Vision-based inspection robot for fire control room

Abstract

The invention relates to the field of inspection robots, in particular to a vision-based fire control room inspection robot which comprises a guide rail body and a driving mechanism moving along the guide rail body, an auxiliary positioning assembly is arranged in the middle of one side of the top end of the driving mechanism, and a six-axis manipulator body and an inspection assembly are sequentially arranged at the bottom of the driving mechanism; the auxiliary positioning assembly comprises a fixed seat, a movable plate is rotationally installed on one side in the fixed seat through a fixed shaft, a cavity is formed in the middle in the fixed seat, and a movable ring is arranged in the cavity. According to the invention, through cooperative arrangement of the guide rail body, the driving mechanism, the auxiliary positioning assembly and the limiting assembly, it can be ensured that the polling assembly can be accurately aligned with the power indicator light of the cabinet, the phenomenon of positioning errors caused by factors such as mechanical structure abrasion and sensor aging is reduced, and meanwhile, polling processing can be performed on the cabinet through the polling assembly.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a fire control room inspection robot based on vision. Background Art

[0002] The fire control room is the hub of the fire control center in the building. It is equipped with automatic fire alarm equipment and fire control equipment to receive, display and process fire alarm signals and control related fire protection facilities. The fire control room inspection robot is a robot system specially designed for automatic inspection in the fire control room.

[0003] Long-term operation of the existing fire control room inspection robot may cause wear of the mechanical structure. At the same time, factors such as mechanical structure wear and sensor aging may easily lead to positioning errors of the fire control room inspection robot during cabinet inspection. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a fire control room inspection robot based on vision.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A fire control room inspection robot based on vision comprises a guide rail body and a driving mechanism moving along the guide rail body, an auxiliary positioning component is arranged in the middle of one side of the top of the driving mechanism, and a six-axis manipulator body and an inspection component are arranged in sequence at the bottom of the driving mechanism; The auxiliary positioning assembly includes a fixed seat, a movable plate is rotatably installed on one side of the fixed seat through a fixed shaft, a cavity is opened in the middle of the fixed seat, a movable ring is arranged in the cavity, and a fixed ring is fixedly installed on the upper part of the cavity, two groups of button bodies are symmetrically installed on both sides of the bottom of the fixed ring, and a pull rope body is connected to the middle of one end of the movable plate near the cavity through a pull ring body; A movable cavity is provided in the fixing seat at the movable plate, a plurality of guide wheels are arranged in the fixing seat at equal distances between the movable cavities and between the cavities, and the other end of the pull rope body passes through the plurality of guide wheels in sequence, and the other end of the pull rope body is connected to the movable ring through the pull ring body; An auxiliary guide rail is arranged on the top of the guide rail body, and a plurality of limit assemblies are arranged at equal distances on one side of the auxiliary guide rail.

[0006] Preferably, the limit assembly includes a limit seat, in which a T-shaped slider is slidably arranged at the movable plate, a groove is provided on the side of the T-shaped slider close to the movable plate, and U-shaped fixed seats are symmetrically installed on both sides of the groove, and the limit plate is rotatably installed on one side of the U-shaped fixed seat through a fixed axis.

[0007] Preferably, a T-shaped connecting block is installed at one end of the limiting plate, the T-shaped connecting block is slidably arranged in the limiting seat, and an arc-shaped guide rod is installed on one side of the T-shaped connecting block, and one end of the arc-shaped guide rod is connected to a limiting ring.

[0008] Preferably, a first slide groove is provided in the limit seat at the T-shaped connecting block, a second slide groove is provided in the limit seat at the limit ring, a third slide groove is provided in the limit seat between the first slide groove and the second slide groove, the cross-sectional area of ​​the third slide groove is equal to the cross-sectional area of ​​the arc guide rod, and a spring body is provided on one side of the second slide groove and the outer wall of the arc guide rod.

