A park equipment safety inspection robot system

Abstract

The present application provides a safety inspection robot system for park equipment, which relates to the technical field of inspection robots. The system includes an inspection robot, a mobile intelligent module, and a remote centralized control center; the inspection robot includes a mobile vehicle body, an inspection data collector, and a bionic eye mechanism. The inspection data collector is close to the top of the mobile vehicle body and can swing vertically and rotate horizontally. The bionic eye mechanism includes two bionic eyeballs and a lifting component. The two bionic eyeballs are located at the front side of the monocular camera on the top of the mobile vehicle body and are symmetrically arranged left and right. The two bionic eyeballs are arranged to be able to extend or retract into the mobile vehicle body, and an infrared sensor is provided on the mobile vehicle body; the mobile intelligent module is arranged in the mobile vehicle body, can receive and process the inspection data obtained by the inspection data collector, transmit data to and from the remote centralized control center, and control the start and stop of the mobile vehicle body and the bionic eye mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to a safety inspection robot system for park equipment. Background Art

[0002] Currently, most of the safety inspections of park equipment still adopt the method of security personnel inspections. However, manual inspections are prone to overlooking small problems, being prone to fatigue, requiring multiple people to work in shifts, having limited vision, especially at night. With the development of intelligent technology, intelligent inspection robots have gradually been applied to the inspection work of park equipment.

[0003] Intelligent inspection robots usually include a mobile vehicle body and a binocular camera standing above the vehicle body. When designing and manufacturing inspection robots, based on the aesthetic perspective of people, the appearance of inspection robots usually has a bionic image. However, this will also cause inspection robots to easily attract onlookers during the inspection process, affecting the normal movement and inspection work of the inspection robots. However, from the perspective of market acceptance, the bionic appearance is an indispensable design. Therefore, new solutions are needed to balance these two requirements.

[0004] In addition, the scope of equipment inspection work in parks is usually large. Currently, when an inspection robot discovers a problem with equipment, generally, the image content is transmitted to the control room. After the staff in the control room determines the location of the equipment with problems based on the image content, they go to maintain it, or search based on the positioning information of the inspection robot. The timeliness is poor, and it is impossible to quickly and accurately reach the location of the inspection robot in a timely manner. Summary of the Invention

[0005] To solve the technical problems existing in the above background art, the present invention provides a safety inspection robot system for park equipment.

[0006] The technical solution of the present invention is as follows:

[0007] A safety inspection robot system for park equipment includes an inspection robot, a mobile intelligent module, and a remote centralized control center;

[0008] The inspection robot includes a mobile vehicle body, an inspection data collector, and a bionic eye mechanism. The inspection data collector is close to the top of the mobile vehicle body and can swing vertically and rotate horizontally. The bionic eye mechanism includes two bionic eyeballs and a lifting component that drives the two bionic eyeballs to lift synchronously. The two bionic eyeballs are located at the front side of the inspection data collector on the top of the mobile vehicle body and are symmetrically arranged left and right. The two bionic eyeballs are set to be able to extend or retract into the mobile vehicle body, and an infrared sensor is provided on the mobile vehicle body;

[0009] The mobile intelligent module is installed in the mobile body and can receive and process the inspection data acquired by the inspection data collector, transmit data to the remote control center, and control the start and stop of the mobile body and bionic eye mechanism.

[0010] Through the bionic eye mechanism set up in a lifting manner, the inspection robot can have both bionic and non-bionic modes, which not only avoids the inspection robot from attracting onlookers and ensures the passage of the inspection robot, but also enables it to have a bionic image when necessary to attract people's attention.

[0011] In some embodiments, the park equipment safety inspection robot system also includes a wireless mobile display terminal that can communicate with the mobile intelligent module and the remote centralized control center. Multiple wireless mobile display terminals can be set up and held by maintenance and security personnel. The inspection data obtained by the inspection robot can be sent directly or indirectly to the wireless mobile display terminal, so that the maintenance and security personnel can promptly learn and check the fault situation and take corresponding safety measures in time.

