A visual-based fire control room inspection robot

Abstract

The application relates to the field of inspection robots, in particular to a fire control room inspection robot based on vision, which comprises a guide rail body, a driving mechanism moving along the guide rail body, an auxiliary positioning assembly arranged at the middle of the top side of the driving mechanism, and a six-axis mechanical hand body and an inspection assembly sequentially arranged at the bottom of the driving mechanism; the auxiliary positioning assembly comprises a fixed seat, a movable plate rotatably arranged on one side in the fixed seat through a fixed shaft, a cavity arranged in the middle of the fixed seat, and a movable ring arranged in the cavity. In the application, the cooperation of the guide rail body, the driving mechanism, the auxiliary positioning assembly and the limiting assembly can ensure that the inspection assembly can accurately align with the power indicator of the cabinet, reduce the positioning error caused by factors such as mechanical structure wear and sensor aging, and the inspection assembly can perform inspection and treatment on the cabinet.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, and particularly to a fire control room inspection robot based on vision. BACKGROUND

[0002] The fire control room is the hub of the control center of the building fire fighting facilities, which is provided with fire automatic alarm equipment and fire fighting facility control equipment, used for receiving, displaying and processing fire alarm signals, and controlling related fire fighting facilities. The fire control room inspection robot is a robot system specially designed for automatic inspection in the fire control room.

[0003] The existing fire control room inspection robot may cause wear of the mechanical structure during long-time operation, and the positioning error of the fire control room inspection robot when inspecting the cabinet may be caused due to the wear of the mechanical structure and the aging of the sensor. SUMMARY

[0004] The present application relates to the technical field of inspection robots, and particularly to a fire control room inspection robot based on vision.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0006] A fire control room inspection robot based on vision, comprising a guide rail body, a driving mechanism moving along the guide rail body, an auxiliary positioning assembly arranged at the middle part of the top side of the driving mechanism, and a six-axis mechanical hand body and an inspection assembly arranged in sequence at the bottom of the driving mechanism.

[0007] The auxiliary positioning assembly comprises a fixed seat, a movable plate rotatably installed on one side in the fixed seat through a fixed shaft, a cavity opened in the middle part of the fixed seat, a movable ring arranged in the cavity, and a fixed ring fixedly installed above the cavity, two groups of button bodies symmetrically installed on the bottom of the fixed ring, and a pull rope body connected to the middle part of the movable plate at one end of the cavity through a pull ring body.

[0008] An active cavity is opened in the fixed seat at the movable plate, a plurality of guide wheels are arranged at equal intervals between the active cavity and the cavity in the fixed seat, 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.

[0009] The guide rail body is provided with an auxiliary guide rail at the top, and a plurality of limiting assemblies are arranged at equal intervals on one side of the auxiliary guide rail.

[0010] Preferably, the limiting assembly comprises a limiting seat, a T-shaped sliding block is slidingly arranged in the limiting seat at the movable plate, a groove is formed on one side of the T-shaped sliding block, two symmetrical U-shaped fixing seats are installed in the groove, and a limiting plate is rotatably installed on one side of the U-shaped fixing seat through a fixing shaft.

[0011] Preferably, one end of the limiting plate is provided with a T-shaped connecting block, the T-shaped connecting block is slidingly arranged in the limiting seat, one side of the T-shaped connecting block is provided with an arc-shaped guide rod, and one end of the arc-shaped guide rod is connected with a limiting ring.

[0012] Preferably, a first sliding groove is formed in the limiting seat at the T-shaped connecting block, a second sliding groove is formed in the limiting seat at the limiting ring, and a third sliding groove is formed in the limiting seat between the first sliding groove and the second sliding groove, the cross-sectional area of the third sliding groove is equal to the cross-sectional area of the arc-shaped guide rod, and a spring body is sleeved on one side of the arc-shaped guide rod in the second sliding groove.

[0013] Preferably, a placing cavity is formed in one side of the fixing seat at the first magnet body, an electric telescopic rod body is arranged in the placing cavity, the output end of the electric telescopic rod body faces the first magnet body, the output end of the electric telescopic rod body is connected with a flexible pressing block, and a through hole is formed in the first magnet body at the flexible pressing block.

