Audio control self-calling elevator cross-floor potential safety hazard troubleshooting inspection robot

Abstract

The invention belongs to the field of inspection robots, and particularly relates to an audio control self-calling elevator cross-floor potential safety hazard checking inspection robot which comprises a walking frame, and the walking frame is provided with a control module, a navigation positioning module achieving information interaction with the control module, a communication module, a safety detection unit and a voice reminding module. The communication module is in communication connection with an elevator control system and a base station of an elevator, elevator openings of all floors are provided with floor labels respectively, reader-writers matched with the floor labels are arranged on the walking frame, and walking routes in all the floors are recorded in the navigation positioning module. The control module sends an elevator taking instruction to the elevator control system through the communication module to call the elevator to the floor where the robot is located; the elevator control system, the floor label and the reader-writer ensure that the robot arrives at a correct floor, and when hidden dangers are found, signals of the correct floor can be sent to the base station, so that workers can deal with the hidden dangers in time.

Description

Technical Field

[0001] The invention belongs to the field of inspection robots, and in particular relates to an audio-controlled self-calling elevator cross-floor safety hazard inspection robot. Background Art

[0002] Robots are mechanical devices that automatically perform work. They can move in a set place by running pre-programmed programs. They can help humans deliver meals, conduct inspections, etc. Especially in terms of inspections, remote workers can use robots moving in the place to remotely monitor images or videos to check for safety hazards. There is no need to arrange specialists to observe back and forth in a certain place, avoiding the risk of workers being exposed to dangerous environments. Hotels, guesthouses, shopping malls and other crowded places are mostly multi-story designs. Robots need to automatically work across floors. How to accurately determine the floor where the robot is located and fully check for safety hazards is a problem that technicians in this field need to solve. Summary of the invention

[0003] In order to solve the problems existing in the above-mentioned prior art, the present invention provides an audio-controlled self-calling elevator cross-floor safety hazard inspection robot, which can accurately reach the designated floor and conduct a full safety hazard inspection on the floor.

[0004] The specific technical solution adopted by the present invention is:

[0005] An audio-controlled self-calling elevator cross-floor safety hazard inspection robot comprises a traveling frame, on which a control module, a navigation and positioning module for realizing information interaction with the control module, a communication module, a safety detection unit, a voice reminder module and a voice recognition module are respectively arranged, the communication module is respectively communicated with the elevator control system and a base station of the elevator, floor labels are respectively arranged at the elevator entrances of each floor, and a reader / writer matching the floor labels is arranged on the traveling frame.

[0006] The safety detection unit includes an infrared sensor, a thermal imaging camera, a smoke sensor, a humidity sensor and an acceleration sensor arranged along the outside of the walking frame. The thermal imaging camera is installed on the front side of the walking frame, the smoke sensor is installed on the upper end of the walking frame, and the humidity sensor is installed on the bottom of the walking frame.

[0007] The walking frame is provided with a lifting frame and a tool basket connected to the lifting frame. The tool basket has lifting freedom by means of the lifting frame. The controlled end of the lifting frame is connected to the control end of the control module.

[0008] The lifting frames are respectively located on both sides of the tool basket, the lifting frames are hinged with the traveling frame and have the freedom to open and close on the traveling frame by means of an opening and closing mechanism, a fixed pulley is arranged at the upper end of the lifting frame, the two ends of the tool basket are respectively connected to the lifting frames by means of a pull rope passing through the fixed pulley, the end of the pull rope is connected to a fixed axis arranged on the traveling frame, and the controlled end of the opening and closing mechanism is connected to the control end of the control module.

[0009] The opening and closing mechanism includes an electric telescopic cylinder hinged to a walking frame and a driving rod. The two ends of the driving rod are respectively connected to the telescopic end of the electric telescopic cylinder and the lifting frame. The controlled end of the electric telescopic cylinder is connected to the control end of the control module.

[0010] The lifting frames are respectively located at two diagonal positions of the tool basket, and the lifting frames are respectively located at two sides of a line connecting the two diagonal positions.

