A mobile environment monitoring robot and working method thereof

Abstract

The present invention discloses a mobile environment monitoring robot and a working method thereof, comprising a walking device, a dust sensor and a controller, wherein a mounting box and a telescopic device are arranged on the walking device, the dust sensor is connected to the telescopic device, the telescopic device is located in the mounting box, and the telescopic device can extend the dust sensor from the mounting box, and the walking device, the dust sensor and the telescopic device are all connected to the controller for communication; the dust sensor is used to obtain the dust concentration in the environment; the controller is used to control the telescopic device to extend until the dust sensor is located outside the mounting box during the walking process of the walking device, so as to obtain the dust concentration in the environment; when the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, and the telescopic device is controlled to continue to extend to the second length, so as to obtain the dust concentration in the environment. Accurate monitoring of the environment is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and in particular to a mobile environmental monitoring robot and a working method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Traditional devices for monitoring the environment of construction sites carry dust sensors and noise sensors and move continuously in the construction site to detect the environment of the construction site. Since there are many obstacles in the construction site, in order to ensure the smooth passage of the monitoring device, traditional devices for monitoring the environment of construction sites are often small in size, and the dust sensor is at a short distance from the ground. In the process of detecting the environment, the height of the dust sensor remains unchanged. During the construction process of the construction site, dust often floats in the air at a certain distance from the ground, that is, the dust concentration increases first and then decreases with the increase of the distance from the ground. When the dust sensor is at a short distance from the ground and the height of the dust sensor remains unchanged in the process of detecting the environment, accurate monitoring of the dust concentration in the environment cannot be achieved.

[0004] And because the dust concentration in construction sites is high, the detection port of the dust sensor is easily covered by dust, affecting the monitoring effect of the environment. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes a mobile environment monitoring robot and a working method thereof, which realizes accurate detection of various environmental parameters.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, a mobile environment monitoring robot is proposed, comprising a walking device, a dust sensor and a controller, wherein a mounting box and a telescopic device are arranged on the walking device, the dust sensor is connected to the telescopic device, the telescopic device is located in the mounting box, and the telescopic device can extend the dust sensor from the mounting box, and the walking device, the dust sensor and the telescopic device are all connected to the controller for communication;

[0008] Dust sensor, used to obtain dust concentration in the environment;

[0009] The controller is used to control the telescopic device to extend until the dust sensor is located outside the installation box during the walking process of the walking device, so as to obtain the dust concentration in the environment; when the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, and the telescopic device is controlled to continue to extend to the second length to obtain the dust concentration in the environment.

[0010] Furthermore, a dust removal device is arranged in the installation box, and the dust removal device includes a device shell, and the device shell has openings at both ends, one of which is connected to the dust suction pipe, and the other opening is located outside the installation box. A fan is arranged in the device shell, and the pipe mouth of the dust suction pipe faces the dust sensor.

[0011] Furthermore, filters are provided on both sides of the fan.

[0012] The telescopic device is connected to the detection rotating base, the dust sensor is fixed on the detection rotating base, and the detection rotating base can drive the dust sensor to rotate around its own axis; the fan and the detection rotating base are both connected to the controller for communication;

[0013] The controller is used to control the detection rotating base to rotate until the detection port of the dust sensor faces the pipe opening of the dust suction pipe after the telescopic device drives the dust sensor back into the installation box, control the fan to start, and suck the dust at the detection port of the dust sensor to the fan through the dust suction pipe and discharge it out of the installation box.

[0014] Furthermore, a wind direction sensor is fixed on the mounting box, and both the wind direction sensor and the detection rotating base are connected to the controller;

[0015] Wind direction sensor, used to obtain the wind direction in the environment;

[0016] The controller is also used to control the rotation of the detection rotating base according to the wind direction, so that the detection port of the dust sensor faces the windward direction.

[0017] Furthermore, the detection rotating base includes a base shell, a base motor and a rotating platform. The base motor is fixed on the base shell. The rotating platform is connected to the base motor output shaft and can rotate along with the base motor output shaft. The base shell is connected to the telescopic device, and the dust sensor is connected to the rotating platform.

[0018] Furthermore, an outlet for the telescopic device to extend out is arranged on the top of the installation box, and a dust cover is installed at the outlet, and the dust cover can be opened and closed.