[0012] In the above solution, the lifting assembly includes two lifting columns and a driver for driving the two lifting columns to move synchronously;

[0013] Preferably, the lifting column comprises a plurality of columns hinged in sequence, and the bionic eyeball is mounted on the top of the uppermost column;

[0014] When the bionic eyeball is in a state of extending out of the moving vehicle body, a plurality of columns are arranged vertically and are capable of supporting the bionic eyeball;

[0015] When the bionic eyeball is in a state of being retracted into the moving body, only the uppermost column is in a vertically extended state, and the remaining columns are all located on one side of the uppermost column, in a horizontal or inclined extended state.

[0016] In this way, the bionic eyeball can have a higher lifting height while reducing the height of the mobile body. The height of the mobile body only needs to match the height of the uppermost column, rather than the overall length of the lifting column, thereby reducing the height of the inspection robot during movement and ensuring the passability and travel stability of the inspection robot.

[0017] In the above scheme, the mobile intelligent module is configured to control the inspection robot to perform inspection operations according to the following steps:

[0018] S1. Obtain the inspection data of the park equipment and compare it with the safety data of the park equipment in the historical data. If it is determined that the equipment is not faulty, continue the inspection. Otherwise, execute S2.

[0019] S2, judging the preset safety level to which the fault belongs according to the comparison result of S1;

[0020] If it belongs to the light safety level, generate ordinary maintenance work orders for the inspection data of park equipment and send them to the remote centralized control center, and continue the inspection;

[0021] If it belongs to the medium or high safety level, stop the inspection operation, generate emergency maintenance work orders for the inspection data of park equipment and send them to the remote centralized control center, and activate the bionic eyeball;

[0022] S3. When a human body is detected, obtain the distance between the human body and the inspection robot, and control the volume, brightness and blinking speed of the bionic eyeball to change according to the change of the distance.

[0023] The bionic eyeball can quickly warn non-staff to evacuate, and at the same time enable staff (maintenance and security personnel) to quickly find the location of the inspection robot.

[0024] Preferably, the inspection data of park equipment includes at least images or video clips to quickly find the fault location.

[0025] Further, in S2, activating the bionic eyeball includes:

[0026] If the fault belongs to the medium safety level, control the bionic eyeball to respond to the first set of preset sound and light warning schemes;

[0027] If the fault belongs to the high safety level, control the bionic eyeball to respond to the second set of preset sound and light warning schemes.

[0028] In this way, non-staff can quickly know the urgency of the current fault, which is convenient for safe and orderly evacuation, and avoids safety accidents during the evacuation due to panic caused by the alarm.

[0029] Preferably, in the first set of preset sound and light warning schemes, the sound is in the form of a siren, and the light is a flashing blue light. In the second set of preset sound and light warning schemes, the sound is in the form of a combination of voice playback and a siren, and the light is a flashing red light.

[0030] Further, in S3, there are several distance intervals preset in the mobile intelligent module, and each distance interval corresponds to a volume, brightness and blinking speed. Obtain the distance value between the human body closest to the inspection robot and the inspection robot, judge the distance interval to which the distance value belongs, and control the bionic eyeball to make corresponding responses according to the volume, brightness and blinking speed corresponding to the distance interval.

[0031] Preferably, in S3, the closer the distance range is to the inspection robot, the lower the corresponding volume, and the brighter the light and the faster the light flashing speed. Furthermore, when there is no one around the inspection robot, the staff can be informed of the location of the inspection robot through the sound. When there are staff around the inspection robot, the volume is reduced to avoid adverse effects on the health of the staff. At this time, the staff can be informed of the location of the inspection robot through the light, and reducing the volume can save energy. The change in the light brightness and flashing speed can remind the staff not to get too close to the inspection robot as much as possible to avoid blocking the inspection robot.

