Indoor intelligent wheeled inspection robot

Abstract

The application relates to an indoor intelligent wheeled inspection robot applied to the field of robots, which comprises a robot body, an arm controller is installed at the upper end of the robot body, an inspection arm is installed at the front end of the arm controller, an inspection probe is installed at the upper end of the inspection arm, a driving joint structure is arranged in the middle of the inspection arm, through the cooperative operation of the inspection arm, a shielding wing structure and an emergency self-resetting structure, dual protection effects of emergency support and wing spreading guarding are achieved, the emergency protection capability of the robot body is significantly enhanced, when a sudden danger such as an earthquake occurs, the robot body can quickly build a refuge area for personnel who fail to timely evacuate from the indoor, through effective shielding of the top, the potential threat of indoor sundries to the refuge personnel is blocked, more comprehensive safety protection is provided for the trapped personnel, so that the safety protection effect is fully played, and the practical function and application value of the robot body in the indoor scene are further improved.

Description

Technical Field

[0001] The present invention relates to a wheeled inspection robot, and more particularly to an indoor intelligent wheeled inspection robot applied in the field of robotics. Background Technology

[0002] Indoor intelligent wheeled inspection robots, as automated devices designed for complex indoor environments, rely on core technologies such as environmental perception, autonomous navigation, data processing, and decision control to proactively perform tasks such as area inspection, status monitoring, and anomaly warning. They are now widely used in various fields such as industry, security, energy, and healthcare. To achieve efficient and accurate inspection operations, these robots need to be equipped with a highly flexible lifting platform and a highly stable walking mechanism.

[0003] Chinese invention patent CN109343536B discloses an indoor inspection robot, relating to the field of robotics. Through the use of a lifting platform, a walking mechanism, and a self-charging power supply, the robot achieves intelligent and efficient work, saving manpower while improving inspection accuracy, thus realizing the aforementioned functions. However, this solution has limitations in practical applications, namely, it cannot effectively identify and handle dynamic and complex indoor environments, easily leading to collisions or ineffective obstacle avoidance. To address this deficiency, Chinese invention patent CN113110457B discloses an autonomous coverage inspection method for intelligent robots in complex dynamic indoor environments. This method uses a virtual cost map layer mapping to divide a global two-dimensional grid map into regions, then automatically plans full-coverage paths for each region, autonomously avoiding static obstacles within that region, obtaining the global path with optimal coverage in each region. In inspection mode, the intelligent robot begins executing the sequence of global paths.

[0004] Despite the technological advancements mentioned above that have driven industry development, current mainstream indoor intelligent wheeled inspection robots primarily focus on basic inspection, detection, and early warning functions. When deployed in indoor spaces with human activity, their emergency response capabilities are clearly insufficient. For example, in emergencies such as earthquakes, they cannot provide effective evacuation guidance or implement effective safety measures, thus limiting the functional completeness of their application scenarios. Summary of the Invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to increase the emergency protection capability of existing indoor intelligent wheeled inspection robots, so as to provide effective risk avoidance guidance for humans and take effective safety protection measures in emergency situations such as earthquakes.

[0006] To solve the above problems, the present invention provides an indoor intelligent wheeled inspection robot, including a robot body, an arm controller installed on the upper end of the robot body, an inspection arm installed at the front end of the arm controller, an inspection probe installed at the upper end of the inspection arm, and a drive joint structure provided in the middle of the inspection arm.

[0007] The drive joint structure has linkage frame plates on the left and right sides that cooperate with the inspection arm. Each linkage frame plate has a shielding wing structure installed at the end away from the drive joint structure. The shielding wing structure is equipped with an emergency self-resetting structure at the end close to the drive joint structure, and the emergency self-resetting structure cooperates with the inspection probe.

[0008] In an emergency rescue situation, the inspection probe will droop, causing the emergency self-resetting structure to automatically unlock and reset, releasing the locking effect on the shielding wing structure, allowing the shielding wing structure to extend and deform, forming a refuge zone with the safety support position.

[0009] In the aforementioned indoor intelligent wheeled inspection robot, the coordinated operation of the inspection arm, shielding wing structure, and emergency self-resetting structure achieves dual protection effectiveness of emergency support and wing-spreading protection, significantly enhancing the robot's emergency protection capabilities. Through effective shielding at the top, it blocks potential threats from indoor debris to refugees, providing more comprehensive safety guarantees for those trapped.

[0010] As a further improvement of this application, the shielding wing structure includes a liner plate fixedly disposed at the end of the linkage frame plate away from the inspection arm. A locking plate is rotatably connected to the end of the liner plate away from the linkage frame plate, and the rotatable connection position of the locking plate and the liner plate is disposed on the side away from the drive joint structure. An elastic inner wing is fixedly disposed between the locking plate and the liner plate. An outer shielding wing is fixedly connected to the unfolded end of the elastic inner wing, and the outer shielding wing is folded and sandwiched inside the locking plate and the liner plate.

[0011] As a further improvement of this application, the emergency self-resetting structure includes an emergency release pin fixedly installed on the side of the locking plate near the drive joint structure. The end of the emergency release pin away from the locking plate passes through the elastic inner wing, the outer shielding wing, and the liner, and extends into the linkage frame plate. The emergency release pin is in sliding engagement with the elastic inner wing, the outer shielding wing, the liner, and the linkage frame plate respectively. A vertically arranged adsorption pin is slidably inserted into one end of the emergency release pin located in the linkage frame plate. A horizontally arranged self-resetting pin is slidably inserted into the upper end of the adsorption pin. Through the setting of the self-resetting pin and the adsorption pin, the emergency release pin is locked, maintaining the folded state of the shielding wing structure.

[0012] As a further improvement of this application, an emergency hole is provided in the linkage frame plate located on the upper side of the emergency release pin, and the emergency hole is in sliding fit with the self-resetting pin. A traction rail groove connected to the emergency hole and located on the upper side of the emergency release pin is also provided in the linkage frame plate. An emergency locking groove that cooperates with the adsorption pin is provided at the lower end of the linkage frame plate.

[0013] An extension spring is fixedly connected to one end of the self-resetting pin near the emergency hole, and the other end of the extension spring is fixedly connected to the inner wall of the emergency hole. An emergency cable is slidably installed in the traction rail groove. The lower end of the emergency cable extends into the emergency hole and is fixedly connected to the self-resetting pin. The upper end of the emergency cable extends to the outside of the linkage frame plate and is fixedly connected to the inspection probe.

[0014] As a further improvement of this application, the inspection arm includes a lower arm that is rotatably mounted at the front end of the arm controller. The upper end of the lower arm is fixedly connected to the drive joint structure. The right end of the drive joint structure is fixedly connected to a drive sleeve. The right end of the drive sleeve is embedded in the linkage frame plate located on the right side and rotates with it. The left end of the linkage frame plate located on the right side is fixedly mounted with an upper arm. An inspection probe is mounted on the upper end of the upper arm.

[0015] As a further improvement of this application, the drive sleeve and the linkage frame plate are provided with an anti-