Development of Olfactory Sensing System with Active Flow Generator and Its Application to Gas/Odor Source Localization Robots

这项研究的目的是开发一种具有嗅觉感知能力的移动机器人，使其能够自主搜索气体泄漏。本研究开发的气敏系统配备了两个气体传感器，一个在其右侧，另一个在其左侧。该系统主动产生气流以收集从特定方向到每个气体传感器的气体样本，从而能够以高成功率确定气源方向。在办公楼走廊上进行的实验结果表明，所提出的气体传感系统在确定哪个房间的气体泄漏方面是有效的。通过使用机械臂将气体传感系统靠近门，已成功检测到房间内的气体泄漏。

This research is aimed at developing a mobile robot with an olfactory sensing capability to enable autonomous search for gas leaks. A gas-sensing system developed in this research is equipped with two gas sensors, one on its right side and the other on its left. The system actively generates air currents to collect gas samples from a specific direction to each gas sensor, which enables determination of a gas-source direction with a high success rate. Results of experiments conducted in a corridor of an office building have shown that the proposed gas-sensing system is effective in determining from which room gas is leaking. The gas leakage from the room have been successfully detected by bringing the gas-sensing system close to the door using a robotic arm.