[0019] Furthermore, a position detection module and a noise sensor are provided on the walking device;

[0020] Noise sensor, used to obtain noise decibels in the environment;

[0021] A position detection module, used to obtain the position of the walking device;

[0022] The controller is used to determine the position of the obtained dust concentration and noise decibel according to the position of the walking device.

[0023] Furthermore, it also includes an alarm device and a display device, both of which are communicatively connected to the controller;

[0024] The controller is used to control the display device to display the dust concentration and noise decibel in the environment; when the dust concentration in the environment is greater than the second concentration threshold, or the noise decibel is greater than the noise threshold, the alarm device is controlled to alarm.

[0025] In the second aspect, a working method of a mobile environment monitoring robot disclosed in the first aspect is proposed, comprising:

[0026] When the walking device is moving, the telescopic device is controlled to extend until the dust sensor is located outside the installation box, and the dust concentration in the environment is obtained through the dust sensor;

[0027] When the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, the telescopic device is controlled to continue to extend to the second length, and the dust concentration in the environment is obtained through the dust sensor.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention connects the dust sensor with the telescopic device, and can adjust the height of the dust sensor from the ground through the telescopic device. For a location with a lower dust concentration, the dust sensor is located at a location with a lower height from the ground to detect the dust concentration. For a location with a higher dust concentration, the walking device stops walking and increases the height of the dust sensor from the ground, so that the dust sensor is located at a location with a higher height from the ground to detect the dust concentration, thereby improving the accuracy of the dust concentration detection in the environment.

[0030] 2. The present invention sets an installation box outside the dust sensor and the telescopic device, and the telescopic device can drive the dust sensor to extend out of the installation box, and a dust cover is set at the outlet of the installation box. When the environment is not detected, the dust sensor and the telescopic device are recovered into the installation box to protect the dust sensor and the telescopic device to block dust and dust in the air, ensuring that after the robot finishes work, the dust sensor will not have deviations in the detection results due to excessive accumulation of dust and dust, while realizing automatic maintenance of the robot's monitoring components.

[0031] 3. The present invention provides a dust removal device in the installation box. After the dust sensor and the telescopic device are recovered into the installation box, the dust at the detection port of the dust sensor is removed by the dust removal device to ensure the accuracy of dust concentration detection when the environment is detected again.

[0032] 4. The present invention also provides a wind direction sensor to determine the wind direction, and then adjusts the detection port of the dust sensor to face the windward direction according to the wind direction, so as to further ensure the accuracy of the dust concentration detection in the environment.

[0033] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0035] Figure 1 A front view of a mobile environment monitoring robot is disclosed for an embodiment;

[0036] Figure 2 A rear view of a mobile environment monitoring robot is disclosed for an embodiment;

[0037] Figure 3 A left view of a mobile environment monitoring robot is disclosed as an embodiment;

[0038] Figure 4 A right side view of a mobile environment monitoring robot is disclosed as an embodiment;

[0039] Figure 5 A top view of a mobile environment monitoring robot is disclosed for an embodiment;

[0040] Figure 6 The present invention discloses an internal structure diagram of an installation box when a dust sensor of a mobile environment monitoring robot is stored in the installation box;

[0041] Figure 7 The embodiment discloses an internal structure diagram of an installation box when a dust sensor of a mobile environment monitoring robot extends out of the installation box;

[0042] Figure 8 A schematic diagram of battery installation of a mobile environment monitoring robot is disclosed as an embodiment;

[0043] Fig. 9 An internal structure diagram of a dust removal device of a mobile environment monitoring robot is disclosed as an embodiment;

[0044] Fig.10 A schematic diagram of a dust cover structure of a mobile environment monitoring robot is disclosed as an embodiment;

[0045] Fig.11 An exploded view of a detection rotating base of a mobile environment monitoring robot when connected to a dust sensor is disclosed as an embodiment;

[0046] Fig.12 An exploded view of a detection rotating base of a mobile environment monitoring robot when connected to a visual sensor is disclosed as an embodiment;

[0047] Fig.13 A schematic diagram of a rotating platform connection of a mobile environment monitoring robot is disclosed as an embodiment;

[0048] Fig.14 The present invention discloses a structural block diagram of a mobile environment monitoring robot according to an embodiment.

