CN114689390A - Gas sampling device and sampling method - Google Patents
Gas sampling device and sampling method Download PDFInfo
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- CN114689390A CN114689390A CN202011637309.3A CN202011637309A CN114689390A CN 114689390 A CN114689390 A CN 114689390A CN 202011637309 A CN202011637309 A CN 202011637309A CN 114689390 A CN114689390 A CN 114689390A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2226—Sampling from a closed space, e.g. food package, head space
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/24—Suction devices
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Abstract
本申请公开了一种气体采样装置及采样方法，气体采样装置包括移动的主体；驱动机构，设置于主体上，用于驱动采样部件；采样部件，具有采样端面，采样端面上设置有采样口；图像获取单元，用于拍摄待检测对象的图像，并将图像发送到控制器；控制器，能够对图像自动进行识别来确定待检测对象外侧的气体采集位置以及气体采集位置的空间方位，从而控制驱动机构带动采样口抵接于待检测对象外侧的气体采集位置。采样部件的采样口用于抵接在，待检测对象外侧的气体采集位置进行气体采样，其为非侵入式的采样方案，不会对检测对象内部的物品等造成损伤，以及避免因对检测对象内部的物品等造成损伤而导致的交叉污染的问题发生。
The present application discloses a gas sampling device and a sampling method. The gas sampling device includes a moving main body; a driving mechanism is arranged on the main body and is used to drive a sampling part; the sampling part has a sampling end face, and a sampling port is provided on the sampling end face; The image acquisition unit is used to take an image of the object to be detected and send the image to the controller; the controller can automatically identify the image to determine the gas collection position outside the object to be detected and the spatial orientation of the gas collection position, thereby controlling The driving mechanism drives the sampling port to contact the gas sampling position outside the object to be detected. The sampling port of the sampling part is used to abut on the gas sampling position outside the object to be detected for gas sampling. The problem of cross-contamination caused by damage to internal items, etc. occurs.
Description
Technical Field
The invention relates to the technical field of gas sampling, in particular to a gas sampling device and a sampling method.
Background
At present, in places with dense people flows, such as ports, customs and the like, quarantine robots can be used for checking contraband which is possibly carried in bags and can volatilize odor molecules. When checking, security check personnel need insert the end of the sampling pipe of breathing in the zip fastener seam of the suitcase under test, breathe in and detect, have the possibility of damaging article in the passenger's case and bag, simultaneously, still have article cross contamination's risk in the different passenger's case and bags.
Disclosure of Invention
The application expects to provide a gas sampling device and sampling method for carry out gas sampling through the mode of puncture among the solution prior art, have the damage and detect article and cross contamination scheduling problem.
In a first aspect, the present invention provides a gas sampling apparatus comprising:
a movable body;
the driving mechanism is arranged on the main body and used for driving the sampling component;
the sampling component is provided with a sampling end face, and a sampling port is arranged on the sampling end face;
the system comprises an image acquisition unit, a controller and/or a remote terminal, wherein the image acquisition unit is used for shooting an image of an object to be detected and sending the image to the controller and/or the remote terminal;
the controller can automatically identify the image to determine the gas collection position outside the object to be detected and the space position of the gas collection position, so as to control the driving mechanism to drive the sampling port to abut against the gas collection position outside the object to be detected, or the controller can control the driving mechanism to drive the sampling port to abut against the gas collection position outside the object to be detected according to a received instruction of the remote terminal.
As an implementation, the sampling member is of a flexible construction at least on one side of the sampling end face.
As an implementation, the image acquisition unit comprises a depth camera.
As an implementation, the controller may determine the spatial orientation of the gas collection location relative to the sampling component from depth information acquired by the depth camera; or,
the controller sends the depth information acquired by the depth camera to a remote server and receives the spatial orientation of the gas acquisition position calculated by the remote server.
As an implementation, the driving mechanism includes a mechanical arm having a mounting end and an actuating end, the mounting end is connected with the main body, and the actuating end is connected with the sampling component.
As an implementation manner, the object to be detected is a luggage, and the gas collection position is a zipper position of the luggage.
As an implementation, the sampling port is a rectangular port.
As an implementation manner, the gas analyzer is arranged in the main body and communicated with the sampling part, and is used for analyzing the components of the gas extracted by the sampling part.
As an implementation manner, the gas analyzer further comprises an alarm device for giving an acoustic and/or optical alarm when the gas analyzer analyzes that the extracted gas has a predetermined component.
In a second aspect, the present invention provides a sampling method using the gas sampling apparatus, including:
acquiring an image of an object to be detected to determine a gas collecting position outside the object to be detected;
calculating the space position of the gas collection position outside the object to be detected relative to the sampling component;
driving a sampling component to enable a sampling port of the sampling component to abut against a gas collecting position on the outer side of the object to be detected;
gas is drawn through the sampling port to the gas collection site.
