WO2024025322A1

WO2024025322A1 - Autonomous mobile system for detecting hazardous substances in air

Info

Publication number: WO2024025322A1
Application number: PCT/KR2023/010783
Authority: WO
Inventors: 신용범; 조현민; 최종민
Original assignee: 재단법인 바이오나노헬스가드연구단
Priority date: 2022-07-26
Filing date: 2023-07-26
Publication date: 2024-02-01

Abstract

The present invention relates to an autonomous mobile system for detecting hazardous substances in the air, and comprises: a collection unit including a traveling part that autonomously travels under the control of an MCU, and a collection part for collecting a sample from the air; and a station unit in which the collection unit docks, and which recovers the sample from the collection part in a docked state and analyzes same. In the present invention, an autonomously-moving collection unit moves a device in a place crowded with people or a space requiring air collection so as to collect air, and thus can effectively collect air.

Description

Autonomous mobile airborne hazardous substance detection system

The present invention relates to an autonomously mobile system for detecting hazardous substances in the air. More specifically, the present invention relates to an autonomously mobile system for detecting harmful substances in the air that can monitor air conditions while moving in a wide area rather than being mounted in a fixed location.

Existing stationary air capture devices for measuring air quality by detecting harmful substances in the air are fixed to a designated location and are configured to collect air. However, when these conventional devices are placed in a large space, the fan for sucking air must be larger in order to achieve sufficient performance, which causes the problem of increased noise. Additionally, because the collection location is fixed, there is a limitation in that a large space cannot be covered with a small number of devices.

For example, in the case of a large space such as an airport, there are various gates in the terminal, and when a plane arrives, some gates may be crowded with people at once, while other gates become deserted. In this case, in order to perform efficient air collection work, an air collection device must be installed in a crowded place, but existing stationary air capture devices cannot be moved depending on the situation or location, making efficient air collection impossible.

In addition, when the existing stationary air collection device is installed in a place with few people due to necessity, it must be installed in a place where electricity can be continuously supplied and the device can be stable. A location that satisfies these conditions must be selected. It is not easy and inevitably requires frequent intervention by administrators, which is inconvenient.

Meanwhile, in the case of analysis of collected hazardous substances, PCR analysis method is the most sensitive and accurate technology among existing technologies. For PCR analysis, samples must be prepared in liquid form, and for this purpose, an impinger-type air collector is appropriate.

A representative air collector is one that uses the cyclone method, which requires a vacuum pump to create a fast air flow. The vacuum pump used at this time has the disadvantage of requiring power consumption of hundreds of watts and is difficult to use in everyday environments other than laboratories because it is accompanied by vibration and noise due to the principle of creating a vacuum.

Therefore, there is a demand for the development of a new system for detecting harmful substances in the air that can solve the above problems.

In order to solve the above problem, the present invention collects air by placing a device in a crowded place or a space where air collection is required through a mobile unit, and delivers the collected sample to a fixed holding unit to analyze the sample. The purpose is to provide a portable airborne hazardous substance detection system.

In order to achieve the above object, the present invention includes a collection unit including a traveling unit that runs autonomously under the control of an MCU and a collection unit that collects samples in the air; and a station unit to which the collection unit is docked and which retrieves and analyzes the sample from the collection unit in the docked state.

At this time, the collection unit includes a collection tank that accommodates a liquid collection medium inside, a fan that introduces external air into the collection tank, and a collection tank so that the collection medium containing the sample in the air can be transferred to the station unit. It is characterized by having a port communicating with.

In addition, the collection unit further includes a traveling sensor that irradiates a laser toward the periphery of the traveling unit to generate distance information to the target the laser reaches, and a camera that generates image information about the environment around the traveling unit. The MCU is characterized in that it controls autonomous driving of the driving unit using the distance information and the image information.

In addition, the station unit is a docking room surrounded by a housing at the bottom and open at the front so that the collection unit can enter and exit, disposed at the top of the docking room, and connected to the port to recover the sample from the collection tank. A docking unit that receives the sample from the docking unit, a preprocessing unit that performs physical or chemical treatment on the sample, and an analysis unit that optically analyzes the sample processed by the preprocessing unit. do.

In addition, the station unit is characterized by being equipped with a fully automatic pipette for transferring and stirring the sample transferred to the pretreatment unit.

In addition, the docking unit and the port each have electrodes that are electrically connected to each other, and the collection unit is supplied with power for charging while docked with the station unit.

The present invention collects a large amount of air by moving the device to a crowded place or a space where air collection is required through a collection unit capable of autonomous movement, so it has the effect of efficiently collecting air despite using a noiseless fan. There is.

In addition, there is an advantage in that maintenance of the device can be facilitated by delivering a collection medium to the collection unit through a mounted station unit or performing charging of the collection unit.

Figure 1 is a block diagram of an autonomous mobile airborne hazardous substance detection system according to a preferred embodiment of the present invention.

Figure 2 is a diagram schematically showing a station unit.

Figure 3 is a plan view of the station unit.