[0032] A park equipment safety inspection robot system provided by the present invention has two forms, bionic and non-bionic. It can not only ensure the passability of the inspection robot during travel, but also attract people's attention when necessary. In addition, the two modes are combined with sound and light responses, which can enable the staff to quickly find the location of the inspection robot and the fault location. At the same time, according to the warnings of sound and light, the corresponding correct emergency measures can be quickly taken to ensure production and personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In the drawings:

[0034] Figure 1 is a schematic diagram of a park equipment safety inspection robot system;

[0035] Figure 2 is a schematic diagram of an inspection robot;

[0036] Figure 3 is a schematic diagram of a bionic eye mechanism;

[0037] Figure 4 is a schematic diagram of the cooperation between a cylinder and a conduit and a guide groove;

[0038] Figure 5 is a partial enlarged cross-sectional view of the hinge joint of the cylinder.

[0039] The components represented by the reference numerals in the drawings are:

[0040] 1. Inspection robot; 11. Mobile vehicle body; 111. Storage groove; 112. Conduit; 1121. Driving window; 113. Guide groove; 12. Inspection data collector; 13. Bionic eye mechanism; 131. Bionic eyeball; 132. Lifting column; 1321. First cylinder; 1322. Second cylinder; 1323. Slide column; 1324. Rack surface; 133. Driver; 1331. Driving gear; 134. Clamping and locking component; 1341. Card slot; 1342. Card strip; 1343. Friction wheel; 2. Mobile intelligent module; 3. Remote centralized control center; 4. Wireless mobile display terminal. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] As shown Figure 1 In the embodiment of the present invention, a safety inspection robot system for park equipment is provided, which includes an inspection robot 1, a mobile intelligent module 2, and a remote centralized control center 3.

[0042] The inspection robot 1 is used for inspecting the park, collecting park equipment data, and providing a warning function.

[0043] The mobile intelligent module 2 is used for receiving and processing the collected park equipment data, transmitting data to and from the remote centralized control center 3, and controlling the inspection robot 1 to perform corresponding actions according to the processing and judgment results of the data. It may include a main board, on which a control unit, a data processing unit, and a wireless transmission unit are provided.

[0044] The remote centralized control center 3 is used for receiving and displaying the park equipment data collected by the inspection robot 1, monitoring the operation status of the inspection robot 1, and issuing emergency measure instructions, etc.

[0045] Among them, as shown Figure 2 In the figure, the inspection robot 1 includes a mobile vehicle body 11. The mobile vehicle body 11 is provided with a moving mechanism such as wheels or tracks. On the top of the vehicle body, an inspection data collector 12 is provided. In this embodiment, the inspection data collector 12 is close to the top of the mobile vehicle body 11, so as to reduce the height of the inspection robot 1 under normal conditions and at the same time reduce the attractiveness of the inspection data collector 12. The inspection data collector 12 can swing vertically and rotate horizontally, so as to increase its data collection range. The inspection data collector 12 can be selected as a monocular camera.

[0046] The mobile vehicle body 11 is also provided with a bionic eye mechanism 13. The bionic eye mechanism 13 includes two bionic eyeballs 131 and a lifting component for driving the two bionic eyeballs 131 to lift synchronously. The two bionic eyeballs 131 are located at the front side of the top of the mobile vehicle body 11 and in front of the inspection data collector 12, and are symmetrically arranged left and right. The two bionic eyeballs 131 are arranged to be able to extend or retract into the mobile vehicle body 11. The prominent feature of the present invention is that in addition to the bionic design, the bionic eyeballs 131 do not undertake the functions of information collection and recording, but an acoustic and optical warning function is added to them.

[0047] When the inspection robot 1 discovers that a device fails and needs to give a warning, the two bionic eyeballs 131 rise, and emit a warning sound and light. At the same time, the two bionic eyeballs 131 imitate the image of biological eyes, making the inspection robot 1 have a bionic appearance and be in a bionic mode, improving its warning power, and also enabling the inspection robot 1 to easily attract the attention of personnel when necessary, which is beneficial for the relevant staff in the park to quickly know that the device has failed.

[0048] When the inspection robot 1 is in a normal state, the two bionic eyeballs 131 are retracted into the mobile body 11. Firstly, the overall height of the inspection robot 1 is reduced to ensure the passability of the inspection robot 1. Secondly, the center of gravity of the inspection robot 1 is lowered to improve the stability of the inspection robot 1 during movement. Thirdly, the appearance of the inspection robot 1 does not have a bionic shape, which reduces its attractiveness in a normal working state and avoids onlookers.

