KR20210121492A - Robot for detecting harmful gases - Google Patents

Abstract

A detection robot is provided. The detection robot comprises: a body unit disposed at a first position; an extension unit formed to be extendable from the body unit to a second position; and a second detection unit installed in the extension unit and detecting harmful gas existing at a set position of an extension section from the body unit to the second position. The present invention can detect the harmful gas which can harm humans.

Description

Hazardous gas detection robot {ROBOT FOR DETECTING HARMFUL GASES}

The present invention relates to a robot that detects harmful gases present in a room.

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 field personnel are deployed.

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

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 detects noxious gases that may harm humans.

The detection robot of the present invention includes a body portion disposed in a first position; an extension portion extending from the body portion to a second position; It may include; a second detection unit installed in the extension, for detecting the harmful gas present in the set position of the extension section from the body portion to the second position.

The detection robot of the present invention includes a body portion disposed in a first position; a first detection unit installed in the body and detecting a first harmful gas present in the first position; an extension portion extending from the body portion to a second position; and a second detection unit disposed at the second position by the extension unit and configured to detect a second noxious gas present at the second position.

The body part is disposed on the floor of the room, the first detection part detects the first harmful gas existing around the floor in a direction of gravity, and the extension part extends from the body part toward the ceiling of the room, The second detector may detect the second harmful gas existing around the ceiling.

According to the present invention, a remote control robot can be effectively used as a method for minimizing human casualties in 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 identification of hazardous gas substances, in an environment that is dangerous for expert personnel to access, and emergency response is possible.

According to the present invention, it is possible to detect 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. As a result, the detection robot of the present invention can measure the safety of harmful gases for the entire indoor space.

Therefore, according to the present invention, since harmful gases present over the entire range of a person's activity radius are identified, it is possible to prepare for the safety of personnel who are put into the field.

1 is a perspective view showing a detection robot of the present invention.
2 is a block diagram showing a detection robot of the present invention.
3 is a schematic diagram showing a detection robot and a moving module of the present invention.
4 is a schematic diagram showing a detection robot according to another embodiment of the present invention.
5 is a schematic diagram illustrating an operation of a detection robot having a body portion using a traction method.
6 is a schematic view showing a moving module for pulling the body.
7 is a schematic diagram illustrating an indoor space including a first location.
8 is a schematic view showing another extension of the present invention.
9 is a schematic diagram showing another extension of the present invention.
10 is a diagram illustrating a computing device according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, 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 mentioned that a certain element is 'connected' or 'connected' to another element, it may be directly connected or connected to the other element, but another element 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 should 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 listed items or any of a plurality of listed 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 perspective view showing a detection robot 100 of the present invention. 2 is a block diagram showing the detection robot 100 of the present invention.

The detection robot 100 shown in the drawing may include a body portion 170 , an extension portion 190 , a second detection portion 120 , an adjustment portion 130 , and a controller 150 .

The body portion 170 may be disposed at the first position p1. The body 170 may be formed in various cylindrical or box shapes. An accommodation space 179 in which the extension portion 190 is accommodated and a cover 171 covering the accommodation space 179 may be provided in the body portion 170 .

The detection unit may be accommodated in the accommodation space 179 together with the extension 190 . The control unit 130 and the control unit 150 may be installed in the receiving space 179 or installed in another part of the body 170 .

The extension portion 190 may be formed to extend from the body portion 170 to the second position p2.

The length of the extension 190 may be varied using a tube method in which the length is increased by gas injection, a flotation method in which the length is increased in the air by gas injection, a telescopic method in which the length is expanded and contracted in multiple stages by a motor, and the like. Using the variable length, the extension 190 can be extended toward the second position p2. The extended portion 190 extending to the second position p2 may be shortened to the body portion 170 .

The second detection unit 120 is installed in the extension unit 190, and may detect in real time or periodically detect harmful gases existing 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 portion 190 gradually extending from the body portion 170 to the second position. The second detector 120 may include a gas sensor, a gas detector, and a second gas meter 121 capable of detecting the presence or absence of a harmful gas, a concentration of a gas, a type of gas, an amount of a complex gas, and the like. The second detection unit 120 may be provided with a second communication means 123 capable of wired/wireless communication. A battery may be provided in the second detector 120 to provide driving power for the gas sensor and the second communication means 123 . 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 part 190 is fixed to the body part 170 , the second detection part 120 may be installed at the other end of the extension part 190 whose length is stretched and contracted. The second detection part 120 installed at the other end of the extension part 190 may move along the extension section according to the change in length of the extension part 190 .