[0049] Among them: Ⅰ-1, crawler track, Ⅰ-2, drive motor, Ⅰ-3, base, Ⅰ-4, base protective shell, Ⅰ-5, protective shell, Ⅰ-6, installation box, Ⅰ-7, dust cover, Ⅰ-7(1), round cover, Ⅰ-7(2), torsion spring, Ⅰ-8, rotating base, Ⅰ-8(1), base motor, Ⅰ-8(2), platform fixing bolt, Ⅰ-8(3), motor fixing bolt, Ⅰ-8(4), base shell, Ⅰ-8(5), rotating platform, Ⅰ-8(6), rotating head, Ⅱ-1(1), laser radar, Ⅱ-1(2), laser radar, Ⅱ-1(3), laser radar, Ⅱ-1(4), laser Optical radar, II-2, visual sensor, II-3, path planning unit, III-1, dust sensor, III-2, noise sensor, III-3(1), telescopic device, III-4, wind direction sensor, III-5, dust removal device, III-5(1), fan motor, III-5(2), fan blades, III-5(3), filter, III-5(4), dust suction pipe, IV-1, position detection module, V-1, controller, VI-1, display device, VI-2, alarm device, VII-1, battery, VII-2(1), photovoltaic panel, VII-2(2), photovoltaic panel, VII-2(3), photovoltaic panel, VII-2(4), photovoltaic panel. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0054] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0055] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0056] Example 1

[0057] In this embodiment, a mobile environment monitoring robot is disclosed, such as Figure 1-Figure 13 As shown, it includes a walking device, a dust sensor III-1 and a controller V-1, a mounting box I-6 and a telescopic device III-3(1) are arranged on the walking device, the dust sensor III-1 is connected to the telescopic device III-3(1), the telescopic device III-3(1) is located in the mounting box I-6, and the telescopic device III-3(1) can extend the dust sensor III-1 from the mounting box I-6, and the walking device, the dust sensor III-1 and the telescopic device III-3(1) are all connected to the controller V-1 for communication;

[0058] Dust sensor III-1, used to obtain dust concentration in the environment;

[0059] Controller V-1 is used to control the telescopic device to extend until the dust sensor is located outside the installation box during the movement of the walking device, so as to obtain the dust concentration in the environment; when the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, and the telescopic device is controlled to continue to extend to the second length to obtain the dust concentration in the environment.

[0060] The mobile environment monitoring robot disclosed in this embodiment is used for mobile monitoring of dust and noise on a construction site, and determines the location of dust and noise by positioning. The robot can move freely in the construction area, and can actively avoid obstacles on the construction site; for the rugged road surface of the construction site, the mobile environment monitoring robot disclosed in this embodiment adopts a crawler movement mode to move, and the crawler movement mode can enable the robot to have a strong mobility when dealing with the complex road surface environment of the construction site, ensuring its normal operation. The main responsibility of this mobile environmental monitoring robot is to provide mobile monitoring services for construction site environments. It patrols the site along a planned path, detects obstacles on the robot's path through visual sensors and lidar, and avoids them in a timely manner. It installs a rotatable dust sensor above the telescopic device and a wind direction sensor on the top of the installation box to collaboratively monitor the dust concentration of particulate matter PM10 and PM2.5, so as to measure the dust concentration as accurately as possible in windy weather. A dust removal device is installed inside the installation box. When the robot finishes monitoring, the dust removal device can automatically remove dust from the surface of the dust sensor, which can avoid excessive surface dust caused by long-term monitoring of the dust sensor, thereby affecting the accuracy of the monitoring results. A noise sensor is installed on the walking device to monitor the noise of the construction site in real time. Monitoring; A display device and an alarm device are provided on the walking device. The display device is used to display and record the dust concentration measured by the dust sensor and the noise decibel measured by the noise sensor, so as to remind the people around the working environment of the dust and noise conditions. When the surrounding dust concentration is too high, the alarm device will sound an alarm to remind the surrounding staff to pay attention to protection; A photovoltaic panel is also provided on the top of the robot body to convert solar energy into electrical energy to improve the robot's endurance; The robot's position is detected by the robot's position detection module to determine the approximate position of the noise and dust, and the information data is transmitted to the controller through ZigBee, and the controller automatically controls the spraying system near the dust to spray and remove dust in time, and dispatches relevant personnel to optimize the noise equipment, thereby playing a role in preventing and controlling dust and noise.