[0014] Preferably, a first magnetic block and a second magnet body are respectively 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 one side of the first magnetic block, and a magnetic attraction switch body is fixedly embedded in the movable cavity on one side of the second magnet body.

[0015] Preferably, an adjustable extension switch button is arranged below one side of the pull rope body in the movable cavity, and a flexible protruding block is arranged on one end of the pull ring body on one side of the movable plate.

[0016] Preferably, a third magnet body is fixedly installed above the U-shaped fixing seat in the groove, and one side of the limiting plate at the third magnet body is made of a magnetic material which is adapted to be attracted to the third magnet body.

[0017] Preferably, the inspection assembly comprises a control box and a monitoring camera body, the control box is provided with a timing inspection module, a fault module, an alarm module, a fire linkage module, an obstacle avoidance module, a remote control module, a controller module and the monitoring camera body, the monitoring camera body, the timing inspection module, the fault module, the alarm module, the fire linkage module and the obstacle avoidance module are connected and controlled in transmission with the controller module through electric signals, and the controller module is connected and controlled in transmission with a mobile terminal through WIFI and Bluetooth.

[0018] The beneficial effects of the present application are:

[0019] In the application, through the cooperation of the guide rail body, the driving mechanism, the auxiliary positioning assembly and the limiting assembly, the inspection assembly can be accurately aligned with the power indicator of the cabinet, reducing the positioning error caused by mechanical structure wear, sensor aging and other factors, and the cabinet can be inspected by the inspection assembly. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A structure diagram of a fire control room inspection robot based on vision is provided in the application;

[0021] Figure 2 A structure diagram of A is enlarged;

[0022] Figure 3 A local cross-section structure diagram of a fire control room inspection robot based on vision is provided in the application Figure 1 ;

[0023] Figure 4 A structure diagram of B is enlarged;

[0024] Figure 5 A structure diagram of C is enlarged;

[0025] Figure 6 A local cross-section structure diagram of a fire control room inspection robot based on vision is provided in the application Figure 2 ;

[0026] Figure 7 A structure diagram of D is enlarged;

[0027] Figure 8 A structure diagram of a local cross-section of the driving mechanism and the guide rail body is provided;

[0028] Figure 9 A structure diagram of E is enlarged;

[0029] Figure 10 A structure diagram of F is enlarged.

[0030] In the figure: 1, guide rail body; 2, auxiliary guide rail; 3, limiting assembly; 31, T-shaped sliding block; 32, limiting plate; 321, T-shaped connecting block; 322, arc-shaped guide rod; 323, spring body; 33, third magnet body; 4, driving mechanism; 5, six-axis mechanical hand body; 6, inspection assembly; 7, fixed seat; 8, guide wheel; 9, pull rope body; 10, movable ring; 11, movable plate; 111, first magnetic attraction 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 attraction switch body. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0032] With reference to Figures 1-10 A visual-based fire control room inspection robot, comprising a guide rail body 1, a driving mechanism 4 moving along the guide rail body 1, an auxiliary positioning assembly arranged at the top end of the driving mechanism 4, and a six-axis mechanical hand body 5 arranged at the bottom of the driving mechanism 4, and an inspection assembly 6 arranged at the end of the six-axis mechanical hand body 5. It is worth noting that the guide rail body 1 is arranged in a ring shape, and the six-axis mechanical hand body 5 and the inspection assembly 6 move horizontally and linearly along the guide rail body 1 through the driving mechanism 4. The specific structure, connection mode and working principle of the guide rail body 1, the driving mechanism 4 and the six-axis mechanical hand body 5 are all existing technologies on the market, and do not belong to the main technical problems to be solved in the present application. Therefore, they are not described in detail in the present application.

[0033] Moreover, it is worth noting that the inspection assembly 6 comprises a control box and a monitoring camera body, and the control box is provided with a timing 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 timing inspection module, the fault module, the alarm module, the fire linkage module and the obstacle avoidance module are connected to the controller module for control transmission through electrical signals. The controller module is connected to a mobile terminal for control transmission through WIFI and Bluetooth.

