Patent Publication Number: US-2013239660-A1

Title: Environment Sampling System

Description:
RELATED PATENT APPLICATION 
     This is a continuation in part (CIP) patent application that claims benefit of U.S. provisional patent application Ser. No. 61/612,765 filed on Mar. 19, 2012 by James P. Gunderson and Mark C. Vappi of Denver, Colo., U.S. 
    
    
     TECHNICAL FIELD 
     The present invention relates generally to a system for testing atmospheric gas. More specifically, the present invention relates to the field of automated environmental gas sensing utilizing a mobile apparatus such as a robot for the functional purpose of monitoring atmospheric gas conditions throughout a defined volumetric space. 
     BACKGROUND OF INVENTION 
     As robots are becoming more and more common for accomplishing everyday tasks, robots are particularly well suited for mundane or repetitive operations or functions that need to be performed in hazardous areas. As it is known for robots to incorporate video and audio to virtually have the eyes and ears of a human to allow for remote visual and audio perception in places humans cannot easily go-such as deep underwater or in dangerous areas due to explosives present or from a toxic environmental situation, it follows that the human sense of smell would next be incorporated into the robots abilities. Thus adding a “nose” to a robot would further enhance the robots capabilities for inspecting and report/tracking the environmental substances present without the need for human presence in a dangerous area-plus with the benefit of mobility that a robot can provide for environmental sensing in multiple locations. This as opposed to putting environmental sensing equipment in a fixed location or having to add multiple sets of environmental sensing equipment to accommodate multiple location environmental sensing capabilities. Wherein with a single environmental sensor the mobile robot can sense environmental conditions in selected multiple locations due to the robots mobility. 
     What is needed is a portable and mobile environmental sensing system that is designed to work with a travelling robot for the purpose of detecting for example; carbon monoxide, carbon dioxide, temperatures, volatile or explosive gases, smoke, humidity levels, and the like—thus being able to monitor specific selected areas of for instance inside of a warehouse, wherein changes in environmental conditions would be of interest. 
     SUMMARY OF INVENTION 
     Broadly, the present invention is an environmental sampling system that is designed to integrate with a mobile robot to be able to have the functional capability to monitor the environment for potential hazards in selected multiple locations. Typical uses would include patrolling garage areas for smoke, carbon monoxide buildup, or for explosive gases. Other uses would include monitoring indoor facilities for potential problems such as humidity buildup, excess temperature, and carbon dioxide buildup in wineries. Added uses include radiation detection and other airborne hazards. 
     These and other objects of the present invention will become more readily appreciated and understood from a consideration of the following detailed description of the exemplary embodiments of the present invention when taken together with the accompanying drawings, in which; 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  shows a side elevation view of the environmental sampling system, including the inlet portion, the gas movement, the sensing chamber body, the longitudinal axis for the body, the sensors, the outlet control valve, and the outlet portion; 
         FIG. 2  shows a perspective view of the environmental sampling system, including the inlet portion, the gas movement, the sensing chamber body, the longitudinal axis for the body, the sensors, the outlet control valve, and the outlet portion; 
         FIG. 3  shows a perspective view of the environmental sampling system, including a cross section of the inlet portion with a filter shown disposed within the inlet, the gas movement, the sensing chamber body, the longitudinal axis for the body, the sensors, and a cross section of the outlet portion showing the outlet control valve, and the outlet portion; 
         FIG. 4  shows cross section cut  4 - 4  from  FIG. 3  showing a cross section view of the environmental sampling system, including a cross section of the inlet portion with a filter shown disposed within the inlet, the gas movement, the means for initiating gas movement disposed within the inlet portion, the sensing chamber body cross section, the longitudinal axis for the body, the sensors disposed within the body surrounding sidewall, a sensor mounting flange, a sensor electrical communication, and a cross section of the outlet portion showing the outlet control valve, and the outlet portion; 
         FIG. 5  shows cross section cut  5 - 5  from  FIG. 4  showing a cross section view of the environmental sampling system, including a cross section of the inlet portion with a filter shown disposed within the inlet, the gas movement, the means for initiating gas movement disposed within the inlet portion, the sensing chamber body cross section, the longitudinal axis for the body, the sensors disposed within the body surrounding sidewall, a sensor mounting flange, a sensor electrical communication, and a cross section of the outlet portion showing the outlet control valve, and the outlet portion, also a controller, a controller power input, a controller data signal output, and the sensor electrical communication; and 
         FIG. 6  shows a performance curve for the means for initiating gas movement having an X axis scale of increasing interior flow rate from left to right and a Y axis scale of increasing interior pressure from bottom to top, with movement along the curve shown. 
     