[0061] like Fig.14 As shown, a mobile environment monitoring robot disclosed in this embodiment includes a data processing module, a data acquisition and detection module, a position detection module, a movement and carrying module, an obstacle avoidance module, a display alarm module and a control terminal.

[0062] Among them, the data processing module includes controller V-1.

[0063] The mobile and loading module includes a walking device, which is a crawler mobile type, including a base Ⅰ-3, crawlers Ⅰ-1 are fixed on both sides of the base Ⅰ-3, crawlers Ⅰ-1 are connected to the drive motor Ⅰ-2, and the drive motor Ⅰ-2 drives the crawler Ⅰ-1 to rotate to realize the walking of the walking device. Among them, the drive motor Ⅰ-2 is fixed on the base Ⅰ-3, and the drive motor Ⅰ-2 is also connected to the controller Ⅴ-1. The controller Ⅴ-1 is used to control the start and stop of the drive motor Ⅰ-2, thereby realizing the walking control of the walking device.

[0064] In order to protect the walking device, a base protection shell Ⅰ-4 is provided outside the base Ⅰ-3, and the driving motor is installed inside the base protection shell Ⅰ-4.

[0065] A protective shell I-5 is provided outside the controller V-1 to protect the controller.

[0066] In order to ensure that the mobile environment monitoring robot disclosed in this embodiment avoids obstacles on the path during walking, an obstacle avoidance module is added on the basis of the moving and carrying modules. The obstacle avoidance module includes a laser radar, a visual sensor Ⅱ-2 and a path planning unit Ⅱ-3. The laser radar and the visual sensor Ⅱ-2 are both connected to the path planning unit; the laser radar is used to detect obstacles around the robot at a close distance. Specifically, the laser radar includes four, namely: laser radar Ⅱ-1 (2), laser radar Ⅱ-2 (3), laser radar Ⅱ-1 (1) and laser radar Ⅱ-1 (4); laser radar Ⅱ-1 (2) and laser radar Ⅱ-2 (3) are installed on the left and right sides of the outside of the protective shell Ⅰ-5 respectively; laser radar Ⅱ-1 (1) and laser radar Ⅱ-1 (4) are installed at the front and rear positions below the base protective shell Ⅰ-4 respectively. Visual sensor II-2 is used to detect obstacles far away in the direction of robot travel. Specifically, the visual sensor II-2 of this embodiment is installed on the upper part of the installation box I-6 through a visual rotating base. The visual rotating base allows the visual sensor II-2 to rotate around its own axis, thereby detecting obstacles in different directions. This can reduce the number of visual sensor devices, thereby reducing the amount of information processed by the path planning unit, and greatly increasing the obstacle avoidance efficiency of the path planning unit.

[0067] When the robot is moving forward, the visual sensor can detect obstacles farther away in the direction of the robot's advance; when the robot needs to move backward, the visual rotation base drives the visual sensor to rotate 180° to detect obstacles farther behind the robot, so as to achieve the effect of timely detecting obstacles and avoiding them.

[0068] During the movement of the walking device, the path planning unit II-3 is used to control the walking device to walk along a path planned in advance and avoid obstacles during the walking process.

[0069] The data acquisition and detection module is used to detect dust concentration and noise decibels. The data acquisition and detection module includes a dust sensor III-1, a telescopic device III-3(1) and a dust removal device III-5; wherein the telescopic device III-3(1) can be extended and shortened, one end of the telescopic device III-3(1) is connected to the walking device, and the other end is connected to the dust sensor III-1, the telescopic device III-3(1) and the dust sensor III-1 are both located in the installation box I-6, and the telescopic device III-3(1) can extend the dust sensor III-1 from the installation box I-6.

[0070] In specific implementation, an outlet for the telescopic device III-3 (1) to extend out is provided at the top of the installation box I-6, and a dust cover I-7 is installed at the outlet, and the dust cover I-7 can be opened and closed.