[0034] The timing inspection module is used for setting and controlling the inspection period and time of the inspection robot, the fault module is used for detecting and handling faults in the robot or the fire control system, the alarm module is used for issuing an alarm when a fire hazard or a robot fault is detected, the fire linkage module is used for linkage control with other devices in the fire control system, the obstacle avoidance module is used for real-time sensing of obstacles in the environment around the robot to ensure that the robot does not collide with the obstacles when performing the inspection task, the remote control module is used for remote control of the camera body and the operator's mobile terminal, and the controller is used for the controller module to comprehensively process the information of each module, perform logical judgment and processing, and the monitoring camera body is used for capturing real-time images and videos for monitoring and recording the inspection process.

[0035] Further, the auxiliary positioning assembly comprises a fixed seat 7, a movable plate 11 is rotatably installed in one side of the fixed seat 7 through a fixed shaft, a cavity is formed in the middle of the fixed seat 7, a movable ring 10 is arranged in the cavity, a fixed ring 15 is fixedly installed at the upper part of the cavity, two groups of button bodies 151 are symmetrically installed at the bottom of the fixed ring 15, a pull rope body 9 is connected to the movable plate 11 through a pull ring body at the middle of one end of the movable plate 11, and first and second magnet bodies are fixedly embedded at the two ends of the other side of the movable plate 11 respectively;

[0036] Further, an active cavity is formed in the fixed seat 7 at the movable plate 11, a first magnet body 13 is fixedly embedded at the side of the active cavity close to the first magnetic attraction block 111, a magnetic attraction switch body 16 is fixedly embedded at the side of the active cavity close to the second magnet body, an adjustable extension switch button 14 is arranged at the lower part of the side of the active cavity close to the pull rope body 9, and a flexible protrusion 112 is arranged at one end of the pull ring body at the side of the movable plate 11. The specific structure, connection mode and working principle of the magnetic attraction switch body 16 and the adjustable extension switch button 14 are all existing products on the market, and do not belong to the main technical problems to be solved in the application, so they are not described in detail in the application.

[0037] Meanwhile, a placing cavity is formed in the fixed seat 7 at the side of the first magnet body 13, an electric telescopic rod body 12 is arranged in the placing 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 with a flexible pressing block, a through hole is formed in the first magnet body 13 at the position of the flexible pressing block. The specific structure and working principle of the electric telescopic rod body 12 are all existing technologies on the market, and do not belong to the main technical problems to be solved in the application, so they are not described in detail in the application. Meanwhile, the adjustable extension switch button 14 controls the opening of the electric telescopic rod body 12 through electric signals.

[0038] Further, a plurality of guide wheels 8 are arranged at equal intervals between the active cavity and the cavity in the fixed seat 7, the other end of the pull rope body 9 sequentially passes through the plurality of guide wheels 8, the other end of the pull rope body 9 is connected with the movable ring 10 through the pull ring body, and an auxiliary cavity is formed in the fixed seat 7 at the position of the pull rope body 9. It is worth noting that an inclined surface is arranged at the side of the fixed seat 7 close to the first magnet body 13.

[0039] Meanwhile, 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 is in contact with the adjustable extension switch button 14, and the movable ring 10 is in contact with the button body 151 at the bottom of the fixed ring 15, and the two button bodies 151 are respectively connected by electrical signals to control the closing of the driving mechanism 4 and the opening of the six-axis mechanical hand body 5, at the same time, part of the movable plate 11 extends out of the fixed seat 7, and the other end of the movable plate 11 moves towards the adjustable extension switch button 14 and makes the flexible protrusion 112 contact, and the adjustable extension switch button 14 is connected by electrical signals to control the opening of the electric telescopic rod body 12.

[0040] When the second magnet body of the movable plate 11 is in contact with the magnetic attraction switch body 16, and the magnetic attraction switch body 16 controls the closing of the electric telescopic rod body 12, and at this time, the movable ring 10 is located at the bottom of the cavity, and at this time, 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.

