Intelligent self-propelled safety inspection device and system for special operation

Abstract

The invention relates to the technical field of special operation safety inspection, in particular to an intelligent self-propelled safety inspection device and system for special operation, the safety inspection device comprises a vibration bracelet and a vehicle body, and the vehicle body is equipped with a driving wheel, a driven wheel and a moving track. A box body is arranged at the top of the vehicle body, a storage battery, a control host and an edge computing host are arranged in the box body, and electrical explosion-proof boxes are arranged outside the box body and used for inspecting field electrical explosion-proof. An operation ticket frame is arranged outside the box body, an anti-explosion thermal imaging camera and an anti-explosion touch display screen are arranged on the top of the box body, and the edge computing host analyzes field images captured by the camera and sends the field images to the control host. In addition, the box body is further provided with a gas monitoring assembly and a sound-light alarm assembly. A driving assembly is arranged inside the vehicle body, and a climbing assembly is arranged outside the vehicle body. According to the safety patrol device, by integrating multiple advanced technologies, efficient, safe and autonomous patrol operation is achieved, and the safety management level of a special operation environment is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation safety inspection, and in particular to a special operation intelligent self-propelled safety inspection device and system. Background Art

[0002] Special operations are a high-incidence link in production safety accidents in industries such as petroleum and gas, chemicals, and pharmaceuticals. In the traditional special operations process, special operations safety monitoring lacks technical support, has a single monitoring method, and faces industry bottlenecks such as poor alarm transmission. The situation of safety risk prevention and control in special operations remains severe.

[0003] The use of advanced technologies such as the Internet of Things, big data, artificial intelligence, and precise gas detection to promote the use of less-manned or unmanned operations at dangerous work sites is an important means of preventing and controlling safety risks. The application of special operation safety inspection machines will greatly improve safety protection and reduce safety accidents caused by human negligence and personnel leaving the site.

[0004] Existing special operation intelligent self-propelled safety patrol devices usually lack sufficient terrain adaptability and have difficulty adapting to complex terrains such as stairs. This limits their scope of application, especially in chemical facilities that need to cross multiple floors or complex structures.

[0005] To sum up, how to solve the problem that existing special operation intelligent self-propelled safety patrol devices usually lack sufficient terrain adaptability and are difficult to adapt to complex terrain, such as stairs, which limits their scope of application, especially in chemical facilities that need to cross multiple floors or complex structures has become a difficult problem that needs to be solved urgently in this field. Therefore, it is necessary to propose a special operation intelligent self-propelled safety patrol device and system. Summary of the invention

[0006] To solve the above problems, the present invention provides a special operation intelligent self-propelled safety inspection device and system, which is used in complex terrain, especially in chemical facilities with multiple floors or complex structures such as stairs, to achieve efficient, safe and autonomous safety inspections. The device and system integrate advanced navigation technology, terrain perception and adaptation mechanism, environmental monitoring sensors, and remote monitoring and data analysis platform, aiming to improve the safety protection level of special operation sites and reduce safety accidents caused by human factors.

[0007] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a special operation intelligent self-propelled safety patrol device, including a vibrating bracelet and a vehicle body, a driving wheel symmetrically rotating on the side wall of the vehicle body, and a driven wheel symmetrically rotating on the side wall of the vehicle body, and a moving crawler is connected between the driven wheel and the driving wheel adjacent to it.

[0008] A box is fixedly connected to the top of the vehicle body, a bracket is fixedly connected to the inner bottom wall of the box, a battery is fixedly connected to the inner bottom wall of the bracket, a control host and an edge computing host are fixedly connected to the top of the bracket, and the battery, control host and edge computing host are all covered with electrical explosion-proof boxes.

[0009] A job ticket holder is fixedly connected to the outer wall of the box; an explosion-proof thermal imaging camera is fixedly connected to the top of the box, and the edge computing host is used to receive the on-site images sent by the explosion-proof thermal imaging camera, perform image analysis on the on-site images, generate image analysis results, and send the image analysis results to the control host; an explosion-proof touch display is also fixedly connected to the top of the box, and the control host is used to receive operation signals sent by the explosion-proof touch display and send display signals to the explosion-proof touch display.

[0010] The box body is provided with a gas monitoring component for monitoring the gas on site and an alarm component for sending an audible and visual alarm signal to the site.

[0011] A driving assembly for driving the vehicle body to move is arranged inside the vehicle body.

[0012] The vehicle body is provided with a climbing assembly for driving the vehicle body to climb stairs.

[0013] The technical principles of the above scheme are as follows: The vehicle body is designed with driving wheels and driven wheels, which are connected by mobile tracks, enhancing the mobility and stability of the device on different terrains. The design of the vehicle body enables it to flexibly patrol various production areas of the enterprise. The box is located on the top of the vehicle body, and a bracket is provided inside to fix the battery, control host and edge computing host. The battery provides power support for the entire device. The edge computing host is responsible for receiving the on-site images sent by the explosion-proof thermal imaging camera, performing real-time image analysis, identifying potential safety hazards, and sending the analysis results to the control host. The explosion-proof thermal imaging camera is installed on the top of the box to capture on-site images. Its high sensitivity and clarity help to detect abnormal conditions in time. The gas monitoring component and the alarm component are used to monitor the on-site gas environment and issue sound and light alarm signals respectively. Once the concentration of harmful gases exceeds the standard or the environmental parameters such as temperature and humidity are abnormal, the alarm component will start immediately, send an alarm signal to the site, and notify relevant personnel through the remote monitoring platform. The climbing component enables the vehicle body to climb complex terrains such as the stairs of a chemical plant, thereby greatly expanding the application range of the device. When the control host receives an alarm event information, the vibration bracelet will vibrate immediately to remind the management staff to pay attention and take corresponding safety measures.

[0014] The above scheme has the following beneficial effects: 1. The present invention integrates advanced navigation technology, terrain perception and adaptation mechanisms, so that the special operation intelligent self-propelled safety patrol device can flexibly adapt to complex terrain for autonomous patrol, without the need for fixed preset patrol tracks, especially for multi-story or complex structure production facilities such as stairs, which significantly improves the terrain adaptability and application range of the device.