According to the scheme, the sampling port of the sampling component is abutted to the gas sampling position outside the object to be detected for gas sampling, the non-invasive sampling scheme is adopted, the damage to the articles inside the object to be detected and the like can be avoided, and the problem of cross contamination caused by the damage to the articles inside the object to be detected and the like can be avoided.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a gas sampling assembly provided in accordance with an embodiment of the present invention;
FIG. 2 is a front view of a sampling component provided by an embodiment of the present invention;
fig. 3 is a flowchart of a sampling method according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 and 2, a gas sampling apparatus according to an embodiment of the present invention includes: a movable body, a sampling part 3, an image acquisition unit 1 and a driving mechanism.
And the driving mechanism is arranged on the main body and used for driving the sampling component 3 to enable the sampling port 7 to be abutted against the gas collection position. The driving of the sampling component means that the spatial position of the sampling component 3 is adjusted by the driving mechanism, so that the sampling port 7 of the sampling component 3 is abutted against the gas collection position, and the sampling port 7 performs air extraction and sampling on the object to be detected through the gas collection position. The abutting means that the sampling port 7 abuts against the gas collecting position on the object to be detected, and a certain pressure is provided between the sampling port 7 and the gas collecting position, so that a certain sealing effect is provided between the gas collecting position on the object to be detected and the sampling port 7, the sampling port 7 can smoothly perform air extraction and sampling on the object to be detected, and the interference of environmental gas is reduced. Wherein, the driving mechanism can comprise a walking mechanism arranged at the bottom of the movable body and/or a mechanical arm arranged at the side of the movable body. In the following examples, the driving mechanism is described as including at least a robot arm.
The sampling component 3 is provided with a sampling end face 4, the sampling end face 4 is provided with a sampling port 7, the specific shape of the sampling component 3 is not limited as long as the sampling component has one sampling end face 4, the sampling port 7 is arranged on the sampling end face 4, and the sampling port 7 is used for exhausting air to the object to be detected.
The image acquisition unit 1 is used for shooting an image of an object to be detected and sending the image to a controller and/or a remote terminal.
The image acquiring unit 1 has a video shooting function, and can perform video shooting on an object to be detected to obtain an image of the object to be detected, the image of the object to be detected may be, but is not limited to, having depth information, and the controller may determine a specific position of a gas collecting position outside the object to be detected in a space through the depth information, and may also be a spatial coordinate of the gas collecting position, where the spatial coordinate may be a coordinate relative to the driving mechanism or a coordinate relative to a certain fixed position in the space.
Specifically, the controller can automatically identify the image to determine the gas collection position outside the object to be detected and the spatial orientation of the gas collection position, so as to control the driving mechanism to drive the sampling port to abut against the gas collection position outside the object to be detected. After the controller determines the space direction of the gas collection position, the motion path of the driving mechanism can be planned, and the driving mechanism is controlled to enable the sampling port to be abutted to the gas collection position on the outer side of the object to be detected according to the planned path, so that autonomous control is achieved.
Certainly, the sampling port can be manually controlled to abut against the gas collection position on the outer side of the object to be detected by a worker, in this case, the worker remotely operates the remote terminal to send a corresponding instruction to the controller, and the controller can control the driving mechanism to drive the sampling port to abut against the gas collection position on the outer side of the object to be detected according to the received instruction of the remote terminal. The remote terminal can be a smart phone, a tablet personal computer, a personal mobile data terminal and the like, can display the image of the object to be detected shot by the image acquisition unit, and can control the remote terminal to send an instruction to the controller according to the display of the remote terminal, so that the remote control driving mechanism drives the sampling port to abut against the gas collection position on the outer side of the object to be detected. For example, but not limited to, there is a direction button on the remote terminal that can control the movement of the driving mechanism, the direction button may be a physical button, or may be a virtual touch button displayed on the display screen of the remote terminal, and by triggering the direction button, a corresponding command may be remotely sent to the controller, so as to control the driving mechanism to drive the sampling component to move at corresponding positions, such as up, down, left, right, front, and back, so as to enable the sampling port to abut against the gas collection position outside the object to be detected.
According to the scheme, the sampling port 7 of the sampling component 3 is used for being abutted against the gas collecting position on the outer side of the object to be detected to perform gas sampling, the non-invasive sampling scheme is adopted, damage to articles and the like in the object to be detected can be avoided, and the problem of cross contamination caused by damage to the articles and the like in the object to be detected is avoided.