[0041] Moreover, the top of the guide rail body 1 is provided with an auxiliary guide rail 2, and a plurality of limiting assemblies 3 are arranged at equal distances on one side of the auxiliary guide rail 2, the limiting assembly 3 comprises a limiting seat, a T-shaped sliding block 31 is slidingly arranged in the limiting seat at the movable plate 11, a groove is formed on one side of the T-shaped sliding block 31 close to the movable plate 11, and U-shaped fixing seats are symmetrically installed on both sides of the groove, a limiting plate 32 is rotatably installed on one side of the U-shaped fixing seat through a fixing shaft, and a T-shaped connecting block 321 is installed on one end of the limiting plate 32, wherein it is worth noting that the limiting assembly 3 is aligned with the power indicator of the cabinet of the fire control room, and the limiting assembly 3 and the auxiliary guide rail 2 are fixedly connected through a plurality of bolts.

[0042] Meanwhile, a third magnet body 33 is fixedly installed above the U-shaped fixing seat in the groove, and one side of the limiting plate 32 is arranged at the third magnet body 33 and is made of a magnetic material that is attracted to the third magnet body 33.

[0043] Meanwhile, the T-shaped connecting block 321 is slidingly arranged in the limiting seat, an arc-shaped guide rod 322 is installed on one side of the T-shaped connecting block 321, a limiting ring is connected to one end of the arc-shaped guide rod 322, a first sliding groove is formed in the limiting seat at the T-shaped connecting block 321, a second sliding groove is formed in the limiting seat at the limiting ring, a third sliding groove is formed in the limiting seat between the first sliding groove and the second sliding groove, 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 sleeved on one side of the outer wall of the arc-shaped guide rod 322 in the second sliding groove.

[0044] In this invention, the six-axis robot body 5 and the inspection component 6 can move horizontally and linearly through the guide rail body 1 and the drive mechanism 4, and the inspection component 6 can move vertically up and down through the six-axis robot body 5.

[0045] 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 part of the movable plate 11 extends out of the fixed seat 7.

[0046] As the drive mechanism 4 gradually moves toward the limiting component 3, the T-shaped slider 31 of the limiting component 3 moves along the inclined surface of the fixed seat 7 and slides into the limiting seat. At the same time, the movable plate 11 is located above the two limiting plates 32. Under the action of the limiting plates 32, it moves toward the first magnet body 13 in the movable cavity. Finally, when the first magnet body 13 and the first magnetic block 111 of the movable plate 11 are magnetically attracted, at this time, while the first magnet body 13 moves on one side of the movable plate 11, the other end of the movable plate 11 moves toward the adjustable extension switch button 14 and makes its flexible protrusion 112 contact. 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 respectively connected by electrical signals to control the closing of the drive mechanism 4 and the opening of the six-axis robot body 5.

[0047] Among them, since the limit component 3 is aligned with the power indicator light of the cabinet in its fire control room, when the six-axis robot body 5 is operating, the inspection component 6 uses the timed inspection module to set and control the inspection cycle and time of the inspection robot, the fault module to detect and handle faults in the robot or fire protection system, the alarm module to issue an alarm when a fire hazard or robot fault is detected, the fire linkage module to link and control with other equipment in the fire protection system, the obstacle avoidance module 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 to remotely control the camera body and the operator's mobile phone, the controller module to integrate the information of each module, perform logical judgment and processing, and the monitoring camera body to capture real-time images and videos for monitoring and recording the inspection process.

[0048] When the delay time of the adjustable extension switch button 14 is reached, the adjustable extension switch button 14 controls the opening of the electric telescopic rod body 12 through the electrical signal connection. 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. Then its movable ring 10 gradually moves away from the fixed ring 15. Then the two button bodies 151 respectively control the opening of the drive mechanism 4 and control the closing of the six-axis robot body 5 through the electrical signal connection.

[0049] Then, the driving mechanism 4 continues to operate, and the T-shaped sliding block 31 rotates downward under the pressing of the movable plate 11 during movement, until the movable plate 11 passes through the limiting plate 32, at which 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 attraction switch body 16, and the magnetic attraction switch body 16 controls the closing of the electric telescopic rod body 12, and during the downward rotation of the limiting plate 32, the T-shaped connecting block 321 moves downward along the first sliding groove, driving the arc-shaped guide rod 322 and the limiting ring to move downward, and at the same time, the limiting ring on one side is in contact with the spring body 323, at which time the spring body 323 is in a deformed state.