[0009] Preferably, a placement cavity is opened in the fixing seat on one side of the first magnet body, an electric telescopic rod body is arranged in the placement cavity, the output end of the electric telescopic rod body faces the first magnet body, and the output end of the electric telescopic rod body is connected to a flexible pressure block, and a through hole is opened in the first magnet body at the flexible pressure block.

[0010] Preferably, the first magnetic block and the second magnet body are fixedly embedded at both ends of the other side of the movable plate, the first magnet body is fixedly embedded in the movable cavity on the side close to the first magnetic block, and the magnetic switch body is fixedly embedded in the movable cavity on the side close to the second magnet body.

[0011] Preferably, an adjustable extension switch button is provided in the movable cavity below one side of the pull rope body, and a flexible protrusion is provided on one side of the movable plate at one end of the pull ring body.

[0012] Preferably, a third magnet body is fixedly installed in the groove above the U-shaped fixing seat, and one side of the limiting plate located at the third magnet body is provided with a magnetic material adapted to and attracted to the third magnet body.

[0013] Preferably, the inspection component includes a control box and a monitoring camera body. The control box is provided with a scheduled inspection module, a fault module, an alarm module, a fire linkage module, an obstacle avoidance module, a remote control module, a controller module, and a monitoring camera body. The monitoring camera body, the scheduled inspection module, the fault module, the alarm module, the fire linkage module, the obstacle avoidance module, and the remote control module are all connected to the controller module for control and transmission via electrical signals, and the controller module is connected to the mobile phone terminal for control and transmission via Wi-Fi and Bluetooth.

[0014] The beneficial effects of the present invention are: In the present invention, through the cooperation of the guide rail body, the driving mechanism, the auxiliary positioning component, and the limit component, it can be ensured that the inspection component can be accurately aligned with the power indicator light of the cabinet, reducing the positioning error caused by factors such as mechanical structure wear and sensor aging. At the same time, the cabinet can be inspected through the inspection component. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a vision-based fire control room inspection robot proposed by the present invention; Figure 2 It is a schematic diagram of the structure enlarged at A; Figure 3 A partial cross-sectional structure diagram of a vision-based fire control room inspection robot proposed by the present invention Figure 1 ; Figure 4 It is a schematic diagram of the structure enlarged at B; Figure 5 It is a schematic diagram of the structure enlarged at C; Figure 6 A partial cross-sectional structure diagram of a vision-based fire control room inspection robot proposed by the present invention Figure 2 ; Figure 7 It is a schematic diagram of the structure enlarged at D; Figure 8 It is a structural schematic diagram of a local cross section of a driving mechanism and a guide rail body; Fig. 9 It is a schematic diagram of the structure enlarged at E; Fig.10 This is a schematic diagram of the enlarged structure at F.

[0016] In the figure: 1. guide rail body; 2. auxiliary guide rail; 3. limit assembly; 31. T-shaped slider; 32. limit plate; 321. T-shaped connecting block; 322. arc-shaped guide rod; 323. spring body; 33. third magnet body; 4. driving mechanism; 5. six-axis manipulator body; 6. inspection assembly; 7. fixed seat; 8. guide wheel; 9. pull rope body; 10. movable ring; 11. movable plate; 111. first magnetic block; 112. flexible protrusion; 12. electric telescopic rod body; 13. first magnet body; 14. adjustable extension switch button; 15. fixed ring; 151. button body; 16. magnetic switch body. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] Reference Figure 1-10A vision-based fire control room inspection robot includes a guide rail body 1, a driving mechanism 4 moving along the guide rail body 1, an auxiliary positioning component is arranged in the middle of one side of the top of the driving mechanism 4, and a six-axis manipulator body 5 is arranged at the bottom of the driving mechanism 4, and an inspection component 6 is arranged at the end of the six-axis manipulator body 5. It is worth noting that the guide rail body 1 is arranged in a ring shape, and the six-axis manipulator body 5 and the inspection component 6 are arranged along the guide rail body 1 through the arrangement of the driving mechanism 4. The specific structure, connection method and working principle of the guide rail body 1, the driving mechanism 4 and the six-axis manipulator body 5 are all existing technologies currently disclosed on the market, and do not belong to the main technical problems to be solved in the present invention, so they are not elaborated in the present invention.