[0011] The lifting frame includes a fixed frame, a synchronous belt lifting mechanism arranged on the fixed frame and a movable frame. The movable frame has the freedom to lift and lower along the fixed frame with the help of the synchronous belt lifting mechanism. The tool basket is connected to the movable frame, and the synchronous lifting mechanism is connected to the control end of the control module.

[0012] Four Mecanum wheels are symmetrically arranged below the walking frame, and the controlled ends of the Mecanum wheels are respectively connected to the control ends of the control modules.

[0013] The beneficial effects of the present invention are:

[0014] The present invention uses a navigation and positioning module to record the walking route on each floor, and the control module obtains the location of the inspection robot, so as to send the floor and location of the hidden danger to the base station; the voice recognition module is used to recognize the voice command issued by the staff, and the control module uses the communication module to send the elevator command to the elevator control system to call the elevator to the floor where the robot is located; the elevator control system, floor label and reader / writer double guarantee that the robot reaches the correct floor, and when a hidden danger is found, it can send a signal of the correct floor to the base station, so that the staff can deal with it in time;

[0015] The robot uses the safety detection unit to check the floor environment. When encountering safety hazards, the voice reminder module will issue a warning sound to remind people to evacuate or avoid, alerting people around and reducing personal injuries.

[0016] The tool basket can be raised and lowered on the traveling frame with the help of a lifting frame. During the inspection, the tool basket is lowered and the lifting frame is connected to the traveling frame, which reduces the overall height of the robot, increases the inspection range of the robot, and lowers the overall center of gravity of the robot, making the robot's walking process more stable and reducing the possibility of tipping. When a safety hazard is found, the staff controls the lifting frame through the control module to drive the tool basket to rise, making it easier for the staff to take tools during maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 This is a block diagram of the principle of the robot of the present invention performing elevator calling and inspection;

[0019] Figure 3 It is a structural schematic diagram of the tool basket in the raised state;

[0020] Figure 4 It is a top view of the walking frame, lifting frame and tool basket;

[0021] Figure 5 for Figure 4 Middle AA section view;

[0022] Figure 6 It is a structural schematic diagram of the synchronous belt lifting mechanism;

[0023] In the accompanying drawings, 1. walking frame, 2. control module, 3. navigation and positioning module, 4. communication module, 5. safety detection unit, 51. infrared sensor, 52. thermal imaging camera, 53. smoke sensor, 54. humidity sensor, 55. acceleration sensor, 6. voice reminder module, 7. elevator control system, 8. base station, 9. floor label, 10. reader / writer, 11. lifting frame, 111. fixed frame, 112. synchronous belt lifting mechanism, 1121. upper synchronous belt pulley, 1122. lower synchronous belt pulley, 1123. synchronous belt, 113. movable frame, 12. tool basket, 13. fixed pulley, 14. pull rope, 15. fixed axis, 16. electric telescopic cylinder, 17. drive rod, 18. telescopic end, 19. Mecanum wheel, 20. voice recognition module. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0025] Specific implementation examples Figure 1-6As shown, an audio-controlled self-call elevator cross-floor safety hazard inspection robot includes a walking frame 1, on which are respectively provided a control module 2, a navigation and positioning module 3 for information interaction with the control module 2, a communication module 4, a safety detection unit 5, a voice reminder module 6 and a voice recognition module 20, the communication module 4 is respectively connected to the elevator control system 7 and the base station 8 of the elevator, and floor tags 9 are respectively provided at the elevator entrances of each floor, and a reader 10 matching the floor tags 9 is provided on the walking frame 1. The floor tags 9 are RFID contactless tags.