As an implementation manner, in order to prevent the sampling member 3 from damaging the object to be detected and to provide a certain sealing effect between the gas collection position of the object to be detected and the sampling port 7, the sampling member 3 is of a flexible structure at least on one side of the sampling end surface 4. Of course, the entire sampling member 3 may be a flexible structure made of, for example, but not limited to, rubber, silicone, or the like.
As an implementable manner, the image acquisition unit 1 comprises a depth camera. The depth camera is used for shooting images which comprise picture information of objects, and each pixel in the picture information corresponds to depth information, which can also be called depth distance. For example, in the example, the position of the zipper of the luggage needs to be extracted and sampled at the zipper of the luggage, the position of the zipper is a gas collecting position, the position of the zipper of the luggage is identified in a visual identification mode, and as each pixel in the image information corresponds to depth information, the coordinate of the zipper is determined according to the depth information of the pixel corresponding to the zipper. For example, with the installation position of the depth camera as the origin of the spatial coordinate system, the position relationship between the spatial coordinate system and the camera coordinate system of the depth camera is fixed, each pixel in the screen information corresponds to the depth information, which is generally the coordinate information relative to the camera coordinate system, and the specific spatial position of the zipper relative to the camera is obtained by converting the coordinate information of the identified target object, i.e., the camera coordinate system of the zipper in this example, into the coordinate information of the spatial coordinate system, in this case, the controller plans the motion trajectory of the driving mechanism according to the specific spatial position of the zipper relative to the camera, so that the driving mechanism can abut the sampling port 7 of the sampling component 3 on the zipper according to the specific spatial position of the zipper.
As an implementation manner, in order to facilitate moving the gas sampling device, the driving mechanism further includes a traveling mechanism disposed at the bottom of the movable body 5. The walking mechanism provided at the bottom of the main body 5 has a plurality of wheels 6 to perform a moving function. For example, but not limited to, part of the wheels 6 are universal wheels. The wheels 6 may be powered or unpowered, and when the unpowered wheels 6 are used, the gas sampling device needs to be manually pushed to move. The gas sampling assembly can be moved independently when powered wheels 6 are used. When the wheels 6 with power drive are adopted, the controller can judge the obstacles on the advancing path by automatically identifying the images and plan the avoiding path so as to realize the purpose of avoiding the obstacles during automatic walking. Besides the wheel structure, the running mechanism can also adopt a crawler belt and other modes.
As an implementation, a mechanical arm, which is part of the drive mechanism, has a mounting end connected to the body 5 and an actuation end connected to the sampling member 3. For example, but not limiting of, the robotic arm includes a first arm 21, a second arm 22, and a third arm 23 that are articulated in sequence. The end of the first arm 21 remote from the second arm 22 is a mounting end which is connected to the body 5, and the end of the third arm 23 remote from the second arm 22 is a performing end, which is connected to the sampling member 3. Generally, the first arm 21, the second arm 22 and the third arm 23, which are movably connected in sequence, may have six degrees of freedom in space to drive the sampling component 3 to reach positions at different angles in space to adapt to different placement positions of the object to be detected.
As an implementation mode, the object to be detected is a case, and the gas collection position is the zipper position of the case. Examples of the case include, but are not limited to, a luggage, a handbag, a backpack, and the like.
As an implementation manner, in order to adapt to sampling of the zipper position, for example, but not limited to, the sampling component 3 is a rectangular component, the sampling port 7 may be a rectangular port, especially a rectangular port in the rectangular port, and the length direction of the rectangular port is placed along the pulling direction of the zipper of the object to be detected during sampling, so as to achieve the most sufficient sampling effect, and reduce the interference of the ambient gas.
As an implementation manner, the gas analyzer is further included, is arranged in the main body and is communicated with the sampling part 3, and is used for analyzing the components of the gas extracted by the sampling part 3. The gas analyzer can adopt various toxic and harmful gas sensors, online gas detection sensors and the like. The toxic and harmful gas sensor or the online gas detection sensor can also use a contraband detection module, and various biochemical gas analysis algorithms are arranged in the contraband detection module, so that the type and the concentration of toxic and harmful gas can be identified and monitored. The gas analyzer is provided in the main body, and analyzes a gas sample collected by the sampling unit 3 to obtain a detection result, which is generally the kind and concentration of the gas. The gas analyzer in this embodiment can analyze at least the types and concentrations of common fumigants (phosphine, methyl bromide, etc.), and industrially common toxic and harmful gases (nitric oxide, nitrogen dioxide, ammonia, hydrogen sulfide, combustible gas, organic gas), etc. .
