KR102367793B1 - Detection robot that is put into the hazardous gas field - Google Patents

Abstract

A detection robot is provided. The detection robot may include a detection module for detecting harmful gases; a moving module for transporting the detection module to the detection position; and, when the movement module or the detection module arrives at the detection position, the movement module operates in a disconnection mode to disconnect the physical connection relationship with the detection module After that, you can move to another location.

Description

Detecting robot put into hazardous gas field {DETECTION ROBOT THAT IS PUT INTO THE HAZARDOUS GAS FIELD}

The present invention relates to a detection robot that is put into a hazardous gas field.

At a terrorist site or disaster site where disasters such as fire, hazardous gas leak, collapse, and explosion exist, it is necessary to determine the presence or absence of hazardous gas before the on-site agent is deployed.

In order to determine the presence or absence of harmful gas, a robot may be introduced to the site where the harmful gas is generated.

Korean Patent Publication No. 0885305 discloses a robot capable of measuring a complex gas.

Korean Patent Publication No. 0885305

An object of the present invention is to provide a robot that is input to an accident site and detects harmful gases present at the accident site.

The detection robot of the present invention includes a detection module for detecting harmful gases; a moving module for transporting the detection module to the detection position; and, when the movement module or the detection module arrives at the detection position, the movement module operates in a disconnection mode to disconnect the physical connection relationship with the detection module After that, you can move to another location.

According to the present invention, a remote control robot can be effectively used as a method for minimizing human casualties at a terrorist/disaster site that is difficult for humans to access, such as fire, hazardous gas leakage, collapse, and explosion risk.

According to the present invention, it is possible to collect various types of information, including the identification of harmful gas substances, in an environment dangerous to access by professional personnel, and emergency response is possible.

According to the present invention, an internal real-time wireless communication network for establishing a close control system between the remote control robot and field personnel, field situation control personnel, and rear command center can be established.

According to the present invention, not only harmful gases heavier than air on the floor, chemical terrorism substances, but also light harmful gases located in high places using the extension part can be detected. As a result, the detection robot of the present invention can measure the safety of harmful gases for the entire indoor space.

In addition, according to the present invention, a detection robot is disposed in each room separated by a partition and communication is restricted, and each detection robot can function as a communication relay station. Accordingly, it is possible to detect harmful gases for the entire accident site, and a communication environment can be established for the entire accident site.

According to the present invention, a practical communication range can be greatly expanded at a disaster site or an accident site.

1 is a schematic diagram showing a detection module of the detection robot of the present invention.
Figure 2 is a perspective view showing a detection module of the present invention.
3 is a perspective view showing another detection module of the present invention.
4 is a schematic diagram showing a detection module and a movement module of the present invention.
5 is a schematic diagram showing a method of operating a detection robot of the present invention.
6 is a diagram illustrating a computing device according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

In the present specification, duplicate descriptions of the same components will be omitted.

Also, in this specification, when it is said that a certain element is 'connected' or 'connected' to another element, it may be directly connected or connected to the other element, but other elements in the middle It should be understood that there may be On the other hand, in this specification, when it is mentioned that a certain element is 'directly connected' or 'directly connected' to another element, it should be understood that the other element does not exist in the middle.

In addition, the terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention.

Also, in this specification, the singular expression may include the plural expression unless the context clearly dictates otherwise.

Also, in this specification, terms such as 'include' or 'have' are only intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more It is to be understood that the existence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof, is not precluded in advance.

Also in this specification, the term 'and/or' includes a combination of a plurality of described items or any item of a plurality of described items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Also, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

1 is a schematic diagram showing a detection module 100 of the detection robot of the present invention, Figure 2 is a perspective view showing the detection module 100 of the present invention. 3 is a perspective view showing another detection module 100 of the present invention. 4 is a schematic diagram showing a detection module 100 and a movement module 200 of the present invention. 5 is a schematic diagram showing a method of operating a detection robot of the present invention.

The detection robot of the present invention may include a detection module 100 , a movement module 200 ), and a management module 300 .

The detection module 100 may detect a harmful gas.

The moving module 200 may move the detection module 100 to a detection position, for example, a first position p1.

The moving module 200 may include a motor, a driving unit such as an engine, a wheel moved by the driving unit, a caterpillar track, a leg for multi-legged walking, and the like. A plurality of sensors (a camera, a gyro sensor, and a lidar) may be mounted on the mobile module 200 for remote control or remote control. The mobile module 200 may communicate with the external management module 300 in real time.