The adjustment unit 130 is installed on the body portion 170 , and can adjust the extension length of the extension portion 190 .

The extension 190 may be extended from the body 170 to the second position p2 or shortened from the second position p2 to the body 170 by the adjustment unit 130 .

The second detector 120 installed at the end of the extension 190 may detect harmful gases while moving along the extension section by elongation or shortening of the extension portion 190 . 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 detector 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 170 and the second location p2. .

As another example, the second detection unit 120 installed at the end of the extension unit 190 may detect a harmful gas at a set position existing on the extension section. According to the present embodiment, the second detector 120 may detect the harmful gas while staying at a set position, for example, the second position p2.

Until the harmful gas is detected, the extension 190 or the control unit 130 is preferably protected from externally applied shock and physical interference.

For example, the body portion 170 may move toward the first position p1 in a state in which the extension portion 190 is accommodated in the accommodation space 179 and the accommodation space 179 is closed by the cover 171 . When various obstacles exist at the site of terrorism/disaster, the extension 190 or the adjustment unit 130 may be damaged by physical interference with the obstacle. According to the present embodiment, the extension part 190 or the adjustment part 130 may be safely stored in the accommodation space 179 closed by the cover 171 until it arrives at the first position p1 .

When the body 170 reaches the first position p1 , the accommodation space 179 may be opened by the cover 171 . In addition, the extension 190 may be withdrawn from the accommodation space 179 and may extend toward the second position p2 .

In order to simplify the opening and closing structure of the cover 171, an elastic means such as a spring may be used.

For example, a torsion spring providing an elastic force for moving the cover 171 in a direction to close the accommodation space 179 may be provided as an elastic means. The torsion spring is installed on the rotation shaft of the cover 171 and may provide an elastic force for rotating the cover 171 in a direction toward the entrance of the accommodation space 179 .

The body portion 170 may be provided with an extension means for extending the extension portion 190 accommodated in the accommodation space 179 in a direction to be drawn out from the accommodation space (179). The extension means may extend the length of the extension part 190 under the control of the controller 150 .

The extension part 190 whose length is extended by the extension means may be in physical contact with the cover 171 . The extension part 190 whose length is continuously extended by the extension means may press the cover 171 in the direction of opening the accommodation space 179 . As the elastic force is yielded by the pressing force of the extension part 190 , the cover 171 is opened, and the extension part 190 may be withdrawn from the accommodation space 179 .

The expansion means may be integrally formed with the adjusting unit 130 . In this case, the extension portion 190 accommodated in the accommodation space 179 opens or extends toward the second position p2 located beyond the cover 171 by the adjustment portion 130 to open the cover 171, and the second It can be withdrawn from the body 170 toward the position p2.

The elastic force provided to the cover 171 by the elastic means may be continuously maintained. Accordingly, when the extension of the extension portion 190 by the extension means is stopped and the extension portion 190 is reduced and accommodated in the accommodation space 179 , the cover 171 can naturally close the accommodation space 179 again. .

Referring to FIG. 1 , the lifting means 193 , the connecting means 191 , the adjusting means 131 , and the injection means 135 and 137 may be provided.

The lifting means 193 and the connecting means 191 may be provided in the extension 190 .

The adjusting means 131 and the injection means 135 and 137 may be provided in the adjusting unit 130 .

The flotation means 193 may include a balloon that levitates in the air by injection of gas.

The connecting means 191 may include a wire, a line, a tube, etc. connecting the floating means 193 and the body 170 .

The adjusting means 131 is installed on the body 170 and may include a winch for adjusting the length of the connecting means 191, a motor for rotating the winch, and the like. An adjustment controller 133 for controlling the adjustment means 131 may be provided, and the adjustment controller 133 may be formed integrally with the control means 151 .

One end of the connecting means 191 may be connected to the adjusting means 131 , and the other end of the connecting means 191 may be connected to the lifting means 193 .

The length of the connecting means 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 connecting means 191 extending from the body portion 170 to the lifting means 193 .

The injection means 135 and 137 may be installed in the body 170 . The injection means 135 and 137 may inject gas into the flotation means 193 through the connection means 191 . The connecting means 191 may comprise a hollow tube.