Figure 4 is a perspective view of the collection unit.

Figure 5 is a view showing the collection unit with the housing removed.

Figure 6 is a top view of the collection unit.

Figure 7 is a diagram showing a state in which the collection unit enters the docking room of the station unit.

Figures 8 and 9 are diagrams showing an example of the use of an autonomous mobile airborne hazardous substance detection system according to a preferred embodiment of the present invention.

Figures 10 and 11 are graphs and tables showing the results of comparative analysis of the collection efficiency of an autonomous mobile airborne hazardous substance detection system and a conventional fixed air collector according to a preferred embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. First, when adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, if it is judged that it may obscure the gist of the present invention, the detailed description will be omitted. In addition, preferred embodiments of the present invention will be described below, but of course, the technical idea of the present invention is not limited or limited thereto and can be practiced by those skilled in the art.

Figure 1 is a block diagram of an autonomous mobile airborne hazardous substance detection system according to a preferred embodiment of the present invention, Figure 2 is a diagram schematically showing a station unit, and Figure 3 is a plan view of the station unit. In addition, Figure 4 is a perspective view of the collection unit, Figure 5 is a diagram showing the collection unit with the housing removed, Figure 6 is a plan view of the collection unit, and Figure 7 is a view showing the collection unit entering the docking room of the station unit. This is a drawing showing the state.

Hereinafter, an autonomous mobile airborne hazardous substance detection system 10 according to a preferred embodiment of the present invention will be described with reference to FIGS. 1 to 7.

The autonomous mobile airborne hazardous substance detection system 10 according to a preferred embodiment of the present invention includes a station unit 100 and a collection unit 200.

The station unit 100 is mounted at a specific location and maintains a fixed state, and the collection unit 200 is docked. In the docked state, the station unit 100 performs the function of recovering and analyzing samples from the collection unit 200.

Specifically, the station unit 100 includes an MCU 110, a docking unit 120, a preprocessing unit 130, and an analysis unit 140.

The MCU 110 transmits and receives signals to and from the collection unit 100 and is provided in the station unit 100, such as the docking unit 120, the preprocessing unit 130, the fully automatic pipette 132, and the analysis unit 140. It performs the function of controlling things.

The lower part of the station unit 100 is provided with a docking room 104 surrounded by the housing 102 and open at the front so that the collection unit 200 can enter and exit, and the upper part of the docking room 104 is equipped with a docking part ( 120) is placed.

The docking unit 120 is connected to the port 236 provided in the collection unit 200 and performs the function of recovering the sample contained in the collection tank 234. For this purpose, the docking unit 120 may be equipped with a tube (not shown) communicating with the port 236 and a peristaltic pump (not shown) for sucking the sample.

In addition, the docking unit 120 and the port 236 each have electrodes (not shown) that are electrically connected to each other, thereby supplying power for charging while the collection unit 200 is docked with the station unit 100. You can receive it.

The preprocessing unit 130 receives the sample from the docking unit 120 and performs physical or chemical processing on the sample for analysis.

At this time, a fully automatic pipette 132 is provided for dispensing, moving and stirring the sample transferred to the pretreatment unit 130 by the docking unit 120 of the station unit 100 into a container or tube provided in the pretreatment unit 130. You can.

The analysis unit 140 optically analyzes the sample processed by the preprocessing unit 130.

Meanwhile, the collection unit 200 is not fixed in a limited place and moves autonomously to collect samples such as harmful substances in the air, and while docked at the station unit 100, the collected samples are stored in the station unit 100. It performs the function of transmitting to.

This collection unit 200 includes an MCU 210, a traveling unit 220, and a collection unit 230.

Specifically, the MCU 210 communicates with the MCU 110 of the station unit 100 and serves to control the traveling unit 220 and the collecting unit 230.

The driving unit 220 is controlled by the MCU 210 and functions to move autonomously between the station unit 100 and a designated location within a predetermined space.

To this end, the traveling unit 220 is equipped with a wheel, a driving means for driving the wheel, and a battery for power supply. At this time, the battery provided may be a lithium-ion battery.

In addition, the driving unit 220 has a driving sensor 222 that irradiates a laser toward the surroundings and generates distance information to the target the laser reaches, and a driving sensor 222 that generates image information about the environment around the driving part 220. Equipped with a camera 224, the MCU 210 controls autonomous driving of the driving unit 220 using distance information and image information.

The driving unit 220 may be further equipped with various sensors such as a tilt sensor in addition to the driving sensor 222 and the camera 224 for autonomous driving.

Preferably, the driving sensor 222 and the camera 224 are placed on the front side of the housing 202 that forms the exterior of the driving unit 220. Additionally, the driving sensor 222 may be implemented as a LIDAR (Light Detection And Ranging) sensor.

The collection unit 230 includes a fan 232 that introduces external air into the collection tank, and is disposed below the fan 232, and contains a liquid collection medium therein to collect the air introduced by the fan 232. It is provided with a collection tank 234 that is provided to collide with the medium, and a port 236 that communicates with the collection tank 232 so that the collection medium containing the sample in the air can be transferred to the station unit 100.