The detection location may be formed or set in various areas, whether indoors or outdoors. However, the utility of the detection robot can be maximized in the indoor space 90 where the damage of harmful gases is large. The indoor space 90 may be a room in a building surrounded by bulkheads, a basement, a tunnel, or the like. Alternatively, the indoor space 90 may include the inside of a tank in which various fluids are stored, the inside of a pipe through which the fluid flows, and the like.

When the movement module 200 or the detection module 100 arrives at the detection location, the movement module 200 may operate in a disconnected mode that cuts off the physical connection with the detection module 100 and then move to another location.

The moving module 200 may be provided with a mounting unit 206 on which the detection module 100 is mounted, and an unloading unit for placing the detection module 100 mounted on the mounting unit 206 on the ground.

As an example, the mounting unit 206 may include a groove or a luggage compartment formed on the upper surface of the moving module 200 .

From the viewpoint of movement of the movement module 200 , the detection module 100 mounted on the mounting unit 206 may be connected to the movement module 200 . Accordingly, the detection module 100 mounted on the mounting unit 206 may move together with the moving module 200 .

The unloading unit may include an arm for lifting the detection module 100 mounted on the mounting unit 206 from the mounting unit 206 and placing it on the ground. As another example, the unloading unit may include a door that opens and closes an outlet formed on the bottom or rear of the mounting unit 206, a cylinder, a roller, a conveyor belt, etc. that pushes the detection module 100 mounted on the mounting unit 206 toward the exit. can A roller, a conveyor belt, etc. may be formed on the bottom of the mounting portion 206 .

When the detection module 100 is placed on the ground by the unloading unit, the detection module 100 may start a detection operation of the harmful gas. Since the physical connection is released by the unloading unit, even if the moving module 200 moves, the detection module 100 placed on the ground stays in place.

On the other hand, a traction rope 209 connecting the moving module 200 and the detection module 100 may be provided. The moving module 200 may move toward the detection position while dragging the detection module 100 using the traction rope 209 .

When the detection module 100 reaches the detection position, the movement module 200 may release the locking of the traction rope 209 connecting the movement module 200 and the detection module 100 . When the lock is released, the detection module 100 may start a detection operation of the harmful gas.

As an example, the traction rope 209 may be provided with an automatic opening and closing ring connected to the moving module 200 or the detection module 100 . Whether the automatic opening and closing ring is opened or closed may be controlled by the moving module 200 . When the automatic opening/closing ring connecting the moving module 200 and the detection module 100 is opened, at least one of the moving module 200 or the detection module 100 connected to the corresponding ring may be separated from the opening/closing ring. If it is separated from the opening and closing ring, the physical connection relationship between the movement module 200 and the detection module 100 may be severed. Even if the mobile module 200 leaves the corresponding location due to the disconnection of the physical connection relationship, the detection module 100 may stay at the current location.

4 (a) shows a method of transferring the detection module 100 using the mounting unit 206 . Figure 4 (b) shows a method of transporting the detection module 100 using a traction rope (209). When the number of detection modules 100 to be transferred is large, the mounting unit 206 transfer method and the traction rope 209 transfer method may be used together.

The detection module 100, which has started operation at the detection position, may detect harmful gases present in the vicinity. The noxious gas detection result of the detection module 100 may be displayed on the management module 300 monitored by the user. Through the detection result of the harmful gas displayed through the management module 300 , the user may determine the input of the field agent 10 .

Meanwhile, the detection module 100 may communicate with the management module 300 to provide a detection result. The detection module 100 may be disposed in an indoor area blocked by walls or the like. In the room, communication with the management module 300 is likely to be restricted by a wall or the like. Moreover, various obstacles that obstruct signal transmission may exist at various accident sites where the presence of harmful gases is expected. Accordingly, it may be difficult for the detection module 100 disposed at the detection location to communicate directly with the management module 300 .

Communication-related problems may be equally applied to the mobile module 200 .

The mobile module 200 may transmit various types of sensing information to the management module 300 . In case of fire, etc., wireless communication may be preferable rather than communication using wired.

The movement module 200 may be provided with various sensing means, such as a camera for capturing an image of the surrounding, a temperature sensor for measuring the surrounding temperature, and a position sensor for measuring the current location. Sensing information such as image data, temperature data, and position data obtained from the sensing means may be basic data necessary for selection of a detection position and manipulation of the movement module 200 .

