부산대학교 도서관

This paper presents the development of a robot that can be controlled semi-autonomously and has the capability to detect toxic and combustible gases. The purpose of this research is to develop a semi-autonomous robot that can detect gases that are harmful to human workers. The robot is designed to be able to function properly with little human intervention. It has the ability to detect specified types of gases inside a confined space and move on its own to cover the specified operating area. The study is composed of component designing, programming, calibration, development of the user interface, fabrication, initial gas concentration test, mobility tests, and actual tests. The design of this robot is an improvement of the previous model. The mobility and semi-autonomous function of the robot is programmed using Raspberry Pi microcomputer and the sensors are programmed using the Arduino microcontroller. The gases that the robot can detect are alcohol (C2H6O), benzene (C6H6), hydrogen (H2), carbon monoxide (CO), LPG, and methane (CH4). The sensors that were used are MQ3 for alcohol and benzene, MQ7 for hydrogen and carbon monoxide, and MQ9 for methane and LPG. The results of the tests showed that the robot can operate semi-autonomously and in an omnidirectional manner easily. The actual testing procedures were done inside a confined parking area, printing shop, and LPG storage area.