[0071] like Fig.10 As shown, the dust cover Ⅰ-7 includes a circular cover Ⅰ-7 (1) and a torsion spring Ⅰ-7 (2); one end of the torsion spring Ⅰ-7 (2) is connected to the circular cover Ⅰ-7 (1), and the other end is connected to the installation box Ⅰ-6. The dust cover Ⅰ-7 is driven to open or close by the torsion spring Ⅰ-7 (2). When the torsion spring Ⅰ-7 (2) is in the initial position, the dust cover Ⅰ-7 closes the outlet. When the telescopic device Ⅲ-3 (1) is extended, the dust cover Ⅰ-7 is lifted by the circular cover Ⅰ-7 (1) and moves away from the outlet. The dust cover Ⅰ-7 opens, so that the telescopic device can pass through the outlet. At this time, the torsion spring generates torque or rotational force. When the telescopic device is retracted into the installation box, the torsion spring that generates torque or rotational force pulls the circular cover Ⅰ-7 (1) back to the outlet, so that the dust cover Ⅰ-7 is closed, thereby achieving the effect of isolating dust.

[0072] Preferably, the telescopic device adopts an electric push rod, and the dust sensor III-1 is connected to the free end of the electric push rod.

[0073] In order to ensure that the dust sensor can work normally, in addition to installing a dust cover at the outlet of the installation box, a dust removal device III-5 is also provided in the installation box. Fig. 9 As shown, the dust removal device III-5 includes a device housing, the device housing has openings at both ends, one of which is connected to the dust suction pipe III-5 (4), and the other end is located outside the installation box. A fan is arranged in the device housing, and the nozzle of the dust suction pipe III-5 (4) faces the dust sensor. When the dust sensor is recovered into the installation box, the fan is started to discharge the wind in the device housing, and the pressure difference causes the air to flow to the inside of the device housing through the dust suction pipe to fill the vacuum. In short, when the dust sensor is recovered into the installation box, the fan is started to suck the dust from the dust sensor into the dust suction pipe, and then discharged into the installation box through the device housing.

[0074] At the same time, in order to prevent the dust removal device from sucking in too much dust for a long time and causing adverse effects on the fan, filter screens III-5(3) are installed on both sides of the fan. This can prevent dust or dirt from being sucked into the fan and affecting the working state of the fan, and prevent dust outside the dust removal device from entering the dust removal device and causing dust accumulation.

[0075] Preferably, the fan includes a fan motor III-5(1) and a fan blade III-5(2), the fan blade III-5(2) is connected to the output shaft of the fan motor III-5(1), and the fan blade III-5(2) can rotate following the output shaft of the fan motor III-5(1).

[0076] The dust removal device is connected to the installation box in a detachable manner. After the dust removal device has been used for a long time, the device can be disassembled to be cleaned or replaced.

[0077] The dust sensor III-1 and the telescopic device III-3 (1) are both connected to the controller for communication.

[0078] The controller is used to control the start and stop of the walking device. During the movement of the walking device, the telescopic device is controlled to extend until the dust sensor is located outside the installation box. At this time, the telescopic device is extended to a first length, and the dust concentration in the environment is obtained through the dust sensor; when the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, and the telescopic device is controlled to continue to extend to a second length, and the dust concentration in the environment is obtained through the dust sensor.

[0079] The second length is greater than the first length.

[0080] The controller is also used to control the telescopic device to shrink to the first length when the telescopic device continues to extend to the second length and the dust sensor completes obtaining the dust concentration in the environment, and then control the walking device to start moving.

[0081] In order to accurately obtain the dust concentration in the environment in a strong wind environment, this embodiment is also provided with a wind direction sensor III-4. The wind direction sensor III-4 is installed on the top of the installation box, and the wind direction sensor III-4 is connected to the controller for communication. The wind direction sensor III-4 is used to obtain the wind direction in the environment. The telescopic device is connected to the detection rotating base I-8, and the dust sensor is fixed on the detection rotating base I-8. The detection rotating base I-8 can drive the dust sensor to rotate around its own axis, so that the dust concentration can be obtained from different directions.

[0082] The controller is also used to control the rotation of the detection rotating base according to the wind direction in the environment, so that the detection port of the dust sensor faces the windward direction.

[0083] like Figure 11-13As shown, the detection rotating base Ⅰ-8 and the visual rotating base have the same structure, both of which include a base shell Ⅰ-8 (4), a base motor Ⅰ-8 (1) and a rotating platform Ⅰ-8 (5). The base motor Ⅰ-8 (1) is fixed to the base shell Ⅰ-8 (4), and the rotating platform Ⅰ-8 (5) is connected to the output shaft of the base motor and can rotate with the output shaft of the base motor. For the detection rotating base Ⅰ-8, its base shell Ⅰ-8 (4) is connected to the telescopic device, and the dust sensor is connected to the rotating platform Ⅰ-8 (5), so that the detection rotating base Ⅰ-8 can drive the dust sensor to rotate around its own axis to adapt to different wind directions. For the visual rotating base, its base shell Ⅰ-8 (4) is connected to the installation box, and the visual sensor Ⅱ-2 is connected to the rotating platform Ⅰ-8 (5), so that the visual rotating base can drive the visual sensor to rotate.