    
    
     REFERENCE NUMBERS IN DRAWINGS 
     
         
           50  Environment Sampling System 
           51  Atmospheric area 
           52  Atmospheric gas 
           53  Gas  52  turbulence (non-laminar flow) at sensor  85   
           55  Inlet portion, atmospheric gas  52   
           60  Filter, inlet 
           65  Movement of gas  52   
           70  Body, sensing chamber 
           75  Surrounding sidewall of the body  70   
           76  Interior of the body  70   
           80  Longitudinal axis for the body  70   
           85  Sensors for various environmentally borne substances in the gas  52   
           90  Means for initiating gas  52  movement  65  through the inlet portion  55 , the body  70 , and the outlet portion  100   
           95  Fan that is an in-line axial direct drive type for the means  90  for initiating gas  52  movement  65   
           96  Performance curve of the fan  95  for the gas  52   
           97  Moving along the performance curve  96   
           100  Outlet portion, atmospheric gas  52   
           104  Means to regulate gas  52  movement 
           105  Outlet control valve for the means  104  to regulate gas  52  movement 
           110  Mounting saddle support flange for sensor  85   
           115  Electrical communication from the sensor  85   
           120  Controller 
           125  Power input for controller  120   
           130  Data signal output for controller  120   
           135  Sensor  85  input for the controller  120   
           140  Axial axis of rotation of the fan  95   
           145  Rotational direction of the fan  95   
       
