Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Hazardous Gas Detecting and Capturing Robot

유해가스 탐지·포집 로봇

  • Shin, Juseong (Human-centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence) ;
  • Pyo, Juhyun (Human-centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence) ;
  • Lee, Meungsuk (Human-centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence) ;
  • Park, Sanghyun (Human-centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence) ;
  • Park, Seoyeon (Department of Intelligent Robot Engineering, Pukyong University) ;
  • Suh, Jinho (Department of Intelligent Robot Engineering, Pukyong University) ;
  • Jin, Maolin (Human-centered Robotics Research Center, Korea Institute of Robotics and Technology Convergence)
  • Received : 2022.03.14
  • Accepted : 2022.03.31
  • Published : 2022.06.01
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Abstract

This study presents one man-portable, hazardous gas detecting and capturing robot. The robot can be fit in the trunk of a sedan car. Its weight is less than 20 kg. A dedicated gas intake mechanism is proposed for the robot. The robot can detect and capture gases at a height of 2 m above the ground, although the height of the robot is about 0.2 m. The performance of the gas intake mechanism is verified through computational fluid dynamics (CFD) analysis and experiments. Its gas detecting signals were acquired by serial communication and processed in Robot Operating System (ROS) based control software. The proposed robot can successfully move on rough terrains such as stairs, sand roads, and rock roads.

Keywords

Acknowledgement

이 연구는 2021년도 정부(교육부)의 재원으로 한국연구재단(NRF)의 기초연구사업(2020M3D9A1082322) 지원을 받아 수행되었음을 밝힙니다.

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