Transmission of sensing information targeting the management module 300 is likely to be limited by various walls, ceilings, and obstacles forming the room. Even from the standpoint of the management module 300 , a steering signal capable of manipulating the mobile module 200 must be transmitted to the mobile module 200 , but transmission of the steering signal may be restricted by various obstacles.

The communication-related problems discussed above can be resolved through the transport mode and disconnection mode of the detection module 100 and the movement module 200 . The transport mode may indicate an operation mode in which the detection module 100 and the moving module 200 are physically connected by using a mounting unit or a traction rope.

The movement module 200 may transfer the plurality of detection modules 100 .

The movement module 200 may move while passing through a plurality of detection locations. Each time the moving module 200 arrives at each detection position, the moving detection module 100 may be disposed at each detection position one by one. When the disposition of the detection module 100 for the detection position is completed, the movement module 200 may move toward the next detection position.

In order to distribute the plurality of detection modules 100 to various detection positions, the movement module 200 may alternately perform a transfer mode and a disconnection mode.

According to the detection module 100 dispersedly disposed at various detection positions, it is possible to detect all harmful gases present in various places inside the building. In addition, each of the distributed detection modules 100 may perform a relay function for communicatively connecting another detection module and the management module 300 or for communicatively connecting the mobile module 200 and the management module 300 .

The mobile module 200 that travels between the plurality of detection locations may also relay communication between the detection module 100 and the management module 300 .

According to the above embodiment, a new simple communication network is formed throughout the disaster site where transmission and reception of radio waves is restricted. Each detection module 100 or the mobile module 200 may normally communicate with the management module 300 through the corresponding simple communication network.

The mobile module 200 may be provided with a mobile communication means 210 that communicates with the management module 100 by wire or wirelessly.

The mobile communication means 210 may relay communication between the detection module 100 and the management module 300 .

When the control signal of the detection module 100 is received from the management module 300 , the mobile communication means 210 may transmit the control signal received from the management module 300 to the detection module 100 .

When the detection result of the harmful gas is received from the detection module 100 , the mobile communication means 210 may transmit the detection result received from the detection module 100 to the management module 300 .

The detection module 100 may be provided with a first communication means 153 that communicates with the management module.

For example, the first communication means 153 may relay communication between the mobile module 200 and the management module 300 . When a steering signal of the mobile module 200 is received from the management module 300 , the first communication means 153 may transmit the steering signal received from the management module 300 to the mobile module 200 .

When sensing information is received from the mobile module 200 , the first communication means 153 may transmit the sensing information received from the mobile module 200 to the management module 300 .

As another example, the first communication means 153 provided in a specific detection module (eg, the first detection module) communicates between the management module 300 and another detection module (eg, the second detection module) nearby. can be relayed. When the control signal of the second detection module is received from the management module 300 , the first communication means 153 may transmit the control signal received from the management module 300 to the corresponding second detection module. When the detection result of the harmful gas is received from the second detection module, the first communication means 153 provided in the first detection module may transmit the detection result received from the second detection module to the management module 300 .

The mobile module 200 may be remotely controlled by the management module 300 . As shown in FIG. 5 , the mobile module 200 may correspond to a remote control robot controlled by the management module 300 , and the management module 200 may correspond to a remote controller that manipulates or controls the remote control robot.

The management module 300 may acquire identification information of a specific detection module placed on the ground due to the execution of the disconnection mode.

The management module 300 may acquire location information of the mobile module 200 when the disconnection mode for a specific detection module is executed.

The management module 300 may match the identification information with the location information and store them in the storage unit.

When the detection result of the harmful gas is received together with the identification information, the management module 300 may extract location information matched with the identification information by using the storage unit.

The management module may be provided with a display unit for displaying the detection result of the harmful gas together with the extracted location information.

In FIG. 5 , it is assumed that the detection robot transports a total of seven detection modules 100 using the traction rope 209 .

The user may operate the mobile module 200 using the management module 300 and put the mobile module 200 into the building.

The user can check the room ① using the sensing information sent from the mobile module 200 and displayed through the management module 300 . In order to detect the harmful gas in the room ①, the user may put the mobile module 200 into the room ①. When the detection module 100 transported by the movement module 200 is disposed in the room ①, the user may execute the disconnection mode of the movement module 200 through a control signal. By executing the disconnection mode, one detection module 100 can stay in the room ①.