[0049] Please see again Figures 2 to 5 As shown, the lifting assembly specifically includes two lifting columns 132 and a driver 133 for driving the two lifting columns 132 to move synchronously, and two bionic eyeballs 131 are respectively installed on the top of the lifting columns 132. The lifting columns 132 are tubular, and the wires are routed inside the tube.

[0050] A storage groove 111 is provided on the top of the mobile body 11 for storing the bionic eyeball 131 . A guide tube 112 is provided at the bottom of the storage groove 111 . The lifting column 132 is located in the guide tube 112 and slidably cooperates with the guide tube 112 .

[0051] The lifting column 132 specifically includes a plurality of columns hinged in sequence, and the bionic eyeball 131 is installed on the top of the uppermost column.

[0052] When the bionic eyeball 131 is in a state of extending out of the mobile body 11, a number of columns are arranged vertically and can support the bionic eyeball 131. When the bionic eyeball 131 is in a state of retracting into the mobile body 11, only the topmost column is in a vertical extension state, and the remaining columns are located on one side of the topmost column, in a horizontal or inclined extension state. In this way, the bionic eyeball 131 can have a higher lifting height while reducing the height dimension of the mobile body 11. The height of the mobile body 11 only needs to be able to accommodate the topmost column, rather than the overall length of the lifting column 132, thereby reducing the height of the inspection robot 1 during the travel process, ensuring the passability and travel stability of the inspection robot 1.

[0053] In detail, in the present embodiment, the lifting column 132 includes two columns, namely a first column 1321 and a second column 1322. The lower end of the first column 1321 is hinged to the upper end of the second column 1322. A sliding column 1323 extends laterally from the lower end of the second column 1322. The axis of the sliding column 1323 and the axis of the column hinge axis both extend left and right. A guide groove 113 is provided below the storage groove 111. The sliding column 1323 slides in the guide groove 113 and is configured to enable the second column 1322 to be vertical before the upper end of the second column 1322 moves up into the conduit 112, and to enable the second column 1322 to be tilted to one side after the upper end of the second column 1322 moves down and slides out of the conduit 112.

[0054] Among them, the cross-sections of the first cylinder 1321 and the second cylinder 1322 are the same. The guide groove 113 is L-shaped, and an inclined section is connected between its vertical section and horizontal section. When the sliding column 1323 is located in the vertical section of the guide groove 113, the second cylinder 1322 is in a vertical state. When the second cylinder 1322 moves downward, the sliding column 1323 contacts the inclined section. Under the action of the inclined section, the lower end of the second cylinder 1322 inclines towards the horizontal section of the guide groove 113. As the lifting column 132 continues to move downward, when the sliding column 1323 slides into the inclined section, the second cylinder 1322 can be in a horizontal placement state or an inclined state, preferably in a horizontal placement state.

[0055] On the front side or the rear side of the first cylinder 1321 and the second cylinder 1322, a rack surface 1324 in the shape of a vertical rack is machined by a direct machining method. The output end of the driver 133 cooperates with the rack surface 1324 on the first cylinder 1321 and the second cylinder 1322 through the driving gear 1331, and then drives the vertical movement of the two cylinders by rotating the driving gear 1331. When the two cylinders are in a vertical state, the rack surfaces 1324 on them can be smoothly continued, so that the driving gear 1331 will not have a situation of slipping teeth or no teeth when rotating from cooperating with one cylinder to cooperating with the other cylinder.

[0056] Among them, the driver 133 adopts a servo motor, which can be directly connected to the driving gear 1331 through the output shaft or connected to the driving gear 1331 through a transmission mechanism to drive the vertical movement of the lifting column 132.

[0057] The machining position of the rack surface 1324 is opposite to the extending direction of the horizontal section of the guide groove 113. In this embodiment, for example, the horizontal section of the guide groove 113 extends backward, and the rack surface 1324 is machined on the front side of the cylinder.