[0015] 2. The present invention utilizes high-performance advanced equipment such as explosion-proof thermal imaging cameras, gas monitoring components, and edge computing hosts, which is more conducive to the advanced functions of the inspection robot, realizes real-time monitoring and intelligent analysis of the special operation site environment, can timely discover and warn potential safety hazards, effectively reduces the risk of safety accidents caused by human factors, and improves the safety protection level of special operation sites. At the same time, the electrical explosion-proof box installed outside the control host and edge computing host can effectively prevent the generation of electrical sparks or arcs, thereby avoiding explosion accidents that may be caused in flammable and explosive environments. This design further enhances the safety performance of the device, allowing it to operate stably and reliably in an environment with fire and explosion risks.

[0016] 3. The present invention realizes remote monitoring and data analysis of the patrol device through the remote monitoring and data analysis platform. The management personnel can understand the operation status and patrol results of the device in real time, make timely responses and decisions, and improve work efficiency and safety management level. At the same time, the reminder function of the vibration bracelet also further enhances the safety awareness and emergency response capabilities of the management personnel.

[0017] Furthermore, the climbing assembly includes a first double-headed driving member and a second double-headed driving member fixedly connected to the bottom wall of the vehicle body, and the control host is used to control the rotation of the output shafts of the first double-headed driving member and the second double-headed driving member.

[0018] The output shafts at both ends of the first double-headed driving member penetrate the side wall of the vehicle body and are coaxially fixedly connected to the support wheel. A connecting rod is fixedly connected to the side wall of the support wheel away from the vehicle body, and the end of the connecting rod away from the support wheel is rotatably matched with the first guide wheel.

[0019] The output shafts at both ends of the second double-headed driving member penetrate the side wall of the vehicle body and the driven wheel, and are coaxially fixedly connected with a support rod. The end of the support rod away from the driven wheel is rotatably matched with a second guide wheel, and a climbing track is sleeved between the second guide wheel and the driven wheel adjacent to it.

[0020] Beneficial effect: when it is necessary to climb stairs, the control host first controls the output shaft of the second double-headed drive component to rotate and drive the support rod to rotate upward 90 degrees. At this time, when the vehicle body moves forward to the point where the climbing track contacts the vertical surface of the stair steps, the rotating climbing track can rub against the vertical surface of the stair steps and then drive the front end of the vehicle body to rise to climb the stairs, thereby enabling the vehicle body to climb the stairs. First, the present invention enables the vehicle body to climb complex terrains such as stairs stably and efficiently, further expanding the application scope of the device.

[0021] Furthermore, the alarm component includes an explosion-proof sound and light alarm, which is fixedly connected to the top of the box, and the control host is used to control the explosion-proof sound and light alarm to send sound and light alarm signals to the scene.

[0022] Beneficial effect: The explosion-proof sound and light alarm can send obvious sound and light alarm signals to the scene, reminding the on-site personnel to pay attention to safety in time and avoid the occurrence of safety accidents.

[0023] Furthermore, a protective cover for preventing dust from contaminating the lens of the explosion-proof thermal imaging camera is fixedly connected to the top of the explosion-proof thermal imaging camera, and a cleaning component for cleaning the lens of the explosion-proof thermal imaging camera is provided on the protective cover.

[0024] Beneficial effect: The protective cover can effectively prevent dust from contaminating the explosion-proof thermal imaging camera lens and keep the lens clean and clear.

[0025] Furthermore, the gas monitoring component includes a gas monitoring port, which is fixedly connected to the side wall of the explosion-proof sound and light alarm. The gas monitoring port is connected to a diffusion gas analyzer, and the control host is used to receive the gas analysis signal sent by the diffusion gas analyzer.

[0026] Beneficial effects: The combined use of gas monitoring ports and diffusion gas analyzers can accurately monitor on-site gas concentrations and send data to the control host in real time. The control host can generate corresponding on-site dangerous gas leakage information based on the set gas concentration threshold, providing timely safety warnings for management personnel.

[0027] Furthermore, the driving assembly includes a first driving member symmetrically fixedly connected to the inner bottom wall of the vehicle body, and the output shafts of the first driving member all penetrate the side walls of the vehicle body and are coaxially fixedly connected to the adjacent driving wheels.

[0028] Beneficial effect: The first driving member is coaxially fixedly connected to the driving wheel, which can stably drive the vehicle body to move, ensuring the smooth progress of the patrol process. At the same time, the control host can realize the steering of the vehicle body by controlling the different rotation speeds between the first driving members.

[0029] Furthermore, a 3D ToF sensor and a lidar sensor are fixedly connected to the front end of the vehicle in the direction of movement; the control host is used to receive obstacle signals in front of the vehicle sent by the 3D ToF sensor and the lidar sensor, and control the power output by the first driving component based on the obstacle signal to drive the vehicle to turn.

[0030] Beneficial effects: The laser sensor and the ultrasonic sensor can monitor obstacles in front of the vehicle in real time, and control the first drive member to drive the vehicle to turn based on the obstacle signal. At the same time, the laser sensor, the ultrasonic sensor and the explosion-proof camera can generate a three-dimensional map around the vehicle in real time through the SLAM technology, and the autonomous navigation and patrol function of the present invention can be realized based on the three-dimensional map.

[0031] Furthermore, a plurality of solar charging panels are fixedly connected to the top of the vehicle body, and the solar charging panels are used to charge the battery using solar energy; a plurality of heat dissipation holes for dissipating heat inside the box are symmetrically opened on the outer wall of the box body.

[0032] Beneficial effects: Solar charging panels can use solar energy to charge batteries, reducing dependence on traditional energy and reducing operating costs. At the same time, solar charging panels also improve the device's autonomous operation and endurance. The design of the heat dissipation holes can effectively improve the heat dissipation efficiency in the box, ensuring that the control host, edge computing host and other electronic components will not malfunction or performance degradation due to overheating during long-term operation.