[0084] Among them, the base motor Ⅰ-8(1) adopts a stepper motor, and the base motor Ⅰ-8(1) is fixedly connected to the base shell Ⅰ-8(4) through two motor fixing bolts Ⅰ-8(3), and the rotating platform Ⅰ-8(5) is connected to the rotating head Ⅰ-8(6) above the output shaft of the base motor Ⅰ-8(1) through the slot under the platform, and the platform fixing bolt Ⅰ-8(2) passes through the rotating platform Ⅰ-8(5) and is fixed to the bolt hole inside the rotating head Ⅰ-8(6), so as to realize the fixation and coordinated rotation of the rotating platform and the rotating head.

[0085] Therefore, in order to ensure that the dust removal device has the best dust removal effect, the present embodiment arranges that the detection rotating base and the fan are both connected to the controller. The controller is used to control the detection rotating base to rotate so that the detection port of the dust sensor is facing the pipe port of the dust suction pipe after the telescopic device drives the dust sensor back to the installation box, and control the fan to start, so that the dust at the detection port of the dust sensor is sucked to the fan through the dust suction pipe and discharged from the installation box.

[0086] Preferably, the base motor is communicatively connected to the controller to detect the connection between the rotating base and the controller.

[0087] In this embodiment, a noise sensor III-2 is also provided on the walking device, and the noise sensor III-2 is used to obtain the decibel of noise in the environment.

[0088] Preferably, the noise sensor III-2 is installed below the outer side of the front side of the protective shell (I-5).

[0089] In order to determine the location of dust concentration and noise decibel, this embodiment further provides a position detection module IV-1 on the walking device, and the position detection module IV-1 is used to obtain the position of the walking device; the controller is used to determine the location of the obtained dust concentration and noise decibel according to the position of the walking device.

[0090] Preferably, the position detection module uses GPS for position positioning.

[0091] This embodiment also provides a display alarm module, which includes a display device VI-1 and an alarm device VI-2. The display device VI-1 and the alarm device VI-2 are both connected to the controller for communication.

[0092] The controller is used to control the display device to display the dust concentration and noise decibel in the environment; when the dust concentration in the environment is greater than the second concentration threshold, or the noise decibel is greater than the noise threshold, the alarm device is controlled to alarm.

[0093] Preferably, the first concentration threshold is smaller than the second concentration threshold.

[0094] The alarm device adopts a loudspeaker. The display device adopts an LED display screen. The LED display screen is installed above the outer side of the front viewing surface of the protective shell; the loudspeaker is installed on the outer side of the protective shell and placed on the base Ⅰ-3.

[0095] This embodiment also provides an energy storage module, which is used to store and provide energy for the robot. Figure 8 As shown, the energy storage module includes a battery VII-1 and a photovoltaic panel. The photovoltaic panel includes a photovoltaic panel VII-2 (1), a photovoltaic panel VII-2 (2), a photovoltaic panel VII-2 (3) and a photovoltaic panel VII-2 (4). The photovoltaic panel VII-2 (1) is installed on the top of the outer side of the protective shell, and the photovoltaic panels VII-2 (2), VII-2 (3) and VII-2 (4) are respectively arranged on the left and right sides and the rear side of the installation box. The battery is installed inside the protective shell. The photovoltaic panel is used to convert solar energy into electrical energy and send it to the battery for storage; the battery provides power for the normal operation of the robot, collects and stores the electrical energy converted by the photovoltaic panel. The photovoltaic panel and the components to which it is attached are connected by welding.