[0058] A clamping and locking assembly 134 is provided between the first cylinder 1321 and the second cylinder 1322 to lock the two cylinders together when they are both in a vertical state, so as to prevent the first cylinder 1321 from rotating after protruding from the moving vehicle body 11. Specifically, the clamping and locking assembly 134 includes a clamping groove 1341, a clamping strip 1342, and a friction wheel 1343. The clamping groove 1341 is arranged inside the inner side wall of the lower end of the first cylinder 1321. The clamping strip 1342 is slidably connected inside the inner side wall of the upper end of the second cylinder 1322 and can be vertically slid into the clamping groove 1341. The friction wheel 1343 is rotatably connected to the side wall of the upper end of the second cylinder 1322. One side wheel surface abuts against the clamping strip 1342, and the other side wheel surface can abut against the inner wall of the conduit 112.

[0059] When the upper end of the second cylinder 1322 moves upward into the conduit 112, the friction wheel 1343 abuts against the inner wall of the conduit 112 to generate friction. As the second cylinder 1322 moves upward, the friction wheel 1343 rotates. The friction wheel 1343 abuts against the latch strip 1342. Under the action of the frictional force, the rotation of the friction wheel 1343 drives the latch strip 1342 to move upward and insert into the card slot 1341, completing the locking of the positional relationship between the first cylinder 1321 and the second cylinder 1322. Similarly, when the second cylinder 1322 moves downward, unlocking is completed.

[0060] A friction damping may be provided on the rotating shaft of the friction wheel 1343, so that when the friction wheel 1343 is not in contact with the conduit 112, it is not easy to rotate, thereby avoiding the sliding of the latch strip 1342 in this state. Or a rubber tube is sleeved outside the friction wheel 1343, and stable frictional force and extrusion force are generated between the rubber tube and the inner wall of the conduit 112 and the latch strip 1342. The latch strip 1342 is squeezed by the rubber tube to prevent the latch strip 1342 from sliding when the friction wheel 1343 is not in contact with the conduit 112.

[0061] In this embodiment, the conduit 112 and the cylinder are preferably rectangular tubes to facilitate sliding fit, hinged connection, and the setting of the snap-locking assembly 134.

[0062] More specifically, in this embodiment, the conduit 112 extends downward from the bottom of the storage groove 111, and a driving window 1121 is provided on the side wall. The driving gear 1331 cooperates with the rack surfaces 1324 on the two cylinders through the driving window 1121. Before the second cylinder 1322 contacts the driving gear 1331, the upper end of the second cylinder 1322 first enters the conduit 112 to improve the stability of the driving gear 1331 driving the two cylinders to move up and down.

[0063] A cover plate (not shown in the figure) may also be provided at the opening of the storage groove 111. One side edge of the cover plate is hinged to the moving vehicle body 11, and a motor for driving the cover plate to rotate is also provided on the moving vehicle body 11. When the bionic eyeball 131 needs to extend, the cover plate opens. When the bionic eyeball 131 is retracted into the storage groove 111, the cover plate closes, playing a role in dust prevention.

[0064] In this embodiment, an infrared sensor (not shown in the figure) is also provided on the moving vehicle body 11 to detect whether there is anyone around the inspection robot 1 and the distance between the person and the inspection robot 1.

[0065] In some embodiments, the park equipment safety inspection robot 1 system may further include a wireless mobile display terminal 4, which can be communicatively connected to the mobile intelligent module 2 and the remote centralized control center 3. Multiple wireless mobile display terminals 4 can be provided and held by maintenance and security personnel. The inspection data obtained by the inspection robot 1 can be directly or indirectly sent to the wireless mobile display terminal 4 so that the maintenance and security personnel can timely learn about and view the fault situation and take corresponding safety measures in a timely manner.

[0066] In this embodiment, the bionic eyeball 131, the driver 133, and the motor of the cover plate are all controlled by the control unit of the mobile intelligent module 2.

[0067] In addition, in this embodiment, the mobile intelligent module is set to be able to control the inspection robot to perform inspection operations according to the following steps:

[0068] S1. Obtain the park equipment inspection data, compare and judge it with the park equipment safety data in the historical data. If it is judged that the equipment has no fault, continue the inspection; otherwise, execute S2.