By the user's control, the moving module 200 may lead the remaining detection modules 100 to leave room ① and enter the opposite room ②.

The moving module 200 leaving one detection module 100 in room ② may pass through the other rooms ③④⑤, leaving one detection module 100 in each room.

When the mobile module 100 moves to the vicinity of the room ⑤, the distance from the management module 300 increases, and communication may not be smooth due to various interference factors existing between the two. In this case, the detection module 100 existing between the two may serve as a relay station.

One detection module 100 arranged in each room ①②③④⑤ can detect all harmful gases present in each room, and function as an access point (AP) or communication relay terminal arranged in various places. In addition, the mobile module 200 located between each detection module 100 may also function as an access point (AP) or a communication relay terminal in addition to the transfer function of the detection module 100 . As a result, even though it is an accident site in which various communication limiting factors exist, a new communication network capable of communicating over the entire range of the accident site can be formed. Using the newly established communication network, the detection result of the detection module 100, the control signal of the detection module 100, the sensing information of the movement module 200, and the control signal of the movement module 200 are detected by the detection module 100, the movement module ( 200 and the management module 300 may communicate smoothly.

Due to the nature of the harmful gas, it may exist not only near the floor of the indoor space in which the detection module 100 is disposed but also near the ceiling of the indoor space. In particular, some harmful gases are lighter than air and may exist only near the ceiling and not on the floor.

The detection module 100 may have a body portion 170 having a height as low as possible in order to avoid physical interference with various obstacles existing at the accident site. When the gas meter is disposed on the low body portion 170 , the detection module 100 may detect only harmful gases present in the indoor space 90 at a height of less than half of the indoor space. Accordingly, even if no harmful gas is detected by the detection module 100 , noxious gas may be present in the vicinity of the ceiling. In such a situation, if field personnel are put in, damage due to harmful gases may occur.

It is preferable to provide a method for detecting harmful gases over the entire range in the height direction of the indoor space 90 .

For example, as shown in FIG. 1 , the detection module 100 may include a body 170 , an extension 191 , a second detection unit 120 , an adjustment unit 130 , and a control unit.

The body 170 may be disposed at a detection position.

The extension portion 191 may be formed to be extendable from the body portion 170 to the second position p2.

The second detection unit 120 is installed in the extension unit 191 and may detect harmful gases present at a set position in the extension section from the body unit 170 to the second position p2 .

The body 170 may be disposed at a first position p1 corresponding to the detection position. The body 170 may be formed in various cylindrical or box shapes. The body 170 may be provided with an accommodation space in which the extension is accommodated, and a cover 171 covering the accommodation space.

The second detection unit 120 may be accommodated in the accommodation space together with the extension unit 191 . The control unit 130 and the control unit may be installed in the receiving space or installed in another part of the body 170 .

The extension portion 191 may be formed to be extendable from the body portion 170 to the second position p2.

The length of the extension 191 may be varied using a tube method in which the length is increased by gas injection, a levitation method in which the length is increased by gas injection, and a telescopic method in which the length is expanded and contracted by a motor. Using the variable length, the extension 191 can be extended toward the second position p2. The extended portion 191 extended to the second position p2 may be shortened to the body portion 170 .

The second detection unit 120 is installed in the extension unit 191, and may detect in real time or periodically detect harmful gases present at a set position during the extension section from the body unit 170 to the second position p2. . The extension section may represent a virtual trajectory drawn by the other end of the extension that gradually extends from the body 170 to the second position. The second detector 120 may include a gas sensor, a gas detector, and a second gas meter capable of detecting the presence or absence of a gas, a concentration of a gas, a type of a gas, an amount of a complex gas, and the like. The second detection unit 120 may be provided with a second communication means capable of wired/wireless communication. A battery may be provided in the second detector 120 to provide driving power between the gas sensor and the second communication means. When the second detection unit 120 is connected to the body unit 170 through a wired line, the second detection unit 120 may receive driving power from a battery mounted on the body unit 170 .

When one end of the extension portion 191 is fixed to the body portion 170 , the second detection unit 120 may be installed at the other end of the extension portion 191 whose length is stretched and contracted. The second detector 120 installed at the other end of the extension 191 may move along the extension section according to a change in the length of the extension 191 .

The adjusting unit 130 is installed on the body 170 and can adjust the length of the extension 191 .

The extension portion 191 may be extended from the body portion 170 to the second position p2 or shortened from the second position p2 to the body portion 170 by the adjustment portion 130 .