[0096] The present embodiment discloses a mobile environment monitoring robot. To realize the mobile monitoring function, the robot moves around the construction site according to the path pre-planned by the path planning unit, and the controller controls the walking device to keep the robot running. When the robot is not working, the telescopic device is in an initial state of not being extended. At this time, the telescopic device and the dust sensor are both located in the installation box. When the robot starts working, the telescopic device is extended, the dust cover is opened, and the telescopic device is extended to a first length. The dust sensor is located outside the installation box, and the dust concentration in the environment is obtained by the dust sensor; when the dust concentration is greater than the first concentration threshold, the controller controls the walking device to stop moving, and controls the telescopic device to extend to a second length, and obtains the dust concentration in the environment through the dust sensor. When the dust concentration in the area is obtained, the telescopic device is controlled to be retracted to the first length, and then the walking device is controlled to start running forward; in the process of obtaining the dust concentration, the wind direction in the environment is also obtained through the wind direction sensor, the noise decibel in the environment is obtained through the noise sensor, and the position of the walking device is determined through the position detection module; the controller controls the detection port of the dust sensor to be transferred to the windward side according to the wind direction, thereby improving the accuracy of dust concentration detection. The dust concentration, noise decibel, wind direction and location are displayed through the display device; when the dust concentration in the environment is greater than the second concentration threshold, or the noise decibel is greater than the noise threshold, an alarm is sounded through the alarm device to remind nearby workers to take protective measures.

[0097] The controller of this embodiment is also connected to the control terminal for communication. The controller sends the dust concentration, noise decibel, wind direction and location in the environment to the control terminal via ZigBee transmission. The control terminal automatically controls the spraying system near the dust to perform spraying and dust removal, thereby realizing dust removal automation.

[0098] When the robot disclosed in this embodiment encounters a rough road surface while moving forward, the crawler tracks keep it stable to ensure its normal operation.

[0099] When the robot encounters an obstacle, it uses four laser radars to detect obstacles near the robot, and uses visual sensors to detect obstacles farther away from the robot. When the robot moves forward, the visual sensor detects obstacles in the direction of the robot's forward movement; if the robot needs to move backward, the visual sensor rotates 180° to detect obstacles in the direction of the robot's backward movement. The path planning unit collects and processes the information transmitted by the laser radar and visual sensor to effectively avoid obstacles.

[0100] When the robot is working, four photovoltaic panels absorb solar energy and convert it into electrical energy and store it in batteries, avoiding the need to charge the robot through tedious procedures such as charging equipment, saving manpower, and ensuring that the robot can effectively receive solar energy in all directions during movement; the battery ensures the normal operation of the entire robot through its own power storage.

[0101] When the robot finishes working, the telescopic device drives the dust sensor back to the installation box, and the dust cover is returned to its original position by the rotation force of the torsion spring to prevent dust. After finishing the work, turn the dust sensor so that its detection port is rotated to the side of the dust suction pipe of the dust removal device, start the dust removal device, and remove the accumulated dust at the detection port of the dust sensor to ensure its long-term normal monitoring.

[0102] A mobile environmental monitoring robot disclosed in this embodiment realizes automated monitoring of dust and noise on construction sites through its own mobile monitoring, real-time data exchange with a control terminal, and automatic dust removal by controlling a spray system through the control terminal, thereby improving the timeliness of construction site environmental management, achieving accurate monitoring of the environment, and preventing and controlling environmental pollution.

[0103] This embodiment combines the dust sensor with the detection rotating base and the telescopic device so that it can automatically extend to a suitable height when high-concentration dust is detected, and can also maintain relatively accurate measurement accuracy in windy weather. This invention not only ensures the accuracy of detection results in areas with high dust concentrations when working, but also makes it easy to place the robot when it is on standby or turned off.

[0104] The dust removal device and dust cover of this embodiment can effectively block the dust and dust in the air outside the installation box, ensuring that after the robot finishes work, the dust sensor will not have deviations in the detection results due to accumulated dust and excessive dust, while also realizing automatic maintenance of the robot's monitoring components.

[0105] This embodiment displays the detection results through a display device and issues an alarm reminder through an alarm device. When the dust concentration is too high or the noise decibel is too high, the on-site staff are reminded in multiple ways such as visual and auditory methods, so that the staff can take precautions in time, thereby improving safety.

[0106] This embodiment adopts a crawler movement mode to ensure that it can work normally on the rough working road surface of the construction site, ensuring that the robot has strong mobility while coping with the road environment of the construction site.

[0107] The photovoltaic panels of this embodiment can convert solar energy into electrical energy when the robot is working or on standby. Photovoltaic panels with different inclinations are installed in four directions to ensure that the robot fully absorbs solar energy during movement, and stores electrical energy in batteries to ensure the normal operation of the robot. This avoids the need for power supply through cumbersome charging equipment and is pollution-free to the environment. It is an economical and environmentally friendly power supply method.