[0019] In addition, it is worth noting that the inspection component 6 includes a control box and a monitoring camera body. The control box is provided with a scheduled inspection module, a fault module, an alarm module, a fire linkage module, an obstacle avoidance module, a remote control module, a controller module, and a monitoring camera body. The monitoring camera body, the scheduled inspection module, the fault module, the alarm module, the fire linkage module, the obstacle avoidance module, and the remote control module are all connected to the controller module for control and transmission via electrical signals, and the controller module is connected to the mobile phone terminal for control and transmission via Wi-Fi and Bluetooth.

[0020] Among them, the scheduled inspection module is used to set and control the inspection cycle and time of the inspection robot, the fault module is used to detect and handle faults in the robot or fire protection system, the alarm module is used to issue an alarm when a fire hazard or robot failure is detected, the fire linkage module is used to perform linkage control with other equipment in the fire protection system, the obstacle avoidance module is used to perceive obstacles in the robot's surrounding environment in real time to ensure that the robot will not collide with obstacles when performing inspection tasks, the remote control module is used to realize remote control between the main body and the operator's mobile phone, the controller is used to integrate the information of each module, perform logical judgment and processing, and the monitoring camera main body is used to capture real-time images and videos for monitoring and recording the inspection process.

[0021] Further, the auxiliary positioning assembly includes a fixed seat 7, a movable plate 11 is rotatably installed on one side of the fixed seat 7 through a fixed axis, a cavity is opened in the middle of the fixed seat 7, a movable ring 10 is arranged in the cavity, and a fixed ring 15 is fixedly installed on the upper part of the cavity, two groups of button bodies 151 are symmetrically installed on both sides of the bottom of the fixed ring 15, the middle part of the movable plate 11 near one end of the cavity is connected to the pull rope body 9 through the pull ring body, and the first magnetic block 111 and the second magnet body are fixedly embedded at both ends of the other side of the movable plate 11; Furthermore, a movable cavity is opened in the fixed seat 7 at the movable plate 11, and a first magnet body 13 is fixedly embedded in the movable cavity on the side of the first magnetic block, a magnetic switch body 16 is fixedly embedded in the movable cavity on the side of the second magnet body, an adjustable extension switch button 14 is arranged below the side of the pull rope body 9 in the movable cavity, and a flexible protrusion 112 is arranged on one end of the pull ring body on one side of the movable plate 11, wherein the specific structure, connection method and working principle of the magnetic switch body 16 and the adjustable extension switch button 14 are existing products currently disclosed on the market, and do not belong to the main technical problems to be solved in the present invention, and therefore are not elaborated in the present invention.

[0022] At the same time, a placement cavity is opened in the fixing seat 7 on one side of the first magnet body 13, and the electric telescopic rod body 12 is arranged in the placement cavity. The output end of the electric telescopic rod body 12 faces the first magnet body 13, and the output end of the electric telescopic rod body 12 is connected to a flexible pressure block. A through hole is opened in the first magnet body 13 at the flexible pressure block. The specific structure and working principle of the electric telescopic rod body 12 are existing technologies currently disclosed on the market, and do not belong to the main technical problems to be solved in the present invention. Therefore, they are not elaborated in the present invention. At the same time, the adjustable extension switch body 14 controls the opening of the electric telescopic rod body 12 through an electrical signal connection.

[0023] In addition, a plurality of guide wheels 8 are arranged at equal distances between the movable cavities and the cavities in the fixed seat 7, and the other end of the pull rope body 9 passes through the plurality of guide wheels 8 in sequence, and the other end of the pull rope body 9 is connected to the movable ring 10 through the pull ring body, and an auxiliary cavity is opened in the fixed seat 7 at the pull rope body 9, and it is worth noting that an inclined surface is arranged on the side of the fixed seat 7 close to the first magnet body 13.