The second detector 120 installed at the end of the extension 191 may detect harmful gases while moving along the extension section by elongation or shortening of the extension portion 191 . According to the present embodiment, the second detector 120 may continuously scan for harmful gases while moving at least some of the extended sections. In other words, the second detection unit 120 may detect a harmful gas while going back and forth between the first location p1 and the second location p2, or detect the noxious gas while reciprocating between the body part 170 and the second location p2. .

As another example, the second detector 120 installed at the end of the extension 191 may detect a harmful gas at a set position existing in the extension section. According to the present embodiment, the second detector 120 may detect a harmful gas while staying at a set position, for example, the second position p2.

Until noxious gas is detected, for example, during transport by the moving module 200 , the extension 191 or the adjustment unit 130 is preferably protected from externally applied impact and physical interference.

As an example, the body 170 may be transported toward the first position p1 by the moving module 200 in a state in which the extension 191 is accommodated in the receiving space and the receiving space is closed by the cover 171 . there is. When various obstacles exist at the site of terrorism/disaster, the extension unit 191 or the adjustment unit 130 may be damaged by physical interference with the obstacle. According to this embodiment, the extension part 191 or the adjustment part 130 can be safely stored in the accommodation space closed by the cover 171 until arriving at the first position p1.

When the body 170 reaches the first position p1 , the accommodation space may be opened by the cover 171 . Then, the extension 191 may be withdrawn from the accommodation space and extend toward the second position p2 .

1 and 2, the lifting means 193, the adjusting means, the injection means may be provided.

The lifting means 193 may be connected to an end of the extension 191 .

The adjusting means and the injection means may be provided in the adjusting unit 130 .

The lifting means 193 may include a balloon that floats in the air by injection of gas. In this case, the extension portion 191 may include a wire, a line, a tube, etc. connecting the lifting means 193 and the body portion 170 .

The adjusting means may include a winch installed on the body 170 and adjusting the length of the extension 191, a motor rotating the winch, and the like. An adjustment controller for controlling the adjustment means may be provided, and the adjustment controller may be formed integrally with the control unit.

One end of the extension portion 191 may be connected to the adjusting means, and the other end of the extension portion 191 may be connected to the lifting means 193 .

The length of the extension 191 wound around the winch may be changed according to the rotation direction and the number of rotations of the winch. A change in the corresponding length may determine the length of the extension portion 191 extending from the body portion 170 to the lifting means 193 .

The injection means may be installed in the body 170 . The injection means may inject gas into the flotation means 193 through the extension 191 . The extension 191 may include a hollow tube.

The injection means may include a cylinder, a valve, etc. for injecting a gas such as helium gas to one end of the hollow tube. The gas provided by the injection means may include a buoyancy gas such as helium gas pre-stored in a cylinder, not the surrounding gas to be detected by the second detection unit 120 . When the flotation means 193 is injected with the surrounding gas in which noxious gas may exist, the toxic gas may be discharged from the flotation means 193 after it is recovered by the user. Therefore, it is preferable to exclude the use of a pump for injecting gas using the surrounding gas. According to this embodiment, the flotation gas may be supplied through a cylinder including a helium gas cylinder or the like.

The gas input to one end of the hollow tube may flow along the tube and be introduced into the flotation means 193 connected to the other end of the tube. The input and output of the flotation gas to the flotation means 193 can be adjusted through the control of the valve.

When gas is injected from the injection means via the extension 191 and the length of the extension 191 is extended by the adjustment means, the levitation means 193 can float towards the second position p2 .

When the extension part 191 is wound around the winch, the length of the extension part 191 is shortened and the flotation means 193 may move toward the body part 170 . When the flotation gas injected into the flotation means 193 is discharged to the outside through valve control, etc., the levitation state of the extension 191 may be released. Due to the discharge of the flotation gas, the volume of the flotation means 193 is reduced to an acceptable extent in the accommodating space, and may be re-accommodated together with the extension 191 in the accommodating space.

The second detection unit 120 may be installed at an end of the extension unit 191 on the side of the buoyancy means. Alternatively, the second detection unit 120 may be installed in the lifting means 193 . The arrangement position of the second detector 120 may vary according to a change in the length of the extension 191 with respect to the body 170 . The second detection unit 120 may move between the body portion 170 and the second position p2 along the extension portion 191 that is contracted and contracted by the adjustment of the adjustment means or may maintain a floating state in the air.