[0108] Example 2

[0109] In this embodiment, a working method of a mobile environment monitoring robot disclosed in Embodiment 1 is disclosed, including:

[0110] When the walking device is moving, the telescopic device is controlled to extend until the dust sensor is located outside the installation box, and the dust concentration in the environment is obtained through the dust sensor;

[0111] When the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, the telescopic device is controlled to continue to extend to the second length, and the dust concentration in the environment is obtained through the dust sensor.

[0112] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A mobile environment monitoring robot, characterized in that: It includes a walking device, a dust sensor and a controller. A mounting box and a telescopic device are arranged on the walking device. The dust sensor is connected to the telescopic device. The telescopic device is located in the mounting box. The telescopic device can extend the dust sensor from the mounting box. The walking device, the dust sensor and the telescopic device are all connected to the controller for communication. Dust sensor, used to obtain dust concentration in the environment; The controller is used to control the telescopic device to extend until the dust sensor is located outside the installation box during the walking process of the walking device, so as to obtain the dust concentration in the environment; when the dust concentration is greater than a first concentration threshold, control the walking device to stop moving, control the telescopic device to continue to extend to a second length, and obtain the dust concentration in the environment; A dust removal device is arranged in the installation box, and the dust removal device includes a device shell, and the device shell has openings at both ends, one of which is connected to the dust suction pipe, and the other is located outside the installation box. A fan is arranged in the device shell, and the pipe opening of the dust suction pipe faces the dust sensor; The telescopic device is connected to the detection rotating base, the dust sensor is fixed on the detection rotating base, and the detection rotating base can drive the dust sensor to rotate around its own axis; the fan and the detection rotating base are both connected to the controller for communication; The controller is used to control the detection rotating base to rotate until the detection port of the dust sensor faces the pipe opening of the dust suction pipe after the telescopic device drives the dust sensor back into the installation box, control the fan to start, and suck the dust at the detection port of the dust sensor to the fan through the dust suction pipe and discharge it out of the installation box.

2. A mobile environment monitoring robot as claimed in claim 1, characterized in that: Filters are arranged on both sides of the fan.

3. A mobile environment monitoring robot as claimed in claim 1, characterized in that: The wind direction sensor is fixed on the installation box, and the wind direction sensor and the detection rotating base are connected to the controller; Wind direction sensor, used to obtain the wind direction in the environment; The controller is also used to control the rotation of the detection rotating base according to the wind direction, so that the detection port of the dust sensor faces the windward direction.

4. A mobile environment monitoring robot as claimed in claim 1, characterized in that: The detection rotating base includes a base shell, a base motor and a rotating platform. The base motor is fixed on the base shell. The rotating platform is connected to the output shaft of the base motor and can rotate along with the output shaft of the base motor. The base shell is connected to the telescopic device, and the dust sensor is connected to the rotating platform.

5. A mobile environment monitoring robot as claimed in claim 1, characterized in that: An outlet for the telescopic device to extend out is arranged on the top of the installation box, and a dust cover is installed at the outlet, and the dust cover can be opened and closed.

6. A mobile environment monitoring robot as claimed in claim 1, characterized in that: A position detection module and a noise sensor are arranged on the walking device; Noise sensor, used to obtain noise decibels in the environment; A position detection module, used to obtain the position of the walking device; The controller is used to determine the position of the obtained dust concentration and noise decibel according to the position of the walking device.

7. A mobile environment monitoring robot as claimed in claim 1, characterized in that: It also includes an alarm device and a display device, both of which are communicatively connected to the controller; The controller is used to control the display device to display the dust concentration and noise decibel in the environment; when the dust concentration in the environment is greater than the second concentration threshold, or the noise decibel is greater than the noise threshold, the alarm device is controlled to alarm.

8. A working method of a mobile environment monitoring robot according to any one of claims 1 to 7, comprising: When the walking device is moving, the telescopic device is controlled to extend until the dust sensor is located outside the installation box, and the dust concentration in the environment is obtained through the dust sensor; When the dust concentration is greater than the first concentration threshold, the walking device is controlled to stop moving, the telescopic device is controlled to continue to extend to the second length, and the dust concentration in the environment is obtained through the dust sensor.

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