[0026] The navigation and positioning module 3 records the walking routes in each floor, and the control module 2 obtains the location of the inspection robot; the staff issues a voice command to request the robot to inspect a certain floor, such as the voice command of "please go to the 10th floor for inspection", the voice recognition module 20 recognizes the voice command and sends the voice command to the control module 2, the control module 2 sends an up or down command to the elevator control system 7 with the help of the communication module 4, calls the elevator to the floor where the robot is located, the elevator opens the door after reaching the designated floor, the inspection robot 1 moves into the elevator with the help of the walking frame 1 and sends the destination floor command, when arriving at the designated floor, the elevator control system 7 sends a signal to the robot, after the elevator door opens, the robot 1 moves out of the elevator and inspects the floor; in order to improve the accuracy of the robot 1 reaching the floor, a floor label 9 is set at the elevator entrance of each floor, the installation height of the floor label 9 is the same as the installation height of the reader 10 on the walking frame 1, so that the robot can accurately obtain the floor information when passing the floor label 9, when the floor information is consistent with the designated floor, the robot starts the inspection, if not, the elevator is called again; the communication module 4 is a wireless communication module.

[0027] The robot walks in the corridor of the floor with the help of the walking frame 1, and checks the floor environment with the help of the safety detection unit 5. When encountering a safety hazard, the voice reminder module 6 sends a prompt sound to remind people to evacuate or avoid, arouse the vigilance of surrounding people, and reduce the harm to people. The control module 2 predicts the type of safety hazard according to the detection signal of the safety detection unit 5, and at the same time sends a request signal to the base station 8 with the help of the communication module 4, so that the staff can quickly select a solution and arrive at the scene in time to eliminate the safety hazard.

[0028] Furthermore, the safety detection unit 5 includes an infrared sensor 51, a thermal imaging camera 52, a smoke sensor 53, a humidity sensor 54 and an acceleration sensor 55 arranged along the outer side of the walking frame 1, the thermal imaging camera 52 is installed on the front side of the walking frame 1, the smoke sensor 53 is installed on the upper end of the walking frame 1, and the humidity sensor 54 is installed on the bottom of the walking frame 1. The infrared sensor 51 assists in determining whether the elevator door is open and whether the space inside the elevator meets the requirements for the robot to enter based on the reflection of the light beam, ensuring that the robot can enter the elevator in time after the elevator door is opened. On the other hand, during the inspection process, the infrared sensor 51 determines whether there are obstacles around, and can avoid obstacles and detour in time to prevent the robot from colliding with obstacles; the thermal imaging camera 52 identifies whether there is abnormal temperature around the robot, which has an early warning effect on safety hazards such as fire and electrical failure; the voice recognition module 20 can also identify whether there are abnormal noises in the surrounding environment; the smoke sensor 53 detects the smoke concentration in the surrounding environment to prevent fire; the humidity sensor 54 is installed at the bottom of the walking frame 1 to detect whether there is water on the ground to prevent water leakage or people slipping; the acceleration sensor 55 measures the movement speed of the robot, determines whether the robot has tripped or fallen, and detects whether there are potholes or bumps on the road surface.

[0029] The safety detection unit 5 can quickly and accurately judge the surrounding environment and transmit the detection signal to the control module 2. When a safety hazard occurs, the control module 2 controls the communication module 4 to send the hazard signal and the location of the robot to the base station 8, and controls the voice reminder module 6 to send a prompt sound to remind people to avoid it, thereby reducing casualties. At the same time, the staff at the base station 8 can quickly judge the type and location of the hazard, make a solution as soon as possible, and reach the location of the hazard to eliminate the hazard.

[0030] Furthermore, the traveling frame 1 is provided with a lifting frame 11 and a tool basket 12 connected to the lifting frame 11. The tool basket 12 has the freedom of lifting with the help of the lifting frame 11. The tool basket 12 is added to the traveling frame 1, and some commonly used tools, such as wrenches, fire extinguishers, warning signs, etc., are placed in the tool basket 12, so that it is convenient for nearby staff to rush to the location where the hidden danger occurs to deal with it. The tool basket 12 is raised and lowered with the help of the lifting frame 11. During the inspection process, the tool basket 12 is lowered into the traveling frame 1, which reduces the overall height of the robot, increases the inspection range of the robot, and at the same time reduces the overall center of gravity of the robot, so that the walking process of the robot is more stable and the occurrence of tipping is reduced. When a safety hazard is found, the staff arrives and controls the lifting frame 11 through the control module 2 to drive the tool basket 12 to rise, so that the staff can take the tools conveniently.