[0033] Furthermore, the cleaning component includes a second driving member, which is fixedly connected to the inner wall of the protective cover, and a rubber scraper rod for scraping off stains on the lens of the explosion-proof thermal imaging camera is fixedly connected to the output shaft of the second driving member.

[0034] Beneficial effect: The cleaning component can automatically scrape off the stains on the lens of the explosion-proof thermal imaging camera through the cooperation of the second driving member and the rubber scraper rod, so as to keep the lens clean and clear and improve the accuracy of image recognition.

[0035] Furthermore, a special operation intelligent self-propelled safety patrol system is based on the operation of the special operation intelligent self-propelled safety patrol device, including: The gas detection module is used to set the gas concentration threshold and receive the gas analysis signal sent by the diffusion gas analyzer, and send the gas analysis signal to the control host. When the gas concentration exceeds the threshold, the control host generates and sends the dangerous gas leakage information on site. The dangerous gas leakage information sent on site includes the on-site O 2 Abnormal concentration, abnormal on-site CO concentration, abnormal on-site CH 4 Abnormal concentration, on-site H 2 Abnormal S concentration, NH 3 Abnormal concentration, NO on site2 Abnormal concentration, on-site SO 2 Abnormal concentration and abnormal HCL concentration on site.

[0036] The image recognition module is used to receive the on-site images sent by the explosion-proof thermal imaging camera, input them into the edge computing host for image analysis, generate image analysis results, and send the image analysis results to the control host. The control host generates image abnormal event information based on the image analysis results; the image abnormal event information includes fireworks on the scene, people falling on the scene, supervisors leaving their posts on the scene, over-limit of people on the scene, entry into prohibited areas on the scene, entry of unrelated people on the scene, failure to wear a safety helmet on the scene, and failure to wear a safety rope on the scene.

[0037] Wireless module, used for wireless communication with the vibration bracelet and the remote platform server.

[0038] The alarm module is used to receive image abnormal event information and on-site dangerous gas leakage information, and send the image abnormal event information and on-site dangerous gas leakage information to the vibration bracelet through the wireless module to alarm and vibrate to remind the user.

[0039] The alarm module is also used to send an audible and visual alarm signal to the scene using the alarm component when receiving one or more of image abnormal event information and dangerous gas leakage information sent on site.

[0040] The alarm module includes a historical gas and image alarm event recording unit, which is used to record and store historical on-site dangerous gas leakage information and image abnormal event information.

[0041] The interactive module is used to provide a human-computer interaction interface through an explosion-proof touch display screen for users to input commands, view historical on-site hazardous gas leakage information and image abnormality event information, and set gas concentration thresholds.

[0042] Beneficial effects: The intelligent self-propelled safety patrol system for special operations can monitor the gas concentration on site in real time, and generate and send dangerous gas leakage information on site according to the set threshold, providing timely safety warnings for managers, and can intelligently analyze on-site images, identify potential safety hazards, and generate image abnormal event information. Improve the efficiency and accuracy of patrols. Wireless communication with the vibration bracelet and remote platform server is realized, which is convenient for managers to receive alarm information and view patrol data in real time. It can receive abnormal event information and issue alarm reminders through the vibration bracelet and explosion-proof sound and light alarm. At the same time, it can also record and store historical alarm event information to provide comprehensive safety information for managers.

[0043] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is an axonometric diagram of the intelligent self-propelled safety patrol device for special operations of the present invention.

[0045] Figure 2 It is a front view of the intelligent self-propelled safety patrol device for special operations of the present invention.

[0046] Figure 3 It is a top sectional view of the special operation intelligent self-propelled safety patrol device of the present invention.

[0047] Figure 4 This is an axonometric view of the vibrating wristband in the special operation intelligent self-propelled safety patrol device of the present invention.

[0048] Figure 5 It is a structural diagram of the special operation intelligent self-propelled safety patrol system of the present invention.

[0049] Figure 6 An axonometric diagram of a robot housing mounted on the special operation intelligent self-propelled safety patrol device of the present invention.

[0050] The figure marks in the drawings of the specification include: 1. vehicle body; 2. driving wheel; 3. driven wheel; 4. mobile crawler; 5. box; 6. job ticket rack; 7. explosion-proof thermal imaging camera; 8. edge computing host; 9. control host; 10. explosion-proof touch display screen; 11. first double-headed driving member; 12. second double-headed driving member; 13. supporting wheel; 14. connecting rod; 15. first guide wheel; 16. battery; 17. support rod; 18. second guide wheel; 19. climbing crawler; 20. explosion-proof sound and light alarm; 21. protective cover; 22. gas monitoring port; 23. first driving member; 24. solar charging panel; 25. second driving member; 26. rubber scraper; 27. vibration bracelet; 28. robot shell. DETAILED DESCRIPTION

[0051] The following is further described in detail through specific implementation methods: Embodiment 1:

[0052] As attached Figure 1-Figure 5 As shown: a special operation intelligent self-propelled safety patrol device, including a vibrating bracelet 27 and a body 1, a driving wheel 2 is symmetrically rotated on the side wall of the body 1, and a driven wheel 3 is also symmetrically rotated on the side wall of the body 1, and a moving crawler 4 is sleeved between the driven wheel 3 and the adjacent driving wheel 2.

[0053] The top of the vehicle body 1 is fixedly connected to a box body 5 by bolts, the inner bottom wall of the box body 5 is fixedly connected to a bracket by bolts, the inner bottom wall of the bracket is fixedly connected to a battery 16 by bolts, the top of the bracket is fixedly connected to a control host 9 and an edge computing host 8 by bolts, and the battery 16, the control host 9 and the edge computing host 8 are all covered with an electrical explosion-proof box.