The injection means 135 and 137 may include a cylinder 135, a valve 137, and the like for injecting a gas such as helium gas into one end of the hollow tube. The gas provided by the injection means 135 and 137 may include a buoyancy gas such as helium gas pre-stored in the cylinder 135 rather than the surrounding gas to be detected by the second detection unit 120 . If the buoyancy means 193 is injected with the gas in the vicinity in which noxious gas may exist, the noxious 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 buoyancy gas may be supplied through the cylinder 135 including a helium gas cylinder and 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. Through the control of the valve 137, the input and output of the flotation gas to the flotation means 193 can be adjusted.

When gas is injected from the injection means 135 , 137 via the connection means 191 , and the length of the connection means 191 is extended by the adjustment means 131 , the levitation means 193 moves toward the second position p2 . can float in the air.

When the connecting means 191 is wound around the winch, the length of the connecting means 191 is shortened and the levitating means 193 can move toward the body 170 . When the flotation gas injected into the flotation means 193 is discharged to the outside through the valve 137 adjustment, etc., the levitation state of the extension 190 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 179 , and may be re-accommodated in the accommodating space 179 .

The second detection unit 120 may be installed at an end of the connecting means 191 on the levitation means 193 side. 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 connecting means 191 with respect to the body 170 . The second detection unit 120 may move along between the body portion 170 and the second position p2 along the connecting means 191 stretched and contracted by the adjustment of the adjustment means 131 or may maintain a floating state in the air. .

The control unit 150 may be provided with a control unit 151 for controlling the cover 171 , the expansion unit, the second detection unit 120 , the adjustment unit 130 , and the like. The control unit 150 may be provided with a first communication means 153 that receives a control signal from an external management module that controls the mobile module 200 . In this case, the control unit 150 may control the cover 171 , the expansion unit, the second detection unit 120 , the control unit 130 , etc. according to the control signal of the management module received by the first communication unit 153 . have.

The control means 151 may control the opening/closing operation of the cover 171 covering the accommodation space 179 .

When the opening and closing operation of the cover 171 is performed by the expansion means, the control means 151 may control the expansion means.

The control unit 151 may operate the second detection unit 120 only in a state in which the body unit 170 is disposed at the first position p1. For example, the control means 151 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 .

3 is a schematic diagram showing the detection robot 100 and the moving module 200 of the present invention.

The detection robot 100 of the present invention may further include a movement module 200 .

The body 170 may be integrally formed with the moving module 200 or may be formed detachably from the moving module 200 .

The moving module 200 may move the body 170 to the first position p1. The moving module 200 may include a motor, a driving unit such as an engine, a wheel moving by the driving unit, a caterpillar track, a leg for multi-legged walking, and the like. A plurality of sensors (camera, gyro sensor, lidar) may be mounted on the mobile module 200 for remote control or remote control. The mobile module 200 may communicate with an external management module in real time.

As shown in (a) of FIG. 3 , the body 170 of the present invention may be detachably mounted on the moving module 200 . As shown in (b) of FIG. 3 , the moving module 200 may move toward the first position p1 in a state in which the accommodation space 179 is closed by the cover 171 .

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

The control means 151 may check whether the first position p1 has been reached through its own position measurement. Alternatively, the control means 151 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 151 may set the location information provided from the mobile module 200 as the first location p1.

Meanwhile, the control unit 151 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 153 , the control means 151 may start an operation according to the operation start signal. According to the start of the operation of the control means 151 , the cover 171 , the expansion means, 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 and transmitted to the first communication means 153 through the mobile module 200 corresponding to the relay point.

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 at the first position p1 may be recovered by an agent (person) put in a state in which the risk of harmful gas is released.

4 is a schematic diagram showing a detection robot 100 according to another embodiment of the present invention.

The detection robot 100 of the present invention may operate while being mounted on the movement module 200 .

The body 170 may be moved in various ways by the moving module 200 . When the specific first position p1 is reached, the extension unit 190 may be extended toward the second position p2 by the controller 150 and the second detection unit 120 may detect the harmful gas. As a result, the harmful gas above the specific first position p1 may be detected.

Specifically, when a specific first position p1 is reached, the cover 171 may be opened while the lifting means 193 is expanded by the control unit 150 as shown in FIG. 4A . As shown in Fig. 4 (b), the expanded and expanded buoyancy means 193 may be levitated together with the connecting means 191 in the air.

When the detection of the upper side of the specific first position p1 is completed, the control unit 150 may control the adjustment unit 130 so that the extension unit 190 and the second detection unit 120 are accommodated in the accommodation space 179 again. . When the accommodation of the extension part 190 and the second detection part 120 for the accommodation space 179 is completed and the cover 171 is closed, the moving module 200 moves to a different first location p1 distinguished from the specific first location p1. position can be moved. When the moving module 200 reaches another first position, the cover 171 is opened again by the control unit 150 and the extension 190 and the second detection unit 120 protrude upward, and the other first Based on the position, the upper side of the harmful gas may be detected.

