An audio-controlled self-call elevator cross-floor safety hazard inspection robot

Abstract

This invention belongs to the field of inspection robots, specifically relating to an audio-controlled self-calling elevator safety hazard inspection robot. It includes a walking frame, on which are mounted a control module, a navigation and positioning module that interacts with the control module, a communication module, a safety detection unit, and a voice reminder module. The communication module communicates with the elevator control system and a base station. Floor labels are installed at each elevator entrance, and a reader / writer is installed on the walking frame to correspond with these labels. The navigation and positioning module records the walking routes on each floor, and the control module, through the communication module, sends an elevator command to the elevator control system, calling the elevator to the robot's floor. The elevator control system, floor labels, and reader / writer together ensure the robot reaches the correct floor. When a hazard is detected, the robot can send a signal to the base station indicating the correct floor, facilitating timely handling by staff.

Description

Technical Field

[0001] This invention belongs to the field of inspection robots, specifically relating to an audio-controlled self-calling elevator safety hazard inspection robot. Background Technology

[0002] Robots are automated machines that move within designated areas by running pre-programmed instructions. They can assist humans in tasks such as food delivery and inspections. Particularly in inspections, remote workers can use robots moving within a location to remotely monitor images or videos for safety hazard checks, eliminating the need for personnel to patrol the area and avoiding the risk of workers being exposed to hazardous environments. Hotels, guesthouses, shopping malls, and other densely populated places are often multi-story buildings, requiring robots to automatically traverse floors. Accurately determining the robot's floor and thoroughly investigating safety hazards is a problem that those skilled in the art need to solve. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention provides an audio-controlled self-calling elevator safety hazard inspection robot that can accurately reach a designated floor and conduct a thorough safety hazard inspection of that floor.

[0004] The specific technical solution adopted in this invention is as follows:

[0005] An audio-controlled self-calling elevator safety hazard inspection robot includes a walking frame. The walking frame is equipped with a control module, a navigation and positioning module that interacts with the control module, a communication module, a safety detection unit, a voice reminder module, and a voice recognition module. The communication module is connected to the elevator control system and a base station. Each floor elevator entrance is equipped with a floor label, and the walking frame is equipped with a reader / writer for the floor labels.

[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 equipped with a lifting frame and a tool basket connected to the lifting frame. The tool basket has a degree of freedom of lifting and lowering with the help of the lifting frame. The controlled end of the lifting frame is connected to the control end of the control module.

[0008] The lifting frame is located on both sides of the tool basket. The lifting frame is hinged to the walking frame and has the freedom to open and close on the walking frame by means of the opening and closing mechanism. The upper end of the lifting frame is provided with a fixed pulley. The two ends of the tool basket are respectively connected to the lifting frame by pull ropes passing through the fixed pulleys. The end of the pull rope is connected to a fixed shaft set on the walking frame. 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 the walking frame and a drive rod. The two ends of the drive 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 located at two opposite corners of the tool basket, and are located on both sides of the line connecting the two opposite corners.

[0011] The lifting frame includes a fixed frame, a synchronous belt lifting mechanism mounted on the fixed frame, and a movable frame. The movable frame has the freedom to move up and down along the fixed frame via the synchronous belt lifting mechanism. The tool basket is connected to the movable frame, and the synchronous lifting mechanism is connected to the control terminal 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 module.

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

[0014] This invention employs a navigation and positioning module that records the walking routes on each floor, and a control module that obtains the location of the inspection robot, facilitating the transmission of the floor and location of potential hazards to the base station. A voice recognition module is used to recognize voice commands issued by staff, and the control module, through a communication module, sends an elevator command to the elevator control system, calling the elevator to the robot's floor. The elevator control system, floor tags, and reader / writer work together to ensure the robot reaches the correct floor. When a potential hazard is detected, the robot can send a signal to the base station indicating the correct floor, allowing staff to handle the situation promptly.

[0015] The robot uses a safety detection unit to inspect the floor environment. When it encounters a safety hazard, the voice reminder module will issue a warning sound to remind people to evacuate or avoid the area, alerting those around and reducing the risk of injury.