[0054] A work ticket holder 6 is fixedly connected to the outer wall of the box body 5 by screws; an explosion-proof thermal imaging camera 7 is fixedly connected to the top of the box body 5 by screws, and an edge computing host 8 is used to receive the on-site image sent by the explosion-proof thermal imaging camera 7, and perform image analysis on the on-site image, generate image analysis results, and send the image analysis results to the control host 9; an explosion-proof touch display screen 10 is also fixedly connected to the top of the box body 5 by screws, and the control host 9 is used to receive operation signals sent by the explosion-proof touch display screen 10 and send display signals to the explosion-proof touch display screen 10.

[0055] The box body 5 is provided with a gas monitoring component for monitoring the gas on site and an alarm component for sending an audible and visual alarm signal to the site.

[0056] The alarm component includes an explosion-proof sound and light alarm 20, which is fixedly connected to the top of the box 5 by screws, and the control host 9 is used to control the explosion-proof sound and light alarm 20 to send sound and light alarm signals to the scene. The gas monitoring component includes a gas monitoring port 22, which is fixedly welded to the side wall of the explosion-proof sound and light alarm 20, and the gas monitoring port 22 is connected to a diffusion gas analyzer, and the control host 9 is used to receive the gas analysis signal sent by the diffusion gas analyzer.

[0057] A protective cover 21 for preventing dust from contaminating the lens of the explosion-proof thermal imaging camera 7 is fixedly connected to the top of the explosion-proof thermal imaging camera 7 by screws. A cleaning component for cleaning the lens of the explosion-proof thermal imaging camera 7 is provided on the protective cover 21.

[0058] The cleaning assembly includes a second driving member 25, which is fixedly connected to the inner wall of the protective cover 21 by screws, and a rubber scraper 26 for scraping stains off the lens of the explosion-proof thermal imaging camera 7 is fixedly connected to the output shaft of the second driving member 25 by screws.

[0059] A driving assembly for driving the vehicle body 1 to move is arranged inside the vehicle body 1 .

[0060] The driving assembly includes a first driving member 23 symmetrically fixedly connected to the inner bottom wall of the vehicle body 1 by bolts. The output shafts of the first driving member 23 all penetrate the side wall of the vehicle body 1 and are coaxially fixedly connected to the adjacent driving wheel 2 by bolts.

[0061] The vehicle body 1 is provided with a climbing assembly for driving the vehicle body 1 to climb stairs.

[0062] The climbing assembly includes a first double-headed driving member 11 and a second double-headed driving member 12 fixedly connected to the inner bottom wall of the vehicle body 1 by bolts, and the control host 9 is used to control the rotation of the output shafts of the first double-headed driving member 11 and the second double-headed driving member 12.

[0063] The output shafts at both ends of the first double-headed driving member 11 penetrate the side wall of the vehicle body 1 and are coaxially fixedly connected to the support wheel 13 by bolts. The support wheel 13 is fixedly connected to a connecting rod 14 on a side wall away from the vehicle body 1 by bolts, and the end of the connecting rod 14 away from the support wheel 13 is rotatably matched with the first guide wheel 15.

[0064] The output shafts at both ends of the second double-headed driving member 12 penetrate the side wall of the vehicle body 1 and the driven wheel 3, and are coaxially fixedly connected with a support rod 17 by bolts. The end of the support rod 17 away from the driven wheel 3 is rotatably matched with a second guide wheel 18, and a climbing track 19 is sleeved between the second guide wheel 18 and the driven wheel 3 adjacent thereto.

[0065] A 3D ToF sensor and a lidar sensor are fixedly connected to the front end of the vehicle body 1 in the moving direction by screws; the control host 9 is used to receive obstacle signals in front of the vehicle body 1 sent by the 3D ToF sensor and the lidar sensor, and control the power output by the first driving member 23 based on the obstacle signal to drive the vehicle body 1 to turn.

[0066] A special operation intelligent self-propelled safety patrol system, based on the operation of the above-mentioned special operation intelligent self-propelled safety patrol device, includes: The gas detection module is used to set the gas concentration threshold and receive the gas analysis signal sent by the diffusion gas analyzer, and send the gas analysis signal to the control host 9. When the gas concentration exceeds the threshold, the control host 9 generates and sends the dangerous gas leakage information on site. The dangerous gas leakage information sent on site includes the following: 2 Abnormal concentration, abnormal on-site CO concentration, abnormal on-site CH 4 Abnormal concentration, on-site H 2 Abnormal S concentration, NH 3 Abnormal concentration, NO on site 2 Abnormal concentration, on-site SO 2 Abnormal concentration and abnormal HCL concentration on site.

[0067] The image recognition module is used to receive the on-site image sent by the explosion-proof thermal imaging camera 7, input it to the edge computing host 8 for image analysis, generate image analysis results, and send the image analysis results to the control host 9. The control host 9 generates image abnormal event information based on the image analysis results; the image abnormal event information includes fireworks on the scene, people falling on the scene, supervisors leaving their posts on the scene, over-limit of people on the scene, entry into prohibited areas on the scene, entry of unrelated people on the scene, failure to wear a safety helmet on the scene, and failure to wear a safety rope on the scene.

[0068] The wireless module is used for wireless communication with the vibration bracelet 27 and the remote platform server.

[0069] The alarm module is used to receive image abnormality event information and on-site dangerous gas leakage information, and send the image abnormality event information and on-site dangerous gas leakage information to the vibration bracelet 27 through the wireless module to alarm and vibrate to remind the user.

[0070] The alarm module is also used to send an audible and visual alarm signal to the scene using the alarm component when receiving one or more of image abnormal event information and dangerous gas leakage information sent on site.

[0071] The alarm module includes a historical gas and image alarm event recording unit, which is used to record and store historical on-site dangerous gas leakage information and image abnormal event information.

[0072] The interactive module is used to provide a human-computer interactive interface through the explosion-proof touch display screen 10 for users to input commands, view historical on-site hazardous gas leakage information and image abnormality event information, and set gas concentration thresholds.

[0073] The specific implementation process is as follows: First, the special operation intelligent self-propelled safety patrol device is deployed in a specific area of ​​the chemical facility, and a patrol path is preset for the control host 9.