[0024] At the same time, it is worth mentioning that when the first magnet body 13 is magnetically attracted to the first magnetic block 111 of the movable plate 11, the flexible protrusion 112 of the movable plate 11 contacts the adjustable extension switch button 14, and the movable ring 10 contacts the button body 151 at the bottom of the fixed ring 15, and the two button bodies 151 are respectively connected through electrical signals to control the closing of the drive mechanism 4 and the opening of the six-axis manipulator body 5. At the same time, part of the movable plate 11 extends out of the fixed seat 7 at this time, and the other end of the movable plate 11 moves toward the adjustable extension switch button 14 and contacts its flexible protrusion 112, and the adjustable extension switch button 14 and the adjustable extension switch body 14 are connected through electrical signals to control the opening of the electric telescopic rod body 12.

[0025] When the second magnet body of the movable plate 11 contacts the magnetic switch body 16, and the magnetic switch body 16 controls the electric telescopic rod body 12 to be closed, and at this time, the movable ring 10 is located at the bottom of the cavity, and the movable plate 11 is located in the movable cavity, and the end face of the movable plate 11 is flush with the inclined surface of the fixed seat 7.

[0026] In addition, an auxiliary guide rail 2 is arranged on the top of the guide rail body 1, and a plurality of limit assemblies 3 are arranged at equal distances on one side of the auxiliary guide rail 2. The limit assembly 3 includes a limit seat, and a T-shaped slider 31 is slidably arranged at the movable plate 11 in the limit seat. The T-shaped slider 31 is provided with a groove on the side of the movable plate 11, and U-shaped fixing seats are symmetrically installed on both sides of the groove. A limit plate 32 is rotatably installed on one side of the U-shaped fixing seat through a fixed axis, and a T-shaped connecting block 321 is installed at one end of the limit plate 32. It is worth noting that the limit assembly 3 is aligned with the power indicator light of the cabinet in the fire control room, and the limit assembly 3 and the auxiliary guide rail 2 are fixed by a plurality of bolts.

[0027] At the same time, a third magnet body 33 is fixedly installed in the groove above the U-shaped fixing seat, and one side of the limiting plate 32 is located at the third magnet body 33 and is provided with a magnetic material that is adapted to attract the third magnet body 33 .

[0028] At the same time, the T-shaped connecting block 321 is slidably arranged in the limit seat, and an arc-shaped guide rod 322 is installed on one side of the T-shaped connecting block 321, one end of the arc-shaped guide rod 322 is connected to the limit ring, a first sliding groove is opened at the T-shaped connecting block 321 in the limit seat, a second sliding groove is opened at the limit ring in the limit seat, and a third sliding groove is opened between the first sliding groove and the second sliding groove in the limit seat. The cross-sectional area of ​​the third sliding groove is equal to the cross-sectional area of ​​the arc-shaped guide rod 322, and a spring body 323 is provided on the outer wall of the arc-shaped guide rod 322 on one side in the second sliding groove.

[0029] In the present invention, the guide rail body 1 cooperates with the drive mechanism 4 to enable the six-axis robot body 5 and the inspection component 6 to perform horizontal linear motion, and the six-axis robot body 5 can enable the inspection component 6 to move vertically up and down.

[0030] In the normal state, the second magnet body of the movable plate 11 is in magnetic contact with the magnetic switch body 16 , and the movable ring 10 is located at the bottom of the cavity, and a portion of the movable plate 11 extends out of the fixing seat 7 .

[0031] When the driving mechanism 4 gradually moves toward the limit assembly 3, the T-shaped slider 31 of the limit assembly 3 moves along the inclined surface of the fixed seat 7 and slides into the limit seat. At the same time, the movable plate 11 is located above the two limit plates 32. Under the action of the limit plates 32, the movable plate 11 moves toward the first magnet body 13 in the movable cavity, and finally the first magnet body 13 and the first magnetic block 111 of the movable plate 11 are magnetically attracted to each other. At this time, while the first magnet body 13 on one side of the movable plate 11 moves, the other end of the movable plate 11 moves toward the adjustable extended switch button 14 and contacts its flexible protrusion 112. The movable ring 10 gradually moves toward the fixed ring 15 and contacts the button body 151 at the bottom of the fixed ring 15. The two button bodies 151 are connected through electrical signals to control the closing of the driving mechanism 4 and the opening of the six-axis manipulator body 5 respectively.