[0069] Among them, the park equipment inspection data includes at least images or video clips to quickly locate the fault location.

[0070] S2. According to the comparison result of S1, judge the preset safety level to which the fault belongs;

[0071] If it belongs to the light safety level, generate a general maintenance work order for the park equipment inspection data and send it to the remote centralized control center 3, and continue the inspection;

[0072] If it belongs to the medium or high safety level, stop the inspection operation, generate an emergency maintenance work order for the park equipment inspection data and send it to the remote centralized control center 3, and activate the bionic eyeball 131.

[0073] Among them, activating the bionic eyeball 131 includes:

[0074] If the fault belongs to the medium safety level, control the bionic eyeball 131 to respond to the first set of preset sound and light warning schemes;

[0075] If the fault belongs to the high safety level, control the bionic eyeball 131 to respond to the second set of preset sound and light warning schemes.

[0076] In this way, non-staff can quickly know the urgency of the current fault, which is convenient for safe and orderly evacuation and can avoid safety accidents during the evacuation process caused by panic due to the alarm.

[0077] Further, in the first set of preset sound and light warning schemes, the sound is in the form of a siren, and the light is a flashing blue light. In the second set of preset sound and light warning schemes, the sound is in the form of a combination of voice playback and a siren, and the light is a flashing red light.

[0078] S3. When a human body is detected, obtain the distance between the human body and the inspection robot 1, and control the changes in the volume, brightness, and flashing speed of the bionic eyeball 131 according to the change in the distance.

[0079] Through the bionic eyeball 131, non-staff can be quickly warned to evacuate, and at the same time, staff members (maintenance and security personnel) can quickly find the position of the inspection robot 1.

[0080] Among them, several distance intervals are preset in the mobile intelligent module 2, and each distance interval corresponds to a kind of volume, brightness, and flashing speed. Obtain the distance value between the human body closest to the inspection robot 1 and the inspection robot 1, judge the distance interval to which the distance value belongs, and control the bionic eyeball 131 to make corresponding responses according to the volume, brightness, and flashing speed corresponding to the belonging distance interval.

[0081] Preferably, the closer the distance interval is to the inspection robot 1, the lower the corresponding volume, the brighter the light, and the faster the light flashing speed. Furthermore, when there is no one around the inspection robot 1, the staff can learn the position of the inspection robot 1 through the sound. When there are staff members around the inspection robot 1, the volume is reduced to avoid adverse effects on the health of the staff. At this time, the staff can learn the position of the inspection robot 1 through the light, and reducing the volume can save energy. The changes in the light brightness and flashing speed can remind the staff not to get too close to the inspection robot 1 as much as possible to avoid blocking the inspection robot 1.