[0016] The tool basket can be raised and lowered on the walking frame via a lifting platform. During inspection, the tool basket descends, and the lifting platform rests on the walking frame, reducing the robot's overall height and increasing its inspection range. Simultaneously, it lowers the robot's center of gravity, making its movement more stable and reducing the likelihood of tipping over. When a safety hazard is detected, the operator uses the control module to raise the lifting platform, facilitating the retrieval of tools during maintenance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a block diagram illustrating the principle of the robot of this invention performing elevator calls and inspections;

[0019] Figure 3 A schematic diagram of the tool basket in the raised state;

[0020] Figure 4 A top view of the traveling frame, lifting frame, and tool basket;

[0021] Figure 5 for Figure 4 Sectional view along line AA;

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

[0023] In the attached diagram: 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 Implementation

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

[0025] Specific implementation examples Figure 1-6As shown, an audio-controlled self-calling elevator safety hazard inspection robot includes a walking frame 1. The walking frame 1 is equipped with a control module 2, a navigation and positioning module 3 (which interacts 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 communicates with the elevator control system 7 and a base station 8. Each floor's elevator entrance is equipped with a floor label 9, and the walking frame 1 is equipped with a reader / writer 10 that corresponds to the floor label 9. The floor label 9 is an RFID contactless label.

[0026] The navigation and positioning module 3 records the walking routes on 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 "Please go to the 10th floor for inspection". The voice recognition module 20 recognizes the voice command and sends it to the control module 2. The control module 2 sends an up or down command to the elevator control system 7 through the communication module 4 to call the elevator to the floor where the robot is located. After the elevator arrives at the designated floor, it opens the door. The inspection robot 1 moves into the elevator using the walking frame 1 and sends the destination floor command. When it arrives 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 performs inspection on that floor. To improve the accuracy of the robot 1 in reaching the floor, floor labels 9 are set at the elevator entrance on each floor. The installation height of the floor labels 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 it passes the floor labels 9. When the floor information matches the designated floor, the robot starts the inspection. If they are different, it calls the elevator again. The communication module 4 is a wireless communication module.

[0027] The robot moves through the corridors of the floor using the walking frame 1 and inspects the floor environment with the help of the safety detection unit 5. When a safety hazard is encountered, the voice reminder module 6 issues a warning sound to remind people to evacuate or avoid the area, alerting those around and reducing the risk of injury. The control module 2 predicts the type of safety hazard based on the detection signal from the safety detection unit 5 and sends a request signal to the base station 8 via the communication module 4, enabling staff to 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 outside 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. Infrared sensor 51 uses beam reflection to help determine whether the elevator door is open and whether the space inside the elevator is sufficient for the robot to enter, ensuring that the robot can enter the elevator in time after the door opens. On the other hand, during the inspection, infrared sensor 51 judges whether there are obstacles around and can avoid them in time to prevent the robot from colliding with them. Thermal imaging camera 52 identifies whether there are abnormal temperatures around the robot, which can provide early warning of safety hazards such as fire and electrical failure. Voice recognition module 20 can also identify whether there are abnormal noises in the surrounding environment. Smoke sensor 53 detects the smoke concentration in the surrounding environment to prevent fire. 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. Acceleration sensor 55 measures the robot's moving speed, 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 assess the surrounding environment and transmit the detection signal to the control module 2. When a safety hazard is detected, the control module 2 controls the communication module 4 to send a hazard signal and the robot's location to the base station 8, and controls the voice reminder module 6 to issue a warning tone to remind personnel to avoid the hazard, reducing casualties. At the same time, it enables the staff at the base station 8 to quickly determine the type and location of the hazard, formulate a solution as soon as possible, and reach the location of the hazard to eliminate it.

[0030] Furthermore, the walking frame 1 is equipped with a lifting frame 11 and a tool basket 12 connected to the lifting frame 11. The tool basket 12 has the freedom to rise and fall with the help of the lifting frame 11. The tool basket 12, added to the walking frame 1, contains some commonly used tools, such as wrenches, fire extinguishers, warning signs, etc., making it convenient for nearby staff to reach the location of the potential hazard and handle it. The tool basket 12 rises and falls with the help of the lifting frame 11. During the inspection, the tool basket 12 descends into the walking frame 1, reducing the overall height of the robot, increasing the robot's inspection range, and lowering the robot's overall center of gravity, making the robot's movement more stable and reducing the possibility of tipping over. When a safety hazard is discovered, after the staff arrives, they control the lifting frame 11 via the control module 2 to raise the tool basket 12, making it easy for the staff to retrieve the tools.

