Multi-sensor module for a mobile robot operating in harsh environments

Abstract

Mobile robots are routinely deployed to support fire brigades in search and rescue missions. To help the robot evaluate situations involving fires, a novel multi-sensor module has been designed and implemented. Ambient air is drawn into inner chambers by a micro air pump and then parameters including temperature, humidity, airflow rate, particle (smoke) density, critical toxic, hazardous and explosive gases/VOC levels are recorded. Three different kinds of gas sensor have been incorporated into the module, which are metal oxide (MOX) gas sensor, Solidly Mounted Resonator (SMR) sensor, and Non-Dispersive Infrared (NDIR) gas sensor; targeting CO, NO <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> , CO <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> , toluene and ammonia. The gas sensing unit is deployed on a commercial robot and performs well under simulated smoke conditions.