The mobile module 200 may be controlled by an external management module. As an example, the mobile module 200 may be remotely controlled by a management module. In this case, in order to provide a control signal necessary for remote control, the mobile module 200 and the management module may maintain a state in which wired/wireless communication is possible.

The body 170 may be transferred to the first position p1 by the moving module 200 controlled by the external management module. The second detector 120 may transmit the detection result of the harmful gas to the mobile module 200 . The detection result may be transmitted to the management module through the mobile module 200 that is already communicating with the management module to obtain a steering signal. Through the detection result transmitted to the management module, the harmful gas spread above and below the indoor space 90 including the first location at a safe location spaced apart from the first location may be identified. The results of the identification can be used as data to determine whether or not a human is to be input. According to the present embodiment, it is sufficient for the second detection unit 120 to transmit the detection result of the harmful gas only to the moving module 200 . 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.

5 is a schematic diagram showing the operation of the detection robot 100 having a body portion 170 using a traction method. 6 is a schematic view showing the moving module 200 for pulling the body portion (170).

Instead of being mounted on the moving module 200, the body 170 shown in FIG. 5 is connected to the moving module 200 through a traction rope 209 and pulled by the moving module 200, as shown in FIG. have. The towing rope 209 may include a string, a hook, a hook, and the like.

A wheel portion 176 such as a wheel may be provided in the body portion 170 connected to the moving module 200 by the traction rope 209 .

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) can be released.

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 .

5 (a) shows the body portion 170 pulled by the moving module 200 to the first position p1. In order to protect the extension part 190 and the second detection part 120 accommodated in the accommodation space 179 , the accommodation space 179 may be covered by the cover 171 .

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 is operated by the control unit 150 as shown in FIG. 5 (b) and the cover 171 can be opened. have.

When the cover 171 is opened, the adjusting unit 130 is operated as shown in FIG. 5(c) , the lifting means 193 is expanded by the adjusting unit 130, and the connecting means 191 can 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 connection means 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.

7 is a schematic diagram illustrating an indoor space 90 including a first position.

The body 170 may be supported on the floor surface of the room. Therefore, if a gas meter capable of detecting harmful gas is installed in the body portion 170, only a portion adjacent to the floor surface, for example, noxious gas present at the height of a person's knee can be detected.

Some of the harmful gases may exist at the height of a person's head or around the ceiling 93 of the indoor space 90 , but according to the gas meter fixed to the body 170 , it is impossible to grasp the harmful gases. Therefore, if the detection result of the gas meter is trusted and a person is put in, the agent may be harmed due to the harmful gas existing around the ceiling 93 .

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 portion 170 and the second position p2 according to the length adjustment of the connecting means 191 or the length adjustment of the extension portion 190 .

The extension length of the extension part 190 by the controller 150 may periodically repeat extension and shortening. 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 position. 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 that is faster than the reciprocating cycle.

On the other hand, the extension 190 may be formed in various ways in addition to the lifting means 193 and the connecting means 191 .

8 is a schematic diagram showing another extension 190 of the present invention.

According to FIG. 8 , an expansion means such as a tube having one end fixed to the body 170 and injection means 135 and 137 for injecting gas into the expansion means may be provided. The expansion means shown in FIG. 8 may correspond to the extension part 190 . The extension part 190 shown in FIG. 8 may function as a connection means 191 connecting the second detection part 120 and the body part 170 .

When gas is injected by the injection means 135 and 137 , 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 inflation means is discharged by the injection means 135 and 137 or the valve 137 , the expansion means may be contracted and accommodated in the accommodation space 179 together with the second detection unit 120 .

9 is a schematic diagram showing another extension 190 of the present invention.

According to FIG. 9 , a telescopic arm having one end connected to the body 170 and an actuator for stretching and contracting the telescopic arm may be provided. The telescopic arm shown in FIG. 9 may correspond to the extension part 190 . The extension part 190 shown in FIG. 9 may function as a connection means 191 connecting the second detection part 120 and the body part 170 .

When the actuator moves in the forward direction, the telescopic arm can 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 accommodation space 179 while being shortened toward the body 170 .

