly reduce the operand of olfactory system, improved the accuracy rate and the detection efficiency of computing.
Secondly, according to the physical dimension of selected gas sensor, design its installation site and installation site and size and jack sizes on surface-mounted integrated circuit 2 big or small, gas sensor mounting hole 18 at bionic nasal cavity cavity of resorption plate.Then, according to the physical dimension of the topological design bionic nasal cavity 1 of whole gas sensor array 24.Sensor array 24 in the present embodiment is square, and the upper chamber 12 of bionic nasal cavity 1 is cone shape, and lower chamber 19 is truncated cone shape, and its inwall inclination angle is respectively ± 45 ° (referring to Fig. 1).Want the larger diameter end of upper and lower 2 air chambers to be installed together relatively during installation, and whole bionic nasal cavity 1 is screwed on surface-mounted integrated circuit 2.
Once more, adopt prior art that signal condition module 23, A/D modular converter 29, MCU processor unit 22, power module 27, temperature, humidity compensate module 25, memory module 26 and communication module 28 are integrated on the circuit substrate 21.According to described gas sensor characteristic, by signal condition module 23 feeble signal of sensor output is amplified, after 29 conversions of A/D modular converter, enter in the MCU processor unit 22 and handle.Present embodiment adopts the C8051F020 single-chip microcomputer to process device, self has the A/D ALT-CH alternate channel, adopts the serial communication mode, carries out communication with the main control computer of robot system.Present embodiment has been selected temperature and humidity in 18B20 temperature sensor and the HIH4000 humidity sensor difference measurement environment for use, is input to the temperature, the humidity compensate that are used for gas sensor in the single-chip microcomputer then.
At last, according to shell body 6 sizes of the size design olfactory system of described surface-mounted integrated circuit 2 and bionic nasal cavity 1, determine the position of described various mounting holes.Then, miniature asepwirator pump 31 is installed on the inwall of shell body 6,, and connects pipeline with the saving space; Bionic nasal cavity 1 and surface-mounted integrated circuit 2 are installed on the cavity of resorption plate 110 of shell body 6; LCD MODULE 4 and control panel 5 are installed to the positive front of shell body 6, olfactory system of the present invention can be assembled and finish again.Described miniature asepwirator pump 31 adopts the miniature asepwirator pump of 1319D type (manufacturing of U.S. RAE company).This miniature asepwirator pump volume is little, performance strong (can put down and inhale 30 meters distances).Described LCD MODULE 4 is selected the GXM12864 graph lcd module for use, is a kind of dot pattern LCD module that adopts the Low-Power CMOS technology to realize.
Claims (4)
1. robot bionic olfactory system, this olfactory system comprise shell body and encapsulation bionic nasal cavity within it, and suction system and surface-mounted integrated circuit are installed in its surperficial LCD MODULE and control panel; Described bionic nasal cavity by cavity plate, cavity of resorption plate and between the dividing plate sealing constitute; Have the air intake opening of a bionic nasal cavity on the cavity plate, and constitute upper chamber with dividing plate; Have the gas outlet of a bionic nasal cavity on the cavity of resorption plate, and constitute lower chamber with dividing plate; Leave on the described dividing plate and the identical uniform pore of gas sensor design number; Also have with gas sensor on the described cavity of resorption plate and design the same number of mounting hole, the detecting head of the gas sensor of corresponding number is extend in the lower chamber, and make the blowhole on the probe of gas sensor corresponding one by one with the pore position on the described dividing plate; The longitudinal section of described upper chamber is+cone-shaped body of (30-60 °) cone angle; The longitudinal section of described lower chamber is-cone-shaped body of (30-60 °) cone angle; The blowhole on the gas sensor probe, each junction of bionic nasal cavity all seals with O-ring seal.
2. robot bionic olfactory system according to claim 1 is characterized in that described surface-mounted integrated circuit comprises gas sensor array, signal condition module, A/D modular converter, MCU processor unit, power module, memory module, temperature, humidity compensate module and the communication module that is integrated on the circuit substrate; Electric connecting relation is: gas sensor array--signal condition module--A/D modular converter--MCU processor unit---communication module; Temperature, humidity compensate module directly link to each other with the MCU processor unit with memory module, and power module links to each other with all components and parts that need power.
3. robot bionic olfactory system according to claim 1 is characterized in that the cone-shaped body of the longitudinal section of described upper chamber for+45 ° of cone angles; The longitudinal section of described lower chamber is the cone-shaped body of-45 ° of cone angles.
4. robot bionic olfactory system according to claim 1 is characterized in that the air intake opening place of described bionic nasal cavity adds screen pack.
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