[0031] Furthermore, the lifting frame 11 is located on both sides of the tool basket 12. The lifting frame 11 is hinged to the walking frame 1 and has the freedom to open and close on the walking frame 1 through the opening and closing mechanism. The upper end of the lifting frame 11 is provided with a fixed pulley 13. The two ends of the tool basket 12 are respectively connected to the lifting frame 11 through the pulley 13. The end of the pull rope 14 is connected to the fixed shaft 15 set 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, which further reduces 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 drives the opening and closing mechanism to drive the lifting frame 11 to reverse to a vertical state, so that the staff can take the tools in the tool basket 12. The control module 2 lifts the lifting frame 11 and raises the tool basket 12, making it convenient for staff who are standing or climbing to take the tools.

[0032] The cavity of the traveling frame 1 is provided with a support base for the tool basket 12. The support base is provided with a clearance groove for the fixed shaft 15 and the pull rope 14. The traveling frame 1 is provided with a reversing wheel for the pull rope 14. The pull rope 14 enters the cavity of the traveling frame 1 through the reversing wheel and connects with the fixed shaft 15.

[0033] Furthermore, the opening and closing mechanism includes an electric telescopic cylinder 16 hinged to the walking frame 1 and a drive rod 17. One end of the drive 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 drive rod 17 drives the lifting frame 11 to rotate and open or close along the hinge axis.

[0034] Furthermore, the lifting frames 11 are located at two opposite corners of the tool basket 12, and the lifting frames 11 are located on both sides of the line connecting the two opposite corners. When the lifting frames 11 are closed, they are arranged side by side to increase the coverage area of ​​the tool basket 12. The two lifting frames 11 do not interfere with each other. On the other hand, the distance at the opposite corners is relatively long, and the tool basket 12 is pulled by the two opposite corners to improve 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 mounted on the fixed frame 111, and a movable frame 113. The movable frame 113 has the freedom to move up and down along the fixed frame 111 via 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 mounted on the fixed frame 111. The lower synchronous belt pulley 1122 is connected to the drive shaft of the lifting motor. The lifting motor is connected to the control terminal of the control module 2. The control module 2 controls the lifting motor to start, and the lower synchronous pulley 1122 rotates, causing the synchronous belt 1123 to rotate 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 rotation of the synchronous belt 1123 lifts the movable frame 113. The movable frame 113 and the fixed frame 111 slide and rise, and the fixed pulley 13 rises. The fixed pulley 13 lifts 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 below the walking frame 1. The drive motors on the Mecanum wheels 19 are connected to the control terminal of the control module 2. The control module 2 can control the rotation direction and speed of each Mecanum wheel 19, so as to realize the robot's omnidirectional movement such as turning in place, moving laterally, moving forward, and moving backward. This enables the robot to move flexibly in a narrow space and improves its adaptability to the inspection environment.

Claims

1. An audio-controlled self-calling elevator safety hazard inspection robot, comprising a walking frame (1), characterized in that: The walking frame (1) is equipped with a control module (2), a navigation and positioning module (3) that interacts 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 connected to the elevator control system (7) and the base station (8) respectively. Each floor elevator entrance is equipped with a floor label (9). The walking frame (1) is equipped with a reader (10) that matches the floor label (9). 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 a degree of freedom of lifting by means of the lifting frame (11). The controlled end of the lifting frame (11) is connected to the control end of the control module (2). The lifting frame (11) is located on both sides of the tool basket (12). The lifting frame (11) is hinged to the walking frame (1) and has the freedom to open and close on the walking frame (1) by means of the opening and closing mechanism. The upper end of the lifting frame (11) is provided with a fixed pulley (13). 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) provided on the walking frame (1). The controlled end of the opening and closing mechanism is connected to the control end of the control module (2). The lifting frame (11) includes a fixed frame (111), a synchronous belt lifting mechanism (112) mounted on the fixed frame (111), and a movable frame (113). The movable frame (113) has the freedom to move up and down 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 belt lifting mechanism (112) is connected to the control terminal of the control module (2). The fixed pulley (13) is connected to the movable frame (113).

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

4. The audio-controlled self-calling elevator safety hazard investigation and inspection robot according to claim 1, characterized in that: The lifting frame (11) is located at two opposite corners of the tool basket (12), and the lifting frame (11) is located on both sides of the line connecting the two opposite corners.

5. The audio-controlled self-calling elevator safety hazard investigation and 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 end of the control module (2).

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