    
     DETAILED DESCRIPTION 
     With initial reference to  FIG. 1  shown is a side elevation view of the environmental sampling system  50 , including the inlet portion  55 , the gas movement  65 , the sensing chamber body  70 , the longitudinal axis  80  for the body  70 , the sensors  85 , the outlet control valve  105  and the outlet portion  100 . Continuing,  FIG. 2  shows a perspective view of the environmental sampling system  50 , including the inlet portion  55 , the gas movement  65 , the sensing chamber body  70 , the longitudinal axis  80  for the body  70 , the sensors  85 , the outlet control valve  105  and the outlet portion  100 . 
     Further,  FIG. 3  shows a perspective view of the environmental sampling system  50 , including a cross section of the inlet portion  55  with a filter  60  shown disposed within the inlet portion  55 , the gas movement  65 , the sensing chamber body  70 , the longitudinal axis  80  for the body  70 , the sensors  85 , and a cross section of the outlet portion  100  showing the outlet control valve  105 , and the outlet portion  100 . Next,  FIG. 4  shows cross section cut  4 - 4  from  FIG. 3  showing a cross section view of the environmental sampling system  50 , including a cross section of the inlet portion  55  with a filter  60  shown disposed within the inlet portion  55 .  FIG. 4  also shows the gas movement  65 , the means  90  for initiating gas movement  65  disposed within the inlet portion  55 , the sensing chamber body  70  cross section, the longitudinal axis  80  for the body  70 , the sensors  85  disposed within the body  70  surrounding sidewall  75 . In addition,  FIG. 4  shows the sensor mounting flange  110 , the sensor electrical communication  115 , and a cross section of the outlet portion  100  showing the outlet control valve  105 , and the outlet portion  100 . 
     Continuing,  FIG. 5  shows cross section cut  5 - 5  from  FIG. 4  showing the cross section view of the environmental sampling system  50 , including a cross section of the inlet portion  55  with the filter  60  shown disposed within the inlet  55 , the gas  52  movement  65 , the means  90  for initiating gas  52  movement  65  disposed within the inlet portion  55 . Further,  FIG. 5  shows the sensing chamber body  70  cross section, the longitudinal axis  80  for the body  70 , the sensors  85  disposed within the body  70  surrounding sidewall  75 , a sensor  85  mounting flange  110 , a sensor  85  electrical communication  115 . Additionally,  FIG. 5  shows the cross section of the outlet portion  100  showing the outlet control valve  105 , and the outlet portion  100 , also a controller  120 , a controller power input  125 , a controller data signal output  130 , and the sensor  85  electrical communication  115 . 
     Further,  FIG. 6  shows a performance curve  96  for the means  90  for initiating gas movement having a X axis scale of increasing interior  76  flow rate from left to right and a Y axis scale of increasing interior  76  pressure from bottom to top, with movement  97  along the curve  96  shown. 
     Broadly speaking, as shown in  FIGS. 1 to 5 , the environmental sampling system  50  is for use with a mobile support device that would preferably be a travelling robot; the environmental sampling system  50  includes the body  70  with the surrounding sidewall  75  being about the longitudinal axis  80  to define the body  70  interior  76 . Further included in the environmental sampling system  50  is the sensor  85  that is disposed therethrough the surrounding sidewall  75 , wherein the sensor  85  is in fluid communication with the interior  76 , as best shown in  FIG. 4 . Also included is the inlet portion  55  that is adjacent to the surrounding sidewall  75 , wherein the inlet portion  55  is in fluid communication with the interior  76 , again as best shown in  FIG. 4 . Further included in the environmental sampling system  50  is the outlet portion  100  that is adjacent to the opposing end of the surrounding sidewall  75 , wherein the outlet portion  100  is in fluid communication with the interior  76 , again as best shown in  FIG. 4 . In addition, included is the means  90  for initiating gas movement  65  that is preferably disposed in the inlet portion  55 , also the body  70 , and the outlet control valve  105  is shown that is disposed in the outlet portion  100 , as shown in  FIGS. 3 and 4 . 
     Also, the sensors  85  are mounted to the sidewall  75  via a flange  110  with the electrical communication  115  for the sensor  85  oppositely located in the atmospheric area  51 , as shown in  FIG. 4 . Further in  FIG. 5 , the controller  120  has a sensor  85  input  135  via the electrical communication  115 , further the controller  120  has a power input  125 , and a data signal output  130 . 
     The environment sampling system  50  unit, also known as the “nose”, is designed to integrate into the mobile support device which is preferably a VIGILUS security robot. The environment sampling system  50  includes the inlet portion  55 , a replaceable inlet filter  60 , a body  70  that has a surrounding sidewall  75  that is about a longitudinal axis  80 , to define a body  70  and surrounding sidewall  75  interior  76 , and an outlet portion  100 . Disposed therethrough the surrounding sidewall  75  is a sensor  85  for measuring gas  52  borne contaminants that are present in the gas  52  that is disposed within the interior  76 . Note that there could be a plurality of sensors  85  for detecting multiple different types of gas  52  contaminants. 
     Gas  52  is drawn into the interior  76  via the inlet portion  55  and through the filter  60  by the means  90  for initiating gas movement  65  through the interior  76  and exhausting through the outlet portion  100  through the outlet control valve  105 , wherein the control valve  105  is modulated to control the gas  52  that is disposed within the interior  76  for varying the gas  52  flow rate therethrough the interior  76  and for varying the gas  52  pressure within the interior  76 , essentially moving back and forth  97  along the outlet pressure-flow curve of the fan  95 , see  FIG. 6 , thus resulting in the interior  76  gas  52  pressure always being greater than the gas  52  atmospheric  51  pressure—thus controlling the gas  52  dwell time, flow rate, and pressure that the sensor  85  is exposed to in the interior  76 , as desired for sensor  85  optimal performance in detecting gas  52  contaminants. Thus the means  90  is preferably a software controlled fan  95  that is to ensure gas  52  sample densities and flow rates in the interior  76  that each individual sensor  85  are exposed to are controlled. 
