드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제19권2호
  • /
  • Pages.27-35
  • /
  • 2022
  • /
  • 2671-7972(pISSN)
  • /
  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
권호 표지
DOI QR코드

DOI QR Code

유해가스 탐지·포집 로봇

Hazardous Gas Detecting and Capturing Robot

  • 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)
  • 투고 : 2022.03.14
  • 심사 : 2022.03.31
  • 발행 : 2022.06.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

과제정보

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

참고문헌

  1. D. Jeong, C. Kim, J. H. Kim, J. Suh, M. Jin, "Mission Scenario-based Design of Hydraulic Manipulators for Armored Robot Systems," Journal of Drive Control, Vol.14, No.4, pp.51-60, 2017. https://doi.org/10.7839/KSFC.2017.14.4.051
  2. M. Jin, S. H. Park, J. G. Kim, K. H. Seo, J. Suh, "Development of Armored Robot with Hydraulic Dual Arm Robot Manipulators," Journal of Drive Control, Vol.17, No.4, pp.170-175, 2020.
  3. S. H. Park, M. Jin, Y. Kim, D. Kim, J. Kim, D. B. Shin and J. Suh, "Vehicle Body Design of Armored Robot for Complex Disaster", Journal of Korea Robotics Society, Vol.13, No.4, pp.248-255, 2018. https://doi.org/10.7746/jkros.2018.13.4.248
  4. J. Kwark, "Performance Evaluation of Search Robot Prototypes for Special Disaster Areas," Fire Science and Engineering Annual Conference, Vol.29, No.6, pp.108-118, 2015.
  5. E. Rohmer, T. Yoshida, K. Ohno, K. Nagatani, S. Tadokoro, E. Konayagi, "Quince: A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development," International conference on the Advanced Mechatronics(ICAM 2010), pp.225-230, 2010.
  6. B. Yamauchi. "Packbot: A Versatile Platform for Military Robotics," Proceedings of SPIE on Unmanned Ground Vehicle Technology VI, Vol.5422, pp.228-237, 2004.
  7. M. Quigley et al, "ROS: an open-source Robot Operating System," ICRA workshop on open source software, Vol.3, No.3.2, 2009.