Visual inspection device for elevator pit buffer

Abstract

This invention relates to a visual inspection device for elevator pit buffers, belonging to the technical field of buffer visual inspection devices. It includes: multiple robotic arms, multiple joint drive mechanisms, and multiple camera mechanisms. The robotic arms are sequentially rotatably connected, with the arm closer to the first end being the first robotic arm and the arm closer to the last end being the last robotic arm. Multiple joint drive mechanisms are respectively arranged between adjacent robotic arms, with their fixed parts fixed to the first robotic arms and their rotating parts fixed to the corresponding last robotic arms. Multiple camera mechanisms are circumferentially spaced and fixed to the last robotic arm. This invention designs the last robotic arm as a ring-shaped mechanism, giving it the dual functions of a robotic arm end effector and a multi-camera mounting support structure. It can be fitted over the buffer from above, achieving a wraparound multi-view image acquisition, effectively solving the problem of difficulty in observing the buffer in narrow pit spaces.

Description

Technical Field

[0001] This invention relates to the field of visual inspection devices for shock absorbers, and particularly to a visual inspection device for shock absorbers in elevator pits. Background Technology

[0002] Elevator buffers are key components of elevator safety protection systems, typically installed at the bottom of the elevator pit to cushion and protect the car during abnormal downward movements. Regular inspections are necessary to ensure safe elevator operation. Current inspection methods mostly rely on manual visual inspection from inside the pit or taking photos with handheld devices. However, elevator pits are often cramped, poorly lit, and contain numerous internal structural components such as guide rails, bases, baffles, and cables. Manual inspections are inherently risky, inefficient, and limited by the patient's position, making it difficult to observe the buffer's outer surface from multiple angles.

[0003] With the application of machine vision technology, inspection robots are now entering pits and carrying cameras to collect images. However, existing devices mostly use a single camera or a small number of cameras with fixed viewing angles. In confined environments, the sides and back of the buffer are easily obstructed, and single-side or fixed-view shooting easily leads to incomplete image information and the inability to see key surfaces. Even with a multi-axis robotic arm, if the end effector only carries a single camera, it is difficult to form a stable and comprehensive multi-angle coverage around the buffer in a confined space. Moreover, each pose adjustment requires complex path planning, resulting in low acquisition efficiency and poor data consistency. Another approach attempts to use a ring-shaped end effector to surround the buffer from above for observation. However, without effective attitude perception and active pose correction, if the ring structure tilts relative to the buffer, it is prone to collision interference and inconsistent shooting height, angle, and imaging scale of the cameras on the ring. This affects the accuracy of subsequent image registration, circumferential unfolding, and 3D reconstruction, and cannot provide a reliable data foundation for defect detection and dimensional measurement.

[0004] Therefore, how to design a visual inspection device that can adapt to the narrow elevator pit environment, achieve multi-view synchronous image acquisition, and have good consistency in shooting posture is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This invention provides a visual inspection device for elevator pit buffers, which solves the technical problem that existing inspection methods are difficult to achieve multi-view synchronous image acquisition in narrow elevator pits and have poor consistency in shooting posture, resulting in insufficient detection integrity, efficiency and data reliability.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a visual inspection device for an elevator pit buffer, comprising: multiple robotic arms, multiple joint drive mechanisms, and multiple camera mechanisms; the multiple robotic arms are sequentially rotatably connected, and in two robotic arms that rotate relative to each other, the robotic arm closer to the first end is the first-end robotic arm, and the robotic arm closer to the last end is the last-end robotic arm; the multiple joint drive mechanisms are respectively arranged between two adjacent robotic arms, and their fixed parts are respectively fixed on the multiple first-end robotic arms, and their rotating parts are respectively fixed on the corresponding last-end robotic arms; the last robotic arm has a ring structure and can be intermittently fitted outside the buffer of the elevator pit; the multiple camera mechanisms are fixed circumferentially at intervals on the last robotic arm, so as to move synchronously along the axial direction of the buffer as the multiple robotic arms move relative to each other.