At this time, a water level sensor may be installed in the collection tank 234 to ensure stable sample collection when the collection unit 200 is moved.

Additionally, the port 236 is provided with an electrode electrically connected to the docking unit 120 as described above.

Hereinafter, the operation process of the autonomous mobile airborne hazardous substance detection system 10 according to a preferred embodiment of the present invention will be described with reference to FIG. 1.

First, the MCU 110 of the station unit 100 receives a collection command signal manipulated by the user or receives a collection command signal automatically generated according to preset operation start conditions, and the MCU of the collection unit 200 The air collector operation signal is transmitted to (210).

While the collection unit 200 is docked in the station unit 100, the MCU 210 of the collection unit 200, which receives the air collector operation signal, controls the traveling unit 220 to move to a preset location or an arbitrary location. The collection unit 200 is moved, and a collection unit operation signal is transmitted to the collection unit 230 to operate the fan 232 provided in the collection unit 230.

The collection unit 200, which moves to a predetermined location and performs air collection work, moves back to the station unit 100 and docks when a predetermined time has passed or preset conditions are met.

When the collection unit 230 is docked to the docking unit 120, the collection medium containing the sample in the collection tank 234 is moved to the pretreatment unit 130 by the peristaltic pump through the port 236, and the collection tank 234 ), the new collection medium required for collection is supplied through the port 236.

In addition, while the collection unit 200 is docked with the station unit 100, the collection unit 200 is supplied with power for operation and charged.

Thereafter, the preprocessing unit 130 performs physical or chemical processing to analyze the transferred sample, and the analysis unit 140 performs optical analysis on the sample for which processing in the preprocessing unit 130 has been completed.

The analysis unit 140 transmits the analysis results for the sample to the MCU 110, and the MCU 110 displays the analysis results on a separate display or transmits them to an external server.

In theory, if the flow rate of the fixed air collector is sufficient in a limited space, the difference in collection efficiency between the fixed air collector and the mobile air collector such as the present invention should be within the error range.

To compare the air collection efficiency between the existing fixed device and the mobile device of the present invention, bacteria (E. coli) were dispersed in a limited space of 8 ㎥ for 5 minutes, and the existing fixed air collector and the mobile air device according to the present invention were mixed for 1 minute. Each collector was operated to collect harmful substances in the air.

Afterwards, the solutions collected from each of the fixed and mobile devices were collected, concentrated and pretreated, and then qPCR analysis was performed.

The respective Cq values were 32.5 and 30.95 when air was captured in a fixed state and when it was captured while moving autonomously, and a greater amount of bacteria was collected when air was captured while moving through the mobile device of the present invention. could be confirmed.

As described above, the autonomously mobile airborne hazardous substance detection system 10 according to a preferred embodiment of the present invention moves the device to a crowded place or a space requiring air collection through a collection unit 200 capable of autonomous movement. It is possible to collect air efficiently, and maintenance of the device is carried out by delivering a collection medium, etc. to the collection unit 200 through the mounted station unit 100 or by performing charging of the collection unit 200. It is very useful as it can facilitate.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the attached drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. The scope of protection of the present invention should be interpreted in accordance with the claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of the present invention.

Claims

A collection unit including a driving unit that runs autonomously under the control of an MCU and a collection unit that collects samples in the air; and

An autonomous mobile system for detecting harmful substances in the air, wherein the collection unit is docked and includes a station unit that retrieves and analyzes the sample from the collection unit in the docked state.
According to claim 1,

The collection unit

A collection tank containing a liquid collection medium inside,

A fan that introduces outside air into the collection tank, and

An autonomous mobile airborne hazardous substance detection system, characterized in that it has a port communicating with the collection tank so that the collection medium containing the sample in the air can be transferred to the station unit.
According to claim 1,

The collection unit is

A driving sensor that irradiates a laser toward the surroundings of the driving unit and generates distance information to the target reached by the laser, and

Further comprising a camera that generates image information about the environment in front of the driving unit,

The MCU is an autonomously mobile airborne hazardous substance detection system, characterized in that the MCU controls autonomous driving of the driving unit using the distance information and the image information.
According to claim 2,

The station unit is

A docking room surrounded by a housing at the bottom and open at the front to allow the collection unit to enter and exit,

A docking unit disposed at the top of the docking room and connected to the port to recover the sample from the collection tank,

A preprocessing unit that receives the sample from the docking unit and performs physical or chemical treatment on the sample;

An autonomous mobile hazardous substance detection system in the air, characterized by having an analysis unit that optically analyzes the sample processed by the preprocessing unit.
According to claim 4,

The station unit is

An autonomously mobile system for detecting hazardous substances in the air, further comprising a fully automatic pipette for transporting and stirring the sample transferred to the pretreatment unit.
According to claim 4,

The docking portion and the port each have electrodes electrically connected to each other,

An autonomous mobile airborne hazardous substance detection system, characterized in that the collection unit receives power for charging while docked with the station unit.