[0031] Furthermore, the lifting frame 11 is respectively located on both sides of the tool basket 12. The lifting frame 11 is hinged with the walking frame 1 and has the freedom to open and close on the walking frame 1 by means of an opening and closing mechanism. A fixed pulley 13 is arranged at the upper end of the lifting frame 11. The two ends of the tool basket 12 are respectively connected to the lifting frame 11 by means of a pull rope 14 passing through the fixed pulley 13. The end of the pull rope 14 is connected to a fixed shaft 15 arranged on the walking frame 1. During inspection, the opening and closing mechanism drives the lifting frame 11 to rotate along its hinge axis and overlap the upper end of the tool basket 12. The lifting frame 11 is in a closed state, further reducing the overall height of the robot. At the same time, the lifting frame 11 covers the upper end of the tool basket 12 to prevent others from taking the tools in the tool basket 12 at will. After the staff arrives, the control module 2 is operated to make the opening and closing mechanism drive the lifting frame 11 to reverse to a vertical state, and the staff can take the tools in the tool basket 12. The control module 2 drives the lifting frame 11 to rise, which is convenient for the staff who are standing or climbing to take the tools.

[0032] A support seat for a tool basket 12 is arranged in the cavity of the walking frame 1, and an avoidance groove for a fixed axis 15 and a pull rope 14 is opened on the support seat. A reversing wheel for the pull rope 14 is arranged on the walking frame 1, and the pull rope 14 enters the cavity of the walking frame 1 through the reversing wheel and is connected with the fixed axis 15.

[0033] Furthermore, the opening and closing mechanism includes an electric telescopic cylinder 16 hinged to the walking frame 1, and a driving rod 17, one end of the driving rod 17 is hinged to the telescopic end 18 of the electric telescopic cylinder 16, and the other end is fixedly connected to the lifting frame 11, the controlled end of the electric telescopic cylinder 16 is connected to the control end of the control module 2, the control module 2 controls the telescopic end 18 of the electric telescopic cylinder 16 to extend or retract, and the driving rod 17 drives the lifting frame 11 to rotate along the hinge axis to open or close.

[0034] Furthermore, the lifting frames 11 are respectively located at the two diagonals of the tool basket 12, and the lifting frames 11 are respectively located on both sides of the line connecting the two diagonals. When the lifting frames 11 are closed, the two lifting frames 11 are arranged side by side to increase the covering area of ​​the tool basket 12. There is no mutual interference between the two lifting frames 11. On the other hand, the distance between the diagonals is longer, and the tool basket 12 is pulled by the two diagonals, which improves the stability of the movement of the tool basket 12.

[0035] Furthermore, the lifting frame 11 includes a fixed frame 111, a synchronous belt lifting mechanism 112 arranged on the fixed frame 111, and a movable frame 113. The movable frame 113 has the freedom to lift along the fixed frame 111 with the help of the synchronous belt lifting mechanism 112. The tool basket 12 is connected to the movable frame 113. The synchronous belt lifting mechanism includes an upper synchronous belt pulley 1121, a lower synchronous belt pulley 1122, a synchronous belt 1123 and a lifting motor arranged on the fixed frame 111. The lower synchronous belt pulley 1122 is connected to the driving shaft of the lifting motor. The lifting motor is connected to the control end of the control module 2, the control module 2 controls the lifting motor to start, the lower synchronous pulley 1122 rotates, so that the synchronous belt 1123 rotates along the upper synchronous pulley 1121 and the lower synchronous pulley 1122, the movable frame 113 is fixedly connected to the synchronous belt 1123, the synchronous belt 1123 rotates to realize the lifting of the movable frame 113, the movable frame 113 and the fixed frame 111 are guided to slide and rise, and the fixed pulley 13 rises, and the fixed pulley 13 lifts up the end of the pull rope 14 connected to the tool basket 12, and the tool basket 12 rises.