The control unit may be provided with a control means for controlling the cover 171 , the second detection unit 120 , the adjustment unit 130 , and the like. The control unit may be provided with a first communication means 153 for receiving a control signal from an external management module that manipulates the mobile module 200 . In this case, the controller may control the cover 171 , the second detector 120 , the controller 130 , and the like according to the control signal of the management module 300 received by the first communication means 153 .

The control means may control the opening/closing operation of the cover 171 covering the accommodation space.

The control means may operate the second detection unit 120 only in a state where the body unit 170 is disposed at the first position p1. For example, the control means may provide driving power to the second detector 120 only when it is determined that the body 170 is disposed at the first position p1 .

The moving module 200 may move toward the first position p1 in a state in which the accommodation space is closed by the cover 171 .

The moving module 200 may move from the initial position to the first position p1 in a state in which the detection module 100 is mounted, and when the detection module 100 arrives at the first position p1, the detection module 100 may be put down at the first position p1.

The control means may check whether the first position p1 has been reached through its own position measurement. Alternatively, the control means may receive location information from the mobile module 200 through the first communication means 153 for wired/wireless communication with the mobile module 200 . The control means may set the location information provided from the mobile module 200 as the first location p1.

Meanwhile, the control means may entirely entrust the movement module 200 to determine whether to arrange the first position p1. In this case, the moving module 200 may place the body 170 at the first position p1 and provide an operation start signal to the body 170 .

When the operation start signal provided from the mobile module 200 is obtained through the first communication means, the control means may start the operation according to the operation start signal. According to the start of the operation of the control means, the cover 171 , the second detection unit 120 , the adjustment unit 130 , etc. may be driven.

The operation start signal corresponding to the control signal may be transmitted from the management module 300 and transmitted to the first communication means 153 via the mobile module 200 corresponding to the relay point. The operation start signal may be directly transmitted from the management module 300 to the first communication means 153 .

The body portion 170 placed at the first position p1 may continue to stay at the first position p1 without further movement. The body portion 170 placed in the first position p1 may be recovered by an agent (person) who is put in a state in which the risk of harmful gas is released.

When the detection module 100 reaches a specific first position p1 in a state in which the cover 171 is closed as shown in FIG. As the cover 171 can be opened. As shown in (c) of Figure 2 (c), the expanded and expanded buoyancy means 193 may be levitated together with the extension 191 in the air.

On the other hand, the body portion 170 connected to the moving module 200 by the traction rope 209 may be provided with a wheel portion 176 such as a wheel.

A traction part 177 connected to the traction rope 209 may be provided on the front side of the body part 170 . A traction part 177 connected to the traction rope 209 may also be provided on the rear surface of the body part 170 to pull another body part 170 .

The moving module 200 may pull the body 170 using the traction rope 209 and arrange it in the first position p1 . When the body portion 170 is placed in the first position p1, the moving module 200 releases the locking state of the traction rope 209 connected to the body portion 170 to release the traction rope 209 and the body portion ( 170) may execute a disconnection mode to release the connection state between the two.

When the connection state of the traction rope 209 to the corresponding body 170 is released, the moving module 200 may move toward the next first position while pulling the other body 170 .

When the first position p1 is reached and the connection of the traction rope 209 is released, the motor for opening and closing the cover 171 by the control unit operates and the cover 171 can be opened.

When the cover 171 is opened, the adjusting unit 130 is operated, the buoyancy means 193 is expanded by the adjusting unit 130 , and the extension unit 191 may be extended long. When the buoyancy means 193 floats in the air due to expansion, the second detection unit 120 installed at the end of the extension part 191 may also float in the air.

The second detector 120 may detect harmful gases present in the air.

Although the wheel part 176 is provided, the body part 170 in which a means for driving the wheel part 176 is not provided can continuously detect harmful gases while maintaining a state of staying in place. In the case of the detection module 100, it can move on its own in some limited environments where there are not many obstacles. However, due to the minimized size of the module, the movable area may be limited due to limited battery capacity, wheel size, lack of environmental awareness sensors, and the like.

According to the present invention, noxious gas can be detected at the second position p2 adjacent to the ceiling 93 . In addition, noxious gases may be detected at various positions between the body 170 and the second position p2 according to the length adjustment of the extension portion 191 .

