S113034 ロボットアームを搭載したガス源探知ロボットの基礎的研究([S11303]機械システムの要素技術と設計(3))

概要

論文の詳細を見る
In this study, a new robotic system equipped with an active stereo nose (ASNose) is proposed to localize a gas source. ASNose is equipped with two suction pumps and two gas sensors, and determines the direction of the gas source by comparing the left and right sensor responses to the sucked air samples. In the proposed mobile robot, ASNose is mounted on a robotic arm with six degrees of freedom. Therefore, ASNose can be moved to any desired position and orientation within the reach of the arm. The flexibility of the arm enables source localization of dilute gas since ASNose can be brought close to a suspicious object to scan its surface. The experimental results are presented to show that moving ASNose using the robotic arm along the entrance door of a room is an effective means for detecting a gas leak in the room. The response values of the gas sensors to the gas leaking from the crack in the door clearly showed the presence of a gas leak in that room.
一般社団法人日本機械学会の論文
2011-09-11