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

In terms of height, the harmful gas existing 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 detector 120 may be disposed at the second position p2 by the extension 190 extending to the second position p2 . The second detector 120 may detect a second harmful gas present at the second position 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 190 may extend from the body 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 may be transmitted to the management module.

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

In the present invention, the control unit 150 for controlling the detection robot 100 may start the operation when it is confirmed that the robot has arrived at the first position or an operation start signal is received from the movement module 200 .

The operation started control unit 150 may drive the expansion means so that the cover 171 is opened. When the cover 171 is opened by the extension means, the control unit 150 may control the adjustment unit 130 so that the extension 190 accommodated in the body 170 extends to the second position.

The control unit 150 in which the operation is started 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 150 may detect the first harmful gas at the first position p1. The second detection unit 120 driven by the control unit 150 detects the harmful gas while moving to the second position p2 together with the extension unit 190 , or detects the second harmful gas after reaching the second position p2 . can do.

10 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 10 may be a device (eg, the controller 150 ) 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 . In addition, 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, methods, and the like 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 non-volatile 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 embodiment of the present invention has 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 Agents 90...Indoor Space
91...floor 93...ceiling
100...detection robot 110...first detection unit
120...Second detector 121...Second gas meter
123...second communication means 130...control unit
131...Adjustment means 133...Adjustment controller
135, 137...injection means 135...cylinder
137...Valve 150...Control
151...control means 153...first communication means
170...Body 171...Cover
176...wheel part 177...traction part
179...accommodation space 190...extension
191...connection means 193...float means
200...Movement module 209...Towing rope

Claims (9)

a body portion disposed in a first position;
an extension portion extending from the body portion to a second position;
a second detection unit installed in the extension unit and configured to detect a harmful gas present at a set position during an extension period from the body unit to the second position;
A detection robot comprising a.
According to claim 1,
Installed on the body portion, the adjustment portion for adjusting the extension length of the extension is provided,
The extension portion is extended from the body portion to the second position by the adjusting portion or shortened from the second position to the body portion,
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,
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 accommodation space and the accommodation space is closed by the cover,
When the body portion reaches the first position, the accommodating space is opened by the cover, and the extension portion is drawn out from the accommodating space and extends toward the second position.
According to claim 1,
An accommodation space in which the extension portion is accommodated in the body portion, a cover covering the accommodation space, an elastic means for providing an elastic force for moving the cover in a direction to close the accommodation space, and extending the extension portion in a direction drawn out from the accommodation space Expansion means are provided for
The extension means expands the extension under the control of the control unit,
The extension portion extended by the extension means presses the cover in a direction to open the accommodation space,
The cover is opened while the elastic force is yielded by the pressing force of the extension part, and the extension part is withdrawn from the accommodation space.
According to claim 1,
Floating means for levitating in the air by injection of gas, connecting means for connecting the flotation means and the body part, adjusting means installed in the body part and adjusting the length of the connecting means, installed in the body part and the connecting means An injection means for injecting the gas into the flotation means is provided through,
When the gas is injected from the injection means via the connection means and the length of the connection means is extended by the adjusting means, the levitation means floats towards the second position,
The second detection unit is installed at an end of the connecting means on the side of the floating means, or the detection robot is installed on the floating means.
According to claim 1,
An expansion means having one end fixed to the body portion, an injection means for injecting gas into the expansion means are provided,
When the gas is injected by the injection means, the other end of the expansion means expands toward the second position,
The second detection unit is a detection robot installed at the other end of the expansion means.
According to claim 1,
A telescopic arm having one end connected to the body is provided, and an actuator for expanding and contracting the telescopic arm is provided,
When the actuator moves in the forward direction, the telescopic arm extends toward the second position;
The second detection unit is a detection robot installed at the other end of the telescopic arm.
According to claim 1,
The body portion is transferred to the first position by a moving module controlled by an external management module,
The second detection unit transmits the detection result of the harmful gas to the moving module,
The detection result is transmitted to the management module through the mobile module communicating with the management module to obtain a steering signal.
a body portion disposed in a first position;
a first detection unit installed in the body and detecting a first harmful gas present in the first position;
an extension portion extending from the body portion to a second position;
a second detection unit disposed at the second position by the extension unit and configured to detect a second harmful gas present at the second position; and
The body part is disposed on the floor of the room,
The first detection unit detects the first harmful gas existing around the floor in the direction of gravity,
The extension portion extends from the body portion toward the ceiling of the room,
The second detection unit is a detection robot that detects the second harmful gas existing around the ceiling.

Images