The extended length of the extension 191 may be periodically extended and shortened by the control unit. As a result, the second detector 120 may detect harmful gases at various heights while periodically reciprocating at least some of the extension sections from the body 170 to the second location p2 . The second detector 120 may detect a noxious gas in real time during a reciprocating cycle of a partial section or detect a noxious gas according to a sampling cycle faster than the reciprocating cycle.

Meanwhile, the extension 191 may be formed in various ways.

According to (a) of Figure 3, an expansion means such as a tube having one end fixed to the body portion 170, an injection means for injecting gas into the expansion means may be provided. In this case, the expansion means may correspond to the extension 191 .

When the gas is injected by the injection means, the other end of the expansion means may open the cover 171 while expanding toward the second position p2. The other end of the expansion means pushing out the cover 171 may continuously advance toward the second position p2. The second detection unit 120 may be installed at the other end of the expansion means that expands toward the second position p2.

When the inflation gas injected into the expansion means by the injection means or the valve is discharged, the expansion means may be contracted and accommodated in the accommodation space together with the second detection unit 120 .

According to (b) of FIG. 3 , a telescopic arm having one end connected to the body 170 and an actuator for stretching and contracting the telescopic arm may be provided. In this case, the telescopic arm may correspond to the extension 191 .

When the actuator moves in the forward direction, the telescopic arm may extend toward the second position p2 while opening the cover 171 . The second detector 120 may be installed at the other end of the telescopic arm.

When the actuator moves in the reverse direction, the telescopic arm may be accommodated in the receiving space while being shortened toward the body 170 .

Meanwhile, the detection module 100 of the present invention may further include a first detection unit 110 installed in the body portion 170 .

In terms of height, the noxious gas present at the first position p1 around the indoor floor 91 is defined as the first noxious gas, and the noxious gas existing at the second position p2 around the indoor ceiling 93 is defined as the second noxious gas. to define

The first detection unit 110 may detect the first harmful gas present at the first position p1. The first detection unit 110 may include a gas meter capable of detecting the presence or absence of various gases, their concentrations, and the like.

The second detection unit 120 may be disposed at the second position p2 by an extension extending to the second position p2 . The second detector 120 may detect a second harmful gas present at the second location p2 .

The body 170 may be disposed on the floor 91 of the room. The first detector 110 may detect a first harmful gas existing around the floor 91 in a direction of gravity. The extension portion may extend from the body portion 170 toward the ceiling 93 of the room. The second detector 120 may detect a second harmful gas existing around the ceiling 93 .

According to the present embodiment, a first noxious gas capable of harming a person who has fallen may be detected, and a second noxious gas capable of harming the field personnel 10 who have been put in to rescue the person who has fallen may be detected. If necessary, the second detection unit 120 may also detect the harmful gas at a set position between the body unit 170 and the second position p2 .

The first detection unit 110 and the second detection unit 120 transmit the harmful gas detection result to the first communication unit 153 provided in the body unit 170 , and the first communication unit 153 uses the mobile module 200 or the management module 300 .

The detection result received through the mobile module 200 or directly transmitted from the first communication means 153 is displayed through the management module 300 and may be used as data for determining whether to put the field agent 10 in.

In the present invention, the control unit for controlling the detection module 100 may start the operation when it is confirmed that the first position has arrived or an operation start signal is obtained from the movement module 200 .

The operation started control unit may drive an actuator or the like so that the cover 171 is opened. When the cover 171 is opened, the controller may control the adjusting unit 130 to extend the extension 191 accommodated in the body 170 to the second position p2 .

The operation started control unit may drive at least one of the first detection unit 110 and the second detection unit 120 . The first detection unit 110 driven by the control unit may detect the first harmful gas at the first position p1. The second detection unit 120 driven by the control unit may detect the harmful gas while moving to the second position p2 together with the extension unit, or may detect the second harmful gas after reaching the second position p2.

6 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 6 may be a device (eg, a control unit, a management module 300, etc.) described herein.

In the embodiment of FIG. 6 , the computing device TN100 may include at least one processor TN110 , a transceiver device TN120 , and a memory TN130 . Also, the computing device TN100 may further include a storage device TN140 , an input interface device TN150 , an output interface device TN160 , and the like. Components included in the computing device TN100 may be connected by a bus TN170 to communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to an embodiment of the present invention are performed. The processor TN110 may be configured to implement procedures, functions, and methods described in connection with an embodiment of the present invention. The processor TN110 may control each component of the computing device TN100 .

Each of the memory TN130 and the storage device TN140 may store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be configured as at least one of a volatile storage medium and a nonvolatile storage medium. For example, the memory TN130 may include at least one of a read only memory (ROM) and a random access memory (RAM).