     Again, broadly speaking, as shown in  FIGS. 1 to 6 , the environment sampling system  50  for use with a mobile support device, the environment sampling system  50  includes the body  70  that includes the surrounding sidewall  75  that is about the longitudinal axis  80  to define the body  70  interior  76  as opposed or distinguished to an atmospheric area  51  that is external to the interior  76 . Further included in the environment sampling system  50  is the sensor  85  disposed therethrough the surrounding sidewall  75 , wherein the sensor  85  is in fluid communication with interior  76 , also included is the inlet portion  55  that is adjacent to the surrounding sidewall  75 , wherein the inlet portion  55  is in fluid communication with the interior  76 . The environment sampling system  50  also has the outlet portion  100  that is adjacent to the opposing end of the surrounding sidewall  75 , wherein the outlet portion  100  is in fluid communication with the interior  76 , also there is the means  90  for initiating gas  52  movement therethrough the inlet portion  55 , the interior  76 , and the outlet portion  100 , as best shown in  FIG. 4 . 
     Looking in particular at  FIGS. 4 ,  5 , and  6 , for the environment sampling system  50 , wherein the means  90  for initiating gas  52  movement  65  is preferably constructed of an in-line axial direct drive type fan  95 , wherein the fan has an axial axis  140  of rotation  145 , see  FIGS. 4 ,  5 , and  6 . In addition, the fan  95  is preferably disposed within the interior  76  being positioned such that the fan axial axis  140  of rotation  145  is coincident to the longitudinal axis  80 , see  FIGS. 4 and 5 , with the fan  95  being operational to initiate gas  52  turbulence  53  at the sensor  85  to enhance sensor  85  performance in detecting atmospheric or environmental borne substances. 
     Also, for the environment sampling system  50 , preferably the sensor  85  further comprises a saddle support flange  110  interface to support the sensor  85  to mount therethrough the sidewall  75 , see  FIGS. 4 and 5 . 
     As an enhancement for the environment sampling system  50  it can preferably further comprise a means  104  to regulate the gas  52  movement  65  via a gas  52  pressure change and a gas  52  flow rate change. Preferably, the means  104  to regulate the gas  52  movement  65  is a control valve  105  having an adjustable range from in-between a fully closed operational state to a fully open operational state, see  FIGS. 4 and 5 , wherein the control valve  105  is shown positioned between the fully closed operational state to the fully open operational state, also see  FIGS. 1 ,  2 , and  3 , for the exterior of the control valve  105 . 
     Further, on the control valve  105 , it is preferably disposed within the outlet portion  100  being positioned downstream, in relation to the gas  52  movement  65  from the means  90  for initiating gas  52  movement  65 , this is to operationally regulate the gas  52  movement  65  via the gas  52  pressure changes and the gas  52  flow rate changes within the interior  76  via moving along  97  a performance outlet curve  96  of the means  90  for initiating gas  52  movement  65 , as required for the sensor  85  to have enhanced gas  52  contaminant detection performance by regulating the control valve  105  between the fully closed state and the fully open state, see in particular  FIGS. 4 ,  5 , and  6 . 
     In addition, on the environment sampling system  50 , it can preferably further comprise a controller  120  that is in electrical communication  115  with the sensor  85 , see  FIG. 5 , wherein operationally the controller  120  converts an analog signal input  115  from the sensor  85  into a digital output  130  signal, note that the controller  120  also has a power input  125 . Further, on the controller  120 , it is preferably positionally affixed to the sidewall  75  in the atmospheric area  51  to minimize distance of the sensor electrical communication  115 , wherein a plurality of sensors  85  could be disposed therethrough the sidewall  75 , see  FIG. 5 . 
     The individual sensors  85  are analyzed by proprietary software running on a dedicated 32-bit, 160 MIPS microcontroller, and the results are available via USB or 12C communications, depending upon the requirements of the mobile support device. 
     The environmental sampling system  50  is compatible with all models of the VIGILUS security robot and is capable of either consistent or on demand gas sampling by the sensors  85 . Wherein the sensors  85  typically test for gases that include carbon monoxide, explosive or volatile gases, smoke, carbon monoxide, humidity levels, temperature levels, radiation levels, and the like. Thus, the environmental sampling system  50  is designed to integrate into the VIGILUS security robot to have the ability to monitor the environment for potential hazards. Typical applications would include patrolling garage areas for smoke, carbon monoxide buildup, or explosive gases. Other uses could include monitoring indoor facilities for potential problems such as humidity build up, excess temperature, and the carbon dioxide buildup in wineries. 
     Standard equipment for the environmental sampling system  50  would include an integrated 32-bit 160 MIPS 8 core microcontroller for sample analysis, a 0.5 ft. 3  per minute flow control fan  95 , replaceable inlet filters  60 , USB and 12C communications, and a self calibration mode. 
     Specifications for the environmental sampling system 50 are approximately;
     Power—12 V DC   Power consumption—250 milliamps plus approximately 20 milliamps per sensor  85     Preferred maximum sensors  85  support is 20 in quantity   Processor—an onboard 32-bit 160 MIPS 8 core   Weight—7 pounds   Height—23 inches   Width—8 inches inlet portion  55  to sensor  85  clearance   

     CONCLUSION 
     Accordingly, the present invention of an Environmental Sampling System has been described with some degree of particularity directed to the embodiments of the present invention. It should be appreciated, though; that the present invention is defined by the following claims construed in light of the prior art so modifications or changes may be made to the exemplary embodiments of the present invention without departing from the inventive concepts contained therein.