[0036] Furthermore, four Mecanum wheels 19 are symmetrically arranged under the walking frame 1, and the driving motors on the Mecanum wheels 19 are respectively connected to the control ends of the control module 2. The control module 2 can control the rotation direction and speed of each Mecanum wheel 19 to realize the robot's all-round movement such as turning in situ, moving sideways, moving forward, and moving backward, so that the robot can move flexibly in a small space and improve its adaptability to the inspection environment.

Claims

1. An audio-controlled self-call elevator cross-floor safety hazard inspection robot, comprising a walking frame (1), characterized in that: The traveling frame (1) is provided with a control module (2), a navigation and positioning module (3) for realizing information exchange with the control module (2), a communication module (4), a safety detection unit (5), a voice reminder module (6) and a voice recognition module (20), respectively; the communication module (4) is respectively connected to the elevator control system (7) and the base station (8) of the elevator, and a floor label (9) is respectively provided at the elevator entrance of each floor, and a reader (10) matching the floor label (9) is provided on the traveling frame (1).

2. According to claim 1, an audio-controlled self-call elevator cross-floor safety hazard inspection robot is characterized by: The safety detection unit (5) comprises an infrared sensor (51), a thermal imaging camera (52), a smoke sensor (53), a humidity sensor (54) and an acceleration sensor (55) arranged along the outer side of the walking frame (1), the thermal imaging camera (52) is installed on the front side of the walking frame (1), the smoke sensor (53) is installed on the upper end of the walking frame (1), and the humidity sensor (54) is installed on the bottom of the walking frame (1).

3. The audio-controlled self-call elevator cross-floor safety hazard inspection robot according to claim 1 is characterized by: The walking frame (1) is provided with a lifting frame (11) and a tool basket (12) connected to the lifting frame (11); the tool basket (12) has lifting freedom by means of the lifting frame (11); and the controlled end of the lifting frame (11) is connected to the control end of the control module (2).

4. The audio-controlled self-call elevator cross-floor safety hazard inspection robot according to claim 3 is characterized by: The lifting frame (11) is respectively located on both sides of the tool basket (12); the lifting frame (11) is hinged with the walking frame (1) and has the freedom to open and close on the walking frame (1) by means of an opening and closing mechanism; a fixed pulley (13) is arranged at the upper end of the lifting frame (11); the two ends of the tool basket (12) are respectively connected to the lifting frame (11) by means of a pull rope (14) passing through the fixed pulley (13); the end of the pull rope (14) is connected to a fixed shaft (15) arranged on the walking frame (1); and the controlled end of the opening and closing mechanism is connected to the control end of the control module (2).

5. The audio-controlled self-call elevator cross-floor safety hazard inspection robot according to claim 4, characterized in that: The opening and closing mechanism comprises an electric telescopic cylinder (16) hinged to a walking frame (1) and a driving rod (17); the two ends of the driving rod (17) are respectively connected to a telescopic end (18) of the electric telescopic cylinder (16) and a lifting frame (11); and the controlled end of the electric telescopic cylinder (16) is connected to a control end of a control module (2).

6. The audio-controlled self-call elevator cross-floor safety hazard inspection robot according to claim 4, characterized in that: The lifting frames (11) are respectively located at two diagonal positions of the tool basket (12), and the lifting frames (11) are respectively located at two sides of a line connecting the two diagonal positions.

7. The audio-controlled self-call elevator cross-floor safety hazard inspection robot according to claim 3 is characterized by: The lifting frame (11) comprises a fixed frame (111), a synchronous belt lifting mechanism (112) arranged on the fixed frame (111), and a movable frame (113); the movable frame (113) has the freedom to be lifted and lowered along the fixed frame (111) by means of the synchronous belt lifting mechanism (112); the tool basket (12) is connected to the movable frame (113); and the synchronous lifting mechanism (112) is connected to the control end of the control module (2).

8. The audio-controlled self-call elevator cross-floor safety hazard inspection robot according to claim 1, characterized in that: Four Mecanum wheels (19) are symmetrically arranged below the walking frame (1), and the controlled ends of the Mecanum wheels (19) are respectively connected to the control ends of the control module (2).

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