[0050] When the top of the limiting plate 32 loses the pressing of the movable plate 11, the limiting ring moves away from the T-shaped connecting block 321 under the action of the spring body 323, and drives the limiting plate 32 to rotate towards the third magnet body 33, and is magnetically adsorbed and fixed with the third magnet body 33, so as to limit and fix the limiting plate 32.

[0051] In the present application, through the cooperation of the guide rail body 1, the driving mechanism 4, the auxiliary positioning assembly and the limiting assembly 3, it can be ensured that the inspection assembly 6 can accurately align the power indicator of the cabinet, and reduce the positioning error caused by mechanical structure wear, sensor aging and other factors, and at the same time, the cabinet can be inspected by the inspection assembly 6.

[0052] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A vision-based fire control room inspection robot, comprising a guide rail body (1) and a drive mechanism (4) moving along the guide rail body (1), characterized in that, An auxiliary positioning component is provided at the middle of one side of the top of the drive mechanism (4), and a six-axis manipulator body (5) and an inspection component (6) are arranged sequentially at the bottom of the drive mechanism (4). The auxiliary positioning component includes a fixed base (7), a movable plate (11) is rotatably mounted on one side of the fixed base (7) via a fixed shaft, a cavity is opened in the middle of the fixed base (7), a movable ring (10) is provided in the cavity, and a fixed ring (15) is fixedly installed above the cavity. Two sets of button bodies (151) are symmetrically installed on both sides of the bottom of the fixed ring (15), and a pull rope body (9) is connected to the middle of the movable plate (11) near the cavity via a pull ring body. The fixed seat (7) has a movable cavity at the movable plate (11). Multiple guide wheels (8) are arranged at equal intervals between the movable cavity and the cavity. The other end of the pull rope body (9) passes through the multiple guide wheels (8) in sequence. The other end of the pull rope body (9) is connected to the movable ring (10) through the pull ring body. The top of the guide rail body (1) is provided with an auxiliary guide rail (2), and multiple limiting components (3) are provided at equal intervals on one side of the auxiliary guide rail (2). The fixed base (7) has a placement cavity on one side of the first magnet body (13), and an electric telescopic rod body (12) is installed 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 pressing block. A through hole is opened in the first magnet body (13) at the flexible pressing block. 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). The first magnet body (13) is fixedly embedded in the movable cavity on the side of the first magnetic block (111), and the 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 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.

2. The vision-based fire control room inspection robot according to claim 1, characterized in that, The limiting component (3) includes a limiting seat, in which a T-shaped slider (31) is slidably disposed at the movable plate (11). The T-shaped slider (31) has 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 limiting plate (32) is rotatably installed on one side of the U-shaped fixing seat through a fixed shaft.

3. The vision-based fire control room inspection robot according to claim 2, characterized in that, The limiting plate (32) is equipped with a T-shaped connecting block (321) at one end. The T-shaped connecting block (321) is slidably disposed in the limiting 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 a limiting ring.

4. The vision-based fire control room inspection robot according to claim 3, characterized in that, The limiting seat has a first sliding groove at the T-shaped connecting block (321), a second sliding groove at the limiting ring, and a third sliding groove between the first and second sliding grooves. The cross-sectional area of ​​the third sliding groove is equal to the cross-sectional area of ​​the arc-shaped guide rod (322). A spring body (323) is sleeved on one side of the second sliding groove on the outer wall of the arc-shaped guide rod (322).

5. A vision-based fire control room inspection robot according to claim 2, characterized in that, The third magnet body (33) is fixedly installed in the groove above the U-shaped fixing seat, and the side of the limiting plate (32) is set with a magnetic material that is compatible with and attracts the third magnet body (33) at the location of the third magnet body (33).

6. The vision-based fire control room inspection robot according to claim 1, characterized in that, The inspection component (6) includes a control box and a monitoring camera body. The control box is equipped 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. The controller module is connected to the mobile terminal for control transmission via WIFI and Bluetooth.

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