The transceiver TN120 may transmit or receive a wired signal or a wireless signal. The transceiver TN120 may be connected to a network to perform communication.

On the other hand, the embodiment of the present invention is not implemented only through the apparatus and/or method described so far, and a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded may be implemented. And, such an implementation can be easily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also presented. It belongs to the scope of the invention.

10...Field agent 90...Indoor space
91...floor 93...ceiling
100...detection robot 110...first detection unit
120...Second detection unit 130...Adjustment unit
153...first communication means 170...body part
171...cover 176...wheel part
177...towing 191...extending
193...float means 200...move module
209...towing rope 210...mobile communication means
300...management module

Claims (9)

a detection module for detecting harmful gases;
Including; a moving module for transferring the detection module to the detection position;
When the mobile module or the detection module arrives at the detection location, the mobile module operates in a disconnection mode that cuts off the physical connection relationship with the detection module and then moves to another location,
The detection module, whose physical connection relationship with the mobile module is cut off, stays in the current location and detects the harmful gas,
The detection module includes a body portion transferred to a first position corresponding to the detection position by the moving module, an extension portion extending from the body portion to a second position, and installed in the extension portion from the body portion A second detection unit is provided for detecting harmful gases present at the set position among the extended section to the second position,
An accommodating space for accommodating the extension portion and a cover for covering the accommodating space are provided in the body portion,
The body part moves toward the first position in a state in which the extension part is accommodated in the accommodating space and the accommodating space is closed by the cover,
When the body part arrives at the first position by the moving module and the connection of the body part to the moving module is released, the accommodation space is opened by the cover, the extension part is drawn out from the accommodation space, and the second 2 extends towards the position,
The body part in which the connection state to the moving module is released maintains a state staying in place,
The second detector is installed at an end of the extension, and moves along the extension section by elongation or shortening of the extension portion to detect the harmful gas or to detect the harmful gas at the set position.
According to claim 1,
The moving module transports a plurality of the detection modules,
The moving module moves while passing through a plurality of the detection locations,
When the moving module arrives at each detection position, the moving detection module is disposed one by one at each detection position, and the detection robot moves toward the next detection position.
According to claim 1,
The moving module is provided with a mounting unit on which the detection module is mounted, and an unloading unit for placing the detection module mounted on the mounting unit on the ground,
When the detection module is disposed on the ground by the unloading unit, the detection robot starts the detection operation of the harmful gas.
According to claim 1,
A traction rope connecting the moving module and the detection module is provided,
The moving module moves toward the detection position while dragging the detection module using the traction rope,
When the detection module reaches the detection position, the movement module releases the locking of the traction rope connecting the movement module and the detection module,
When the locking is released, the detection module starts a detection operation of the harmful gas.
According to claim 1,
The mobile module is provided with a mobile communication means for communicating with the management module,
The mobile communication means relays communication between the detection module and the management module,
When the control signal of the detection module is received from the management module, the mobile communication means transmits the control signal received from the management module to the detection module,
When the detection result of the harmful gas is received from the detection module, the mobile communication means transmits the detection result received from the detection module to the management module.
According to claim 1,
The detection module is provided with a first communication means for communicating with the management module,
The first communication means relays communication between the mobile module and the management module,
the first communication means transmits the steering signal received from the management module to the mobile module when a steering signal of the mobile module is received from the management module;
When the sensing information is received from the movement module, the first communication means transmits the sensing information received from the movement module to the management module.
According to claim 1,
The specific detection module is provided with a first communication means for communicating with the management module,
The first communication means relays communication between another detection module and the management module,
When the control signal of the other detection module is received from the management module, the first communication means transmits the control signal received from the management module to the other detection module,
When the detection result of the harmful gas is received from the other detection module, the first communication means transmits the detection result received from the other detection module to the management module.
According to claim 1,
A management module for remotely controlling the mobile module is provided,
The management module obtains identification information of a specific detection module placed on the ground due to the execution of the disconnection mode,
the management module acquires the location information of the mobile module when the disconnection mode for the specific detection module is executed;
The management module matches the identification information with the location information and stores it in a storage unit,
When the detection result of the harmful gas is received together with the identification information, the management module extracts location information matched with the identification information using the storage unit,
The detection robot is provided with a display unit for displaying the detection result of the harmful gas together with the extracted location information in the management module.
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