[0032] Among them, since the limit component 3 is aligned with the power indicator light of the cabinet in the fire control room, when the six-axis manipulator body 5 is in operation, the timing inspection module in the inspection component 6 is used to set and control the inspection cycle and time of the inspection robot, the fault module is used to detect and handle faults in the robot or fire protection system, the alarm module is used to issue an alarm when a fire hazard or robot failure is detected, the fire linkage module is used to perform linkage control with other equipment in the fire protection system, the obstacle avoidance module is used to perceive obstacles in the robot's surrounding environment in real time to ensure that the robot will not collide with obstacles when performing inspection tasks, the remote control module is used to remotely control the main body and the operator's mobile phone, the controller is used for the module controller module can integrate the information of each module, perform logical judgment and processing, and the monitoring camera body is used to capture real-time images and videos for monitoring and recording the inspection process.

[0033] When the delay time of the adjustable extension switch body 14 is reached, the adjustable extension switch body 14 is controlled to open the electric telescopic rod body 12 through an electrical signal connection, and the output end of the electric telescopic rod body 12 extends and pushes the first magnetic block 111 of its movable plate 11 away from the first magnet body 13, and then its movable ring 10 gradually moves away from the fixed ring 15, and then the two button bodies 151 are respectively controlled to open the drive mechanism 4 and control the closing of the six-axis manipulator body 5 through electrical signal connections.

[0034] Then, the driving mechanism 4 continues to operate, and during the movement of the T-shaped slider 31, the limit plate 32 rotates downward under the pressure of the movable plate 11 until the movable plate 11 passes through its limit plate 32. At this time, the movable plate 11 rotates downward under the action of gravity and the second magnet body, and the second magnet body of the movable plate 11 contacts the magnetic switch body 16, and the magnetic switch body 16 controls the closing of the electric telescopic rod body 12. During the downward rotation of the limit plate 32, the T-shaped connecting block 321 moves downward along the first slide groove, driving its arc-shaped guide rod 322 and the limit ring to move downward, and at the same time, one side of the limit ring contacts with the spring body 323, and the spring body 323 is in a deformed state.

[0035] When the top of the limit plate 32 loses the pressure of the movable plate 11, the limit ring moves away from the T-shaped connecting block 321 under the action of the spring body 323, and drives the limit plate 32 to rotate toward the third magnet body 33, and is magnetically adsorbed and fixed to the magnet body 33, thereby limiting and fixing the limit plate 32.

[0036] In the present invention, through the coordinated arrangement of the guide rail body 1, the drive mechanism 4, the auxiliary positioning assembly, and the limit assembly 3, it can be ensured that the inspection assembly can be accurately aligned with the power indicator light of the cabinet, thereby reducing the positioning error caused by factors such as mechanical structure wear and sensor aging. At the same time, the cabinet can be inspected through the inspection assembly.

[0037] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fire control room inspection robot based on vision, comprising a guide rail body (1) and a driving mechanism (4) moving along the guide rail body (1), characterized in that: An auxiliary positioning component is arranged in the middle of one side of the top end of the driving mechanism (4), and a six-axis manipulator body (5) and an inspection component (6) are arranged in sequence at the bottom of the driving mechanism (4); The auxiliary positioning assembly comprises a fixed seat (7), a movable plate (11) is rotatably mounted on one side of the fixed seat (7) via a fixed shaft, a cavity is opened in the middle of the fixed seat (7), a movable ring (10) is arranged in the cavity, and a fixed ring (15) is fixedly mounted on the upper part of the cavity, two groups of button bodies (151) are symmetrically mounted on both sides of the bottom of the fixed ring (15), and a pull rope body (9) is connected to the middle of one end of the movable plate (11) near the cavity via a pull ring body; A movable cavity is provided in the fixed seat (7) at the movable plate (11), a plurality of guide wheels (8) are arranged in the fixed seat (7) at equal distances between the movable cavities and between the cavities, and the other end of the pull rope body (9) passes through the plurality of guide wheels (8) in sequence, and the other end of the pull rope body (9) is connected to the movable ring (10) through the pull ring body; An auxiliary guide rail (2) is arranged on the top of the guide rail body (1), and a plurality of limit assemblies (3) are arranged at equal distances on one side of the auxiliary guide rail (2).