[0074] by Figure 1 , Figure 2 and Figure 3For example, the device is started, and the device is powered by the battery 16. The device begins to perform special operation safety inspection operations at the chemical site. At this time, the control host 9 sends a control signal to control the output shaft of the first drive member 23 to rotate clockwise. In this embodiment, the control host 9 is configured with I5 CPU, 8G memory and 256G hard disk; the first drive member 23 is a DC motor; when the output shaft of the DC motor rotates synchronously clockwise, it can drive the drive wheel 2 to rotate clockwise, and the drive wheel 2 can drive the moving crawler 4 to rotate and then drive the driven wheel 3 to rotate clockwise, so that the vehicle body 1 can realize the operation of moving forward according to the preset inspection path. When the vehicle body 1 needs to turn, the control host 9 controls the differential rotation of the output shaft of the DC motor by sending a control signal to realize the steering operation of the vehicle body 1.

[0075] When the vehicle body 1 moves forward, the explosion-proof thermal imaging camera 7 on the top of the box 5 starts working, and it captures the image information in front of the vehicle body 1 in real time. It can not only capture the appearance, shape and other features of the visible obstacles within the field of view, but also distinguish some potential high-temperature or low-temperature abnormal objects that are difficult for the human eye to directly perceive based on the difference in thermal radiation of the objects, thereby providing rich image data for subsequent analysis.

[0076] At the same time, the 3D ToF sensor uses the time-of-flight principle to emit light pulses and measure the time interval from the emission to the return of the light pulses, so as to accurately calculate the distance information of the objects in front of the vehicle 1, construct a three-dimensional spatial scene overview with depth information, and quickly identify the distribution of obstacles at different distance levels.

[0077] The laser radar sensor emits a laser beam and receives the reflected obstacle distance data in real time, scanning the area in front of the vehicle body 1 with extremely high accuracy and frequency, generating detailed point cloud data that can accurately depict the outline, position and orientation of the obstacle relative to the vehicle body 1.

[0078] The control host 9 continuously receives the three-dimensional space distance information sent by the 3D ToF sensor, the precise point cloud data sent by the laser radar sensor, and the on-site image sent by the explosion-proof thermal imaging camera 7. It fuses these multi-source information, and comprehensively analyzes and determines the distribution and type of obstacles in front and the safe distance from the vehicle body 1. Based on this, when it is necessary to avoid obstacles, the control host 9 controls the power output of the DC motor to drive the vehicle body 1 to turn. For example, if there is a close obstacle on the left side in front, the control host 9 will reduce the output power of the DC motor on the right and increase the output power of the DC motor on the left, so that the vehicle body 1 turns to the right, thereby avoiding obstacles, realizing autonomous navigation, and ensuring that the vehicle body 1 moves forward smoothly according to the preset patrol path.

[0079] An infrared obstacle avoidance sensor may also be installed at the front end of the vehicle body 1 in the moving direction to further improve the obstacle avoidance accuracy of the vehicle body 1 in a dark environment.

[0080] The infrared obstacle avoidance sensor works based on the reflection principle of infrared rays. When the infrared rays encounter an obstacle, they will be reflected back. After receiving the reflected signal, the infrared obstacle avoidance sensor can determine that there is an obstacle ahead. In the dark, due to the limitation of visible light, ordinary visual detection methods are difficult to play an effective role. The infrared rays emitted by the infrared obstacle avoidance sensor can penetrate a certain degree of darkness and accurately detect objects on the forward path of the vehicle 1.

[0081] When the infrared obstacle avoidance sensor detects an obstacle, it will immediately transmit the obstacle signal to the control host 9. After receiving the signal, the control host 9 quickly combines the information fed back by the current 3D ToF sensor, laser radar sensor and explosion-proof thermal imaging camera 7 to make a comprehensive judgment. If it is determined that avoidance is required, it will also quickly avoid the obstacle according to the pre-set obstacle avoidance strategy.

[0082] This multi-sensor collaborative working mode greatly enhances the obstacle avoidance capability of the vehicle 1 in complex and dark environments, ensuring that it can continue to move forward stably and efficiently along the preset patrol path.

[0083] However, since the infrared light source is not very accurate in identifying transparent or translucent objects, the obstacle avoidance strategy is adopted as follows: when the infrared obstacle avoidance sensor detects a suspected obstacle signal, the control host 9 will not immediately perform a large-scale turning action based solely on the infrared obstacle avoidance sensor signal, but will prioritize cross-verification with the data fed back by the 3D ToF sensor and the LiDAR sensor. The light pulses emitted by the 3D ToF sensor can make a certain preliminary judgment on the material properties of the object based on multi-dimensional information such as the intensity and angle of the reflected light. If it is fed back that the object in front may have transparent or translucent properties, the control host 9 will further refer to the point cloud data generated by the LiDAR sensor, and with its high-precision contour depiction capability, accurately determine the true boundary, shape and exact position of the object.

[0084] If it is confirmed through comprehensive judgment that there is a transparent or translucent obstacle in front and the vehicle body 1 is in a dangerous approach range, the control host 9 will fine-tune the output power of the DC motor according to the preset fine obstacle avoidance algorithm, adjust the posture of the vehicle body 1 in a slow and stable manner, and gradually avoid the obstacle. In this embodiment, the fine obstacle avoidance algorithm uses the fine obstacle avoidance algorithm in the Ecovacs T20 Pro sweeping robot. This part belongs to the prior art. The essence is to calculate the boundary information of the obstacle and the current position information of the sweeping robot, and finely adjust the output power of the built-in motor of the sweeping robot according to the preset safety distance threshold, so as to achieve a slight adjustment of the posture of the sweeping robot, so that the sweeping robot can avoid obstacles with the smallest movement amplitude. This embodiment will not be elaborated in detail.

[0085] The data of the 3D ToF sensor and the LiDAR sensor are combined to update the three-dimensional map around the vehicle body 1 in real time. Through the real-time update of the three-dimensional map, the driving path and obstacle avoidance strategy of the vehicle body 1 can be determined more accurately.