Claims

1. A safety inspection robot system for park equipment, characterized in that, It includes an inspection robot (1), a mobile intelligent module (2) and a remote control center (3); The inspection robot (1) comprises a mobile body (11), an inspection data collector (12) and a bionic eye mechanism (13); the inspection data collector (12) is close to the top of the mobile body (11) and can swing vertically and rotate horizontally; the bionic eye mechanism (13) comprises two bionic eyeballs (131) and a lifting component that drives the two bionic eyeballs (131) to rise and fall synchronously; the two bionic eyeballs (131) are located at the top of the mobile body (11) and in front of the inspection data collector (12) and are arranged symmetrically on the left and right; the two bionic eyeballs (131) are arranged to be able to extend or retract into the mobile body (11); an infrared sensor is provided on the mobile body (11); and the bionic eyeballs (131) have an audible and visual warning function; The lifting assembly comprises two lifting columns (132) and a driver (133) for driving the two lifting columns (132) to move synchronously, and the two bionic eyeballs (131) are respectively mounted on the top ends of the lifting columns (132); A storage groove (111) is provided on the top of the mobile vehicle body (11) for storing the bionic eyeball (131); a guide tube (112) is provided at the bottom of the storage groove (111); and a lifting column (132) is located in the guide tube (112) and is slidably matched with the guide tube (112); The lifting column (132) comprises a first column (1321) and a second column (1322), the lower end of the first column (1321) is hinged to the upper end of the second column (1322), a sliding column (1323) is extended laterally from the lower end of the second column (1322), the axis of the sliding column (1323) and the column hinge axis both extend left and right, a guide groove (113) is provided below the storage groove (111), the sliding column (1323) slides in the guide groove (113), and the guide groove (113) is configured to enable the second column (1322) to be vertical before the upper end of the second column (1322) moves upward into the guide tube (112), and to enable the second column (1322) to be tilted to one side after the upper end of the second column (1322) moves downward and slides out of the guide tube (112); A card-jointed locking assembly (134) is provided between the first column (1321) and the second column (1322), and the card-jointed locking assembly (134) comprises a card slot (1341), a card strip (1342) and a friction wheel (1343); the card slot (1341) is provided on the inner side of the side wall at the lower end of the first column (1321); the card strip (1342) is slidably connected to the inner side of the side wall at the upper end of the second column (1322) and can be vertically slidably inserted into the card slot (1341); the friction wheel (1343) is rotatably connected to the side wall at the upper end of the second column (1322); one side of the wheel surface abuts against the card strip (1342), and the other side of the wheel surface can abut against the inner wall of the conduit (112); The mobile intelligent module (2) is arranged in the mobile vehicle body (11), and is capable of receiving and processing inspection data acquired by the inspection data collector (12), transmitting data to and from the remote centralized control center (3), and controlling the start and stop of the mobile vehicle body (11) and the bionic eye mechanism (13).

2. The safety inspection robot system for park equipment according to claim 1, wherein It further includes a wireless mobile display terminal (4), which can be communicatively connected to the mobile intelligent module (2) and the remote centralized control center (3).

3. A park equipment safety inspection robot system according to any one of claims 1-2, characterized in that, The mobile intelligent module (2) is configured to control the inspection robot (1) to perform inspection operations according to the following steps: S1. Obtain the inspection data of the park equipment, compare and judge it with the safety data of the park equipment in the historical data. If it is judged that there is no fault in the equipment, continue the inspection; otherwise, execute S2; S2. According to the comparison result of S1, judge the preset safety level to which the fault belongs; If it belongs to the light safety level, generate a normal maintenance work order for the inspection data of the park equipment and send it to the remote centralized control center (3), and continue the inspection; If it belongs to the medium or high safety level, stop the inspection operation, generate an emergency maintenance work order for the inspection data of the park equipment and send it to the remote centralized control center (3), and activate the bionic eyeball (131); S3. When a human body is detected, obtain the distance between the human body and the inspection robot (1), and control the volume, brightness and flashing speed of the bionic eyeball (131) to change according to the change of the distance.

4. The safety inspection robot system for park equipment according to claim 3, characterized in that, The inspection data of the park equipment includes at least images or video clips.

5. The safety inspection robot system for park equipment according to claim 3, characterized in that, In S2, activating the bionic eyeball (131) includes: If the fault belongs to the medium safety level, control the bionic eyeball (131) to respond to the first set of preset sound and light warning schemes; If the fault belongs to the high safety level, control the bionic eyeball (131) to respond to the second set of preset sound and light warning schemes.

6. The safety inspection robot system for park equipment according to claim 5, characterized in that, In the first set of preset sound and light warning schemes, the sound is in the form of a siren, and the light is a flashing blue light. In the second set of preset sound and light warning schemes, the sound is in the form of a combination of voice playback and a siren, and the light is a flashing red light.

7. The safety inspection robot system for park equipment according to claim 3, wherein, In S3, there are several preset distance intervals in the mobile intelligent module (2), and each distance interval corresponds to a volume, brightness and flashing speed. Obtain the distance value between the nearest human body to the inspection robot (1) and the inspection robot (1), judge the distance interval to which the distance value belongs, and control the bionic eyeball (131) to make corresponding responses according to the volume, brightness and flashing speed corresponding to the belonging distance interval.

8. The safety inspection robot system for park equipment according to claim 7, characterized in that, In S3, the closer the distance interval is to the inspection robot (1), the lower the corresponding volume, the brighter the light and the faster the light flashing speed.

Images