[0007] The beneficial effects of this invention are as follows: The end arm is designed as a ring-shaped mechanism, which combines the functions of a robotic arm end effector and a multi-camera mounting support structure. It can be fitted over the buffer from above to the outer periphery of the buffer, realizing a wraparound multi-view image acquisition, effectively solving the problem of the difficulty in observing the sides and back of the buffer in the narrow pit space. At the same time, the invention adopts a structure in which multiple cameras are arranged at intervals along the circumference of the end ring arm, so that each camera can synchronously acquire images from different directions around the buffer, eliminating the defects such as incomplete images and invisible key surfaces caused by monocular cameras or single-view shooting, and providing complete and consistent multi-view image data for subsequent defect detection and 3D reconstruction.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, all of the aforementioned joint drive mechanisms are servo motors, servo motors, stepper motors, or geared motors.

[0010] Furthermore, each of the multiple camera mechanisms includes a mounting base and a camera, with the multiple mounting bases fixed circumferentially at intervals on the far end of the robotic arm; the multiple cameras are respectively fixed on the multiple mounting bases and the camera ends are all arranged facing the buffer.

[0011] Furthermore, it also includes a base plate and a rotary drive mechanism, wherein the fixed part of the rotary drive mechanism is fixed to the base plate and its rotating part rotates about the vertical axis of the base plate; the foremost end of the arm is fixed to the rotating part of the rotary drive mechanism.

[0012] The further beneficial effects of adopting the above are as follows: by adding a rotary drive mechanism between the base plate and the first end arm, the entire multi-axis arm can rotate about the vertical axis of the base plate, thereby driving the end ring arm and multiple cameras to rotate circumferentially around the buffer, expanding the coverage of the detection field of view. This allows each camera to not only move along the buffer axis, but also to perform circumferential scanning of the buffer's outer perimeter from more directions. Combined with the multi-camera layout on the end ring arm, it effectively eliminates detection blind spots and provides richer and more complete image data for the comprehensive detection and three-dimensional reconstruction of the buffer's outer surface.

[0013] Furthermore, it also includes an attitude sensor, which is fixed to the end of the arm.

[0014] The further beneficial effects of adopting the above are as follows: the attitude signals obtained by the attitude sensor drive the joint drive mechanism to perform attitude compensation, so that the end ring arm always maintains a horizontal state during the process of attaching the buffer and multi-view vision acquisition, which effectively improves the stability of the attachment process and the consistency of the attitude of the multi-camera shooting; at the same time, the active attitude correction capability significantly reduces the risk of collision with the buffer or pit components caused by the tilt of the end ring arm, and reduces the image registration error caused by the inconsistent shooting angles of each camera, providing a more stable and reliable data foundation for subsequent circumferential unfolding and 3D reconstruction.

[0015] Furthermore, the attitude sensor is an inertial measurement unit, a dual-axis tilt sensor, a triaxial accelerometer, a gyroscope, or an attitude sensor. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural schematic diagram of a visual inspection device for an elevator pit buffer according to the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the end arm of the visual inspection device for elevator pit buffers according to the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 1. Arm, 2. Joint drive mechanism, 3. Camera mechanism, 31. Mount, 32. Camera, 4. Base plate, 5. Rotation drive mechanism, 6. Attitude sensor. Detailed Implementation

[0019] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] like Figure 1As shown, a visual inspection device for an elevator pit buffer includes: multiple robotic arms 1, multiple joint drive mechanisms 2, and multiple camera mechanisms 3. The multiple robotic arms 1 are rotatably connected in sequence, and in two robotic arms 1 that rotate relative to each other, the robotic arm 1 closer to the first end is the first robotic arm 11, and the robotic arm 1 closer to the last end is the last robotic arm 12. The multiple joint drive mechanisms 2 are respectively arranged between two adjacent robotic arms 1, and their fixed parts are respectively fixed on the multiple first robotic arms 11, and their rotating parts are respectively fixed on the corresponding last robotic arms 12. The last robotic arm 1 has a ring structure and can be intermittently fitted outside the buffer of the elevator pit. The multiple camera mechanisms 3 are fixed circumferentially at intervals on the last robotic arm 1 so as to move synchronously along the buffer axial direction as the multiple robotic arms 1 move relative to each other.