[0086] by Figure 1 and Figure 3 For example, when the vehicle body 1 moves forward to the position of the stairs, when the control host 9 recognizes that there are stairs ahead through the explosion-proof thermal imaging camera 7, the control host 9 sends a control signal to control the output shaft of the second double-headed driving member 12 to rotate counterclockwise by 90 degrees; in this embodiment, the initial state of the support rod 17 is horizontal, and the second double-headed driving member 12 is a double-headed servo motor; since the output shafts at both ends of the second double-headed driving member 12 are coaxially fixedly connected to the support rod 17 by bolts, when the output shaft of the double-headed servo motor rotates counterclockwise by 90 degrees, the support rod 17 changes from horizontal to vertical, and the support rod 17 drives the second guide wheel 18 to move upward. Since the second guide wheel 18 and the adjacent driven wheel 3 are both sleeved with a climbing track 19, the driven wheel 3 can rotate clockwise at this time to drive the climbing track 19 and then drive the second guide wheel 18 to rotate clockwise. When the vehicle body 1 moves to the point where the climbing track 19 contacts the vertical surface of the stair steps and generates friction, the climbing track 19 rotates clockwise and the friction of the vertical surface of the steps can lift the front end of the vehicle body 1 in the moving direction. At the same time, as the moving track 4 continues to rotate, the vehicle body 1 can be driven to climb the step. During the climbing process of the vehicle body 1, the control host 9 sends a control signal to control the output shaft of the first double-headed driving member 11 to rotate 45 degrees counterclockwise; in this embodiment, the first double-headed driving member 11 is a double-headed stepping motor; when the double-headed stepping motor rotates 45 degrees counterclockwise, it can drive the supporting wheel 13 and then drive the connecting rod 14 to drive the first guide wheel 15 to move downward and contact the ground. When the front end of the vehicle body 1 in the moving direction is lifted, the first guide wheel 15 can contact the horizontal surface of the step as the vehicle body 1 moves forward to climb the step and then support the rear end of the vehicle body 1 in the moving direction, thereby preventing the vehicle body 1 from tipping backward when climbing the stairs.

[0087] When the vehicle body 1 climbs over the stairs and the control host 9 recognizes through the explosion-proof thermal imaging camera 7 that there are no stairs ahead, the control host 9 sends a control signal to control the output shaft of the double-headed stepper motor to rotate 45 degrees clockwise, restoring the first guide wheel 15 to be level with the ground. At the same time, the control host 9 sends a control signal to control the output shaft of the double-headed servo motor to rotate 90 degrees clockwise, restoring the second guide wheel 18 to be level with the ground, thereby increasing the stability of the vehicle body 1 when moving on flat ground.

[0088] When the vehicle body 1 arrives at the work site, the explosion-proof thermal imaging camera 7 takes real-time pictures of the work site in front of the vehicle body 1, and sends the work site images to the edge computing host 8 for preprocessing operations before image recognition. In this embodiment, the edge computing host 8 is configured as an edge box with RK3588 8+32GB 8K SSD 8K@60fps H.265 / VP9 decoding; the edge computing host 8 performs preprocessing operations on the images of the work site to identify potential safety hazards at the work site, such as fireworks, personnel falls, personnel are not on site, or personnel exceed the limit. Once one or more of these abnormal events are identified, the edge computing host 8 sends an alarm signal to the control host 9, and the control host 9 will generate corresponding image abnormal event information. The control host 9 will also send an audible and visual alarm signal to the site by controlling the explosion-proof audible and visual alarm 20 to remind the on-site personnel to pay attention to safety.

[0089] In addition, the diffusion gas analyzer in the gas monitoring assembly continuously monitors the gas concentration on site through the gas monitoring port 22, including O 2 , CO, CH 4 and H 2 One or more of S, in this embodiment CH 4 For example, when the CH 4 When the gas concentration exceeds a preset threshold, the control host 9 generates and sends dangerous gas leakage information to the site. At the same time, the control host 9 also controls the explosion-proof sound and light alarm 20 to send an audible and visual alarm signal to the site to remind the on-site personnel to evacuate.

[0090] Once the control host 9 receives one or more of the abnormal image events and the dangerous gas leakage sent on site, the information will be immediately sent to the vibration bracelet 27 and the remote platform server through the wireless module. In this embodiment, the remote platform server is the administrator's mobile client; the vibration bracelet 27 will vibrate to remind the administrator to pay attention, and only when the administrator clicks on the vibration bracelet 27 will the vibration stop, and the administrator can view the patrol data and alarm information in real time through the administrator's mobile client.

[0091] In addition, in order to keep the lens of the explosion-proof thermal imaging camera 7 clean and clear, the control host 9 will regularly control the second driving member 25 to rotate, driving the rubber scraper 26 to scrape off the stains on the lens.

[0092] Managers can interact with the device through the explosion-proof touch display screen 10 to input instructions, view historical alarm event information, and set gas concentration thresholds.

[0093] When the edge computing host 8 identifies that the image is stained or blurred during the image recognition process, it sends a cleaning signal to the control host 9, and the control host 9 sends a control signal to control the output shaft of the second drive member 25 to rotate back and forth; in this embodiment, the second drive member 25 is a forward and reverse motor; at this time, the forward and reverse motor output shaft can drive the rubber scraper 26 to scrape off the stains on the lens of the explosion-proof thermal imaging camera 7, keep the lens clean and clear, and improve the accuracy of image recognition.

[0094] At the same time, the explosion-proof thermal imaging camera 7 can also be replaced with a dual-spectrum video probe, which can capture visible light and infrared spectrum images at the same time.

[0095] The dual-spectrum video probe can capture high-definition visible light images of the scene and perform image analysis through the edge computing host 8 to identify fireworks, falls, supervisory personnel leaving their posts, excessive personnel, entry into prohibited areas, entry of unrelated personnel, failure to wear safety helmets, and failure to wear safety ropes.

[0096] Each gas has its own unique spectral characteristics, which are particularly evident in the infrared spectrum. The dual-spectrum video probe can identify the type of gas by matching the captured spectral information with the spectral feature library of known gases; the dual-spectrum video probe can also detect temperature changes on site, and can realize the function of temperature monitoring at various on-site operation points.

[0097] For example, when there is a flammable gas leak at the scene, the infrared spectrum function of the dual-spectrum video probe can quickly capture the subtle changes in temperature in the leak area. Since flammable gas leaks are often accompanied by the release or absorption of heat, these temperature changes are particularly significant in the infrared spectrum. The dual-spectrum video probe can monitor and record these temperature changes in real time through a highly sensitive infrared sensor, generating an accurate temperature distribution image.

[0098] After receiving the temperature anomaly data sent by the dual-spectrum video probe, the control host 9 can identify the temperature anomaly pattern caused by gas leakage. Once the risk of flammable gas leakage is confirmed, the control host 9 will immediately trigger the alarm mechanism.

[0099] The alarm mechanism includes two aspects: one is to send the alarm information of gas leakage to the vibration bracelet 27 and the remote platform server through the wireless module to remind the management personnel to take immediate action; the other is to control the explosion-proof sound and light alarm 20 to send sound and light alarm signals to the scene to warn the on-site personnel to evacuate quickly.

[0100] In addition, the high-definition visible light image function of the dual-spectrum video probe can also assist managers in conducting more intuitive on-site monitoring. By viewing the on-site images in real time, managers can quickly locate the source of the leak, assess the severity of the leak, and take appropriate emergency measures.

[0101] The dual-spectrum video probe can also identify more types of dangerous gas leaks on site, such as NH 3 Abnormal concentration, NO on site 2 Abnormal concentration, on-site SO 2 Abnormal concentration and abnormal HCL concentration on site.

[0102] These gases have specific absorption or emission characteristics under the infrared spectrum. The dual-spectrum video probe can capture these characteristics and generate corresponding on-site dangerous gas leakage information.

[0103] By integrating advanced navigation technology, terrain perception and adaptation mechanisms, the intelligent self-propelled safety patrol device for special operations can flexibly adapt to complex terrain for autonomous patrols, without the need for fixed preset patrol tracks, especially for multi-story or complex chemical facilities such as stairs, which significantly improves the terrain adaptability and application scope of the device. The use of high-performance advanced equipment such as explosion-proof thermal imaging cameras 7, gas monitoring components and edge computing hosts 8 is more conducive to the use of advanced functions of patrol robots, and realizes real-time monitoring and intelligent analysis of special operation site environments, which can timely discover and warn potential safety hazards, effectively reduce the risk of safety accidents caused by human factors, and improve the safety protection level of special operation sites.

[0104] Embodiment 2:

[0105] As attached Figure 1 As shown, the difference from Example 1 is that a plurality of solar charging panels 24 are fixedly connected to the top of the vehicle body 1 by screws, and the solar charging panels 24 are used to charge the battery 16 using solar energy; and a plurality of heat dissipation holes for dissipating heat inside the box body 5 are symmetrically opened on the outer wall of the box body 5.

[0106] The specific implementation process is as follows: The solar charging panel 24 can use solar energy to charge the battery 16, reducing the dependence on traditional energy and reducing the operating cost. At the same time, the solar charging panel 24 also improves the autonomous operation capability and endurance of the device. The design of the heat dissipation hole can effectively improve the heat dissipation efficiency in the box 5, ensuring that the control host 9, the edge computing host 8 and the battery 16 will not malfunction or performance degradation due to overheating during long-term operation.

[0107] Embodiment 3:

[0108] This embodiment provides another vehicle body 1 structure, refer to the attached Figure 6 , including a robot housing 28, which is fixedly connected to the top of the vehicle body 1. The robot housing 28 is sleeved on the box body 5.

[0109] The specific implementation process is as follows: The robot housing 28 can be customized according to actual needs, with a streamlined appearance or specific colors, patterns, etc., to enhance the overall aesthetics of the equipment and make it more in line with the aesthetic requirements of modern industrial sites.

[0110] Through its unique appearance design or logo, the robot housing 28 can make the device easier to identify in a complex environment, and facilitate operators and managers to quickly locate and operate. At the same time, the robot housing 28 adopts a modular design, which is easy to disassemble and assemble. It not only facilitates the daily maintenance and care of the equipment, but also makes it easy to upgrade or modify the equipment when necessary, and design and replace the robot housing 28 with different appearances.

[0111] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A special operation intelligent self-propelled safety patrol device, comprising a vibrating wristband (27), characterized in that: It also includes a vehicle body (1); a driving wheel (2) is symmetrically rotated on the side wall of the vehicle body (1); a driven wheel (3) is also symmetrically rotated on the side wall of the vehicle body (1), and a moving crawler (4) is sleeved between the driven wheel (3) and the adjacent driving wheel (2); A box body (5) is fixedly connected to the top of the vehicle body (1), a bracket is fixedly connected to the inner bottom wall of the box body (5), a battery (16) is fixedly connected to the inner bottom wall of the bracket, a control host (9) and an edge computing host (8) are fixedly connected to the top of the bracket, and an electrical explosion-proof box is provided outside the battery (16), the control host (9) and the edge computing host (8); A work ticket holder (6) is fixedly connected to the outer wall of the box body (5); An explosion-proof thermal imaging camera (7) is fixedly connected to the top of the box (5); The edge computing host (8) is used to receive the on-site image sent by the explosion-proof thermal imaging camera (7), perform image analysis on the on-site image, generate image analysis results, and send the image analysis results to the control host (9); An explosion-proof touch display screen (10) is also fixedly connected to the top of the box body (5); the control host (9) is used to receive operation signals sent by the explosion-proof touch display screen (10) and send display signals to the explosion-proof touch display screen (10); The box body (5) is provided with a gas monitoring component for monitoring gas on site and an alarm component for sending an audible and visual alarm signal to the site; A driving component for driving the vehicle body (1) to move is provided inside the vehicle body (1); The vehicle body (1) is provided with a climbing component for driving the vehicle body (1) to climb stairs.

2. The special operation intelligent self-propelled safety patrol device according to claim 1 is characterized in that: The climbing assembly comprises a first double-headed driving member (11) and a second double-headed driving member (12) which are fixedly connected to the inner bottom wall of the vehicle body (1); the control host (9) is used to control the rotation of the output shafts of the first double-headed driving member (11) and the second double-headed driving member (12); The output shafts at both ends of the first double-headed driving member (11) penetrate the side wall of the vehicle body (1) and are coaxially fixedly connected to a support wheel (13); a connecting rod (14) is fixedly connected to a side wall of the support wheel (13) away from the vehicle body (1); and one end of the connecting rod (14) away from the support wheel (13) is rotatably matched with a first guide wheel (15); The output shafts at both ends of the second double-headed driving member (12) penetrate the side wall of the vehicle body (1) and the driven wheel (3), and are coaxially fixedly connected to a support rod (17). The end of the support rod (17) away from the driven wheel (3) is rotatably matched with a second guide wheel (18), and a climbing track (19) is sleeved between the second guide wheel (18) and the driven wheel (3) adjacent thereto.

3. The special operation intelligent self-propelled safety patrol device according to claim 2 is characterized in that: The alarm component comprises an explosion-proof sound and light alarm (20), which is fixedly connected to the top of the box (5); and the control host (9) is used to control the explosion-proof sound and light alarm (20) to send a sound and light alarm signal to the scene.

4. The special operation intelligent self-propelled safety patrol device according to claim 3 is characterized in that: A protective cover (21) for preventing dust from contaminating the lens of the explosion-proof thermal imaging camera (7) is fixedly connected to the top of the explosion-proof thermal imaging camera (7), and a cleaning component for cleaning the lens of the explosion-proof thermal imaging camera (7) is provided on the protective cover (21).

5. The special operation intelligent self-propelled safety patrol device according to claim 4 is characterized in that: The gas monitoring component comprises a gas monitoring port (22), the gas monitoring port (22) being fixedly connected to the side wall of the explosion-proof sound and light alarm (20), and the gas monitoring port (22) being connected to a diffusion-type gas analyzer; and the control host (9) is used to receive a gas analysis signal sent by the diffusion-type gas analyzer.

6. The special operation intelligent self-propelled safety patrol device according to claim 5 is characterized in that: The drive assembly comprises a first drive member (23) symmetrically fixedly connected to the inner bottom wall of the vehicle body (1); the output shafts of the first drive member (23) all penetrate the side wall of the vehicle body (1) and are coaxially fixedly connected to the adjacent drive wheel (2); and the control host (9) is used to control the rotation of the output shaft of the first drive member (23).

7. The special operation intelligent self-propelled safety patrol device according to claim 6 is characterized in that: A 3D ToF sensor and a laser radar sensor are fixedly connected to the front end of the vehicle body (1) in the direction of movement; the control host (9) is used to receive obstacle signals in front of the vehicle body (1) sent by the 3D ToF sensor and the laser radar sensor, and control the power output by the first driving member (23) based on the obstacle signal to drive the vehicle body (1) to turn.

8. The special operation intelligent self-propelled safety patrol device according to claim 7 is characterized in that: A plurality of solar charging panels (24) are also fixedly connected to the top of the vehicle body (1), and the solar charging panels (24) are used to charge the storage battery (16) using solar energy; and a plurality of heat dissipation holes for dissipating heat inside the box body (5) are symmetrically opened on the outer wall of the box body (5).

9. The special operation intelligent self-propelled safety patrol device according to claim 8 is characterized in that: The cleaning assembly comprises a second driving member (25), the second driving member (25) being fixedly connected to the inner wall of the protective cover (21), a rubber scraper (26) being fixedly connected to the output shaft of the second driving member (25) for scraping off stains on the lens of the explosion-proof thermal imaging camera (7), and a control host (9) being used to control the rotation of the output shaft of the second driving member (25).

10. A special operation intelligent self-propelled safety patrol system, based on the special operation intelligent self-propelled safety patrol device according to any one of claims 1 to 9, characterized in that: include: A gas detection module, used to set a gas concentration threshold and receive a gas analysis signal sent by a diffusion gas analyzer, and send the gas analysis signal to a control host (9). When the gas concentration exceeds the threshold, the control host (9) generates and sends on-site dangerous gas leakage information; The hazardous gas leakage information sent on site includes abnormal on-site O2 concentration, abnormal on-site CO concentration, abnormal on-site CH4 concentration, abnormal on-site H2S concentration, abnormal on-site NH3 concentration, abnormal on-site NO2 concentration, abnormal on-site SO2 concentration and abnormal on-site HCL concentration; An image recognition module, used for receiving the on-site image sent by the explosion-proof thermal imaging camera (7), inputting it to the edge computing host (8) for image analysis, generating image analysis results, and sending the image analysis results to the control host (9), and the control host (9) generates image abnormality event information according to the image analysis results; Abnormal image event information includes fireworks, people falling, supervisors leaving their posts, people exceeding the limit, entering prohibited areas, unrelated people entering, not wearing safety helmets, and not wearing safety ropes. A wireless module, used for wireless communication with the vibration bracelet (27) and the remote platform server; An alarm module, used for receiving image abnormality event information and on-site dangerous gas leakage information, and sending the image abnormality event information and on-site dangerous gas leakage information to a vibration bracelet (27) via a wireless module to give an alarm vibration reminder to the user; The alarm module is also used to send an audible and visual alarm signal to the scene by using the alarm component when receiving one or more of the image abnormal event information and the dangerous gas leakage information sent on the scene; The alarm module includes a historical gas and image alarm event recording unit, which is used to record and store the historical on-site dangerous gas leakage information and image abnormal event information; The interactive module is used to provide a human-machine interactive interface through an explosion-proof touch display screen (10) for users to input commands, view historical on-site hazardous gas leakage information and image abnormality event information, and set gas concentration thresholds.

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