As an implementation mode, the gas analyzer further comprises an alarm device for giving an acoustic and/or optical alarm when the extracted gas analyzed by the gas analyzer has a predetermined component. For example, when the gas analyzer analyzes that some volatile gas, such as alcohol, exists in the luggage, a horn, an alarm lamp and the like arranged on the gas sampling device work to give out sound and/or light alarm to remind a worker that the luggage contains prohibited articles.
In a second aspect, as shown in fig. 3, the present invention provides a sampling method using the above gas sampling apparatus, including:
s1: acquiring an image of an object to be detected to determine a gas collecting position outside the object to be detected;
s2: calculating the space position of the gas collection position outside the object to be detected relative to the sampling component;
s3: driving the sampling component 3 to enable a sampling port 7 of the sampling component 3 to be abutted with a gas collecting position on the outer side of the object to be detected;
s4: the gas collection site is gas pumped through the sampling port 7.
For example, the object to be detected is a case, and the gas collection position is a zipper position of the case. The method comprises the steps that a bag is shot through a depth camera of an image acquisition unit 1, an image of the bag is obtained, the image comprises picture information and depth information, a zipper in the picture information is determined in an image recognition mode, the space position of the zipper is determined to the matched depth information through the picture information corresponding to the zipper, a driving mechanism drives a sampling component 3 according to the space position of the zipper, a sampling port 7 of the sampling component 3 is abutted to the zipper, the sampling component 3 sucks gas in the bag through the zipper, and non-entering sampling of the bag is achieved.
According to the scheme, the sampling port 7 of the sampling component 3 is used for being abutted against the gas sampling position outside the object to be detected to perform gas sampling, the non-invasive sampling scheme is adopted, the damage to the articles inside the object to be detected and the like is avoided, and the problem of cross contamination caused by the damage to the articles inside the object to be detected and the like is avoided.
It will be understood that any reference above to the orientation or positional relationship of the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., is based on the orientation or positional relationship shown in the drawings, which is done for convenience in describing the invention and to simplify the description, and is not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and is not to be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A gas sampling assembly, comprising:
a movable body;
the driving mechanism is arranged on the main body and used for driving the sampling component;
the sampling component is provided with a sampling end face, and a sampling port is arranged on the sampling end face;
the system comprises an image acquisition unit, a controller and/or a remote terminal, wherein the image acquisition unit is used for shooting an image of an object to be detected and sending the image to the controller and/or the remote terminal;
the controller can automatically identify the image to determine the gas collection position outside the object to be detected and the space position of the gas collection position, so as to control the driving mechanism to drive the sampling port to abut against the gas collection position outside the object to be detected, or the controller can control the driving mechanism to drive the sampling port to abut against the gas collection position outside the object to be detected according to a received instruction of the remote terminal.
2. The gas sampling device of claim 1, wherein the sampling member is a flexible structure on at least one side of the sampling end face.
3. The gas sampling device of claim 1, wherein the image acquisition unit comprises a depth camera.
4. The gas sampling assembly of claim 3,
the controller may determine the spatial orientation of the gas collection location relative to the sampling component from depth information acquired by the depth camera; or,
the controller sends the depth information acquired by the depth camera to a remote server and receives the spatial orientation of the gas acquisition position calculated by the remote server.
5. The gas sampling device of claim 1, wherein the drive mechanism comprises a robotic arm having a mounting end and an actuation end, the mounting end coupled to the body and the actuation end coupled to the sampling component.
6. A gas sampling device according to claim 1, 2 or 3, wherein the object to be detected is a bag and the gas collection location is a zipper location of the bag.
7. The gas sampling device according to claim 1, 2 or 3, wherein the sampling port is a rectangular port, and the driving mechanism arranges a length direction of the rectangular port along a pulling direction of a zipper of the object to be detected at the time of sampling.
8. A gas sampling apparatus as defined in claim 1, 2 or 3, further comprising a gas analyzer disposed in the body and in communication with the sampling member for analyzing a composition of the gas drawn by the sampling member.
9. The gas sampling assembly of claim 8, further comprising an alarm device for making an audible and/or visual alarm when the gas analyzer analyzes that the extracted gas has a predetermined composition.
10. A method of sampling using the gas sampling assembly of any of claims 1-9, comprising:
acquiring an image of an object to be detected to determine a gas collecting position outside the object to be detected;
calculating the space position of the gas collection position outside the object to be detected relative to the sampling component;
driving a sampling component to enable a sampling port of the sampling component to abut against a gas collecting position on the outer side of the object to be detected;
gas is drawn through the sampling port to the gas collection site.
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| CN202011637309.3A CN114689390A (en) | 2020-12-31 | 2020-12-31 | Gas sampling device and sampling method |
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| CN202011637309.3A CN114689390A (en) | 2020-12-31 | 2020-12-31 | Gas sampling device and sampling method |
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Application publication date: 20220701 |