[0021] In some specific embodiments, the multiple joint drive mechanisms 2 can all be servo motors, servo motors, stepper motors, or geared motors.

[0022] like Figure 1 As shown, in some specific embodiments, each of the multiple camera structures 3 may include a mounting base 31 and a camera 32. The multiple mounting bases 31 are fixed at intervals along the circumference on the end arm 1; the multiple cameras 32 are respectively fixed on the multiple mounting bases 31 and the camera ends are all arranged facing the buffer.

[0023] like Figure 1 As shown, in some specific embodiments, it may also include a base plate 4 and a rotary drive mechanism 5. The fixed part of the rotary drive mechanism 5 is fixed on the base plate 4 and its rotating part rotates about the vertical axis of the base plate 4; the first end of the arm 1 is fixed on the rotating part of the rotary drive mechanism 5.

[0024] like Figure 2 As shown, in some specific embodiments, an attitude sensor 6 may also be included, which is fixed on the end arm 1.

[0025] Specifically, the attitude sensor 6 can be an inertial measurement unit, a dual-axis tilt sensor, a triaxial accelerometer, a gyroscope, or an attitude sensor 6.

[0026] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A visual inspection device for elevator pit buffers, characterized in that, include: Multiple arms (1), the multiple arms (1) are rotatably connected in sequence, and in two arms (1) that rotate with each other, the arm (1) closer to the head end is the head arm (11), and the arm (1) closer to the tail end is the tail arm (12). Multiple joint drive mechanisms (2) are arranged between two adjacent arms (1) and their fixed parts are fixed on the multiple first arms (11) respectively, and their rotating parts are fixed on the corresponding end arms (12); Multiple camera mechanisms (3), the last of which is a ring structure and can be intermittently fitted outside the buffer of the elevator pit; the multiple camera mechanisms (3) are fixed circumferentially on the last of which is a ring structure and can be intermittently fitted outside the buffer of the elevator pit; the multiple camera mechanisms (3) are fixed circumferentially on the last of which is a ring structure and can move synchronously along the axial direction of the buffer as the multiple of which are intermittently moving.

2. The visual inspection device for elevator pit buffers according to claim 1, characterized in that, All of the joint drive mechanisms (2) are servo motors, servo motors, stepper motors or geared motors.

3. The visual inspection device for elevator pit buffers according to claim 1, characterized in that, Each of the multiple camera mechanisms (3) includes a mounting base (31) and a camera (32). The multiple mounting bases (31) are fixed at intervals along the circumference on the end arm (1). The multiple cameras (32) are respectively fixed on the multiple mounting bases (31) and the camera ends are all arranged facing the buffer.

4. The visual inspection device for elevator pit buffers according to claim 1, characterized in that, It also includes a base plate (4) and a rotary drive mechanism (5), the fixed part of the rotary drive mechanism (5) is fixed on the base plate (4) and its rotating part rotates about the vertical axis of the base plate (4); the first end of the arm (1) is fixed on the rotating part of the rotary drive mechanism (5).

5. The visual inspection device for elevator pit buffers according to claim 1, characterized in that, It also includes an attitude sensor (6), which is fixed to the end arm (1).

6. The visual inspection device for elevator pit buffers according to claim 5, characterized in that, The attitude sensor (6) is an inertial measurement unit, a dual-axis tilt sensor, a triaxial accelerometer, a gyroscope, or an attitude sensor (6).

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