2. A fire control room inspection robot based on vision according to claim 1, characterized in that: The limit assembly (3) comprises a limit seat, in which a T-shaped slider (31) is slidably arranged at the movable plate (11), a groove is provided on the side of the T-shaped slider (31) close to the movable plate (11), U-shaped fixed seats are symmetrically installed on both sides of the groove, and a limit plate (32) is rotatably installed on one side of the U-shaped fixed seat via a fixed shaft.

3. A vision-based fire control room inspection robot according to claim 2, characterized in that: A T-shaped connecting block (321) is mounted on one end of the limiting plate (32), the T-shaped connecting block (321) is slidably disposed in the limiting seat, and an arc-shaped guide rod (322) is mounted on one side of the T-shaped connecting block (321), one end of the arc-shaped guide rod (322) is connected to a limiting ring.

4. A fire control room inspection robot based on vision according to claim 2, characterized in that: A first slide groove is provided in the limit seat at the T-shaped connecting block (321), a second slide groove is provided in the limit seat at the limit ring, a third slide groove is provided in the limit seat between the first slide groove and the second slide groove, the cross-sectional area of ​​the third slide groove is equal to the cross-sectional area of ​​the arc-shaped guide rod (322), and a spring body (323) is sleeved on one side of the second slide groove and located on the outer wall of the arc-shaped guide rod (322).

5. The vision-based fire control room inspection robot according to claim 1, characterized in that: A placement cavity is provided in the fixing seat (7) on one side of the first magnet body (13), an electric telescopic rod body (12) is provided in the placement cavity, an output end of the electric telescopic rod body (12) faces the first magnet body (13), and a flexible pressing block is connected to the output end of the electric telescopic rod body (12), and a through hole is provided in the first magnet body (13) at the flexible pressing block.

6. The vision-based fire control room inspection robot according to claim 1, characterized in that: A first magnetic block (111) and a second magnet body are fixedly embedded at both ends of the other side of the movable plate (11), a first magnet body (13) is fixedly embedded in the movable cavity on the side close to the first magnetic block (111), and a magnetic switch body (16) is fixedly embedded in the movable cavity on the side close to the second magnet body.

7. The vision-based fire control room inspection robot according to claim 1, characterized in that: An adjustable extension switch button (14) is provided below the side of the pull rope body (9) in the movable cavity, and a flexible protrusion (112) is provided on one side of the movable plate (11) at one end of the pull ring body.

8. The vision-based fire control room inspection robot according to claim 2, characterized in that: A third magnet body (33) is fixedly mounted in the groove above the U-shaped fixing seat, and one side of the limiting plate (32) is located at the third magnet body (33) and is provided with a magnetic material adapted to attract the third magnet body (33).

9. The vision-based fire control room inspection robot according to claim 1, characterized in that: The inspection component (6) comprises a control box and a monitoring camera body. The control box is provided with a timed inspection module, a fault module, an alarm module, a fire linkage module, an obstacle avoidance module, a remote control module, a controller module, and a monitoring camera body. The monitoring camera body, the timed inspection module, the fault module, the alarm module, the fire linkage module, the obstacle avoidance module, and the remote control module are all connected to the controller module for control transmission via electrical signals, and the controller module is connected to the mobile phone terminal for control transmission via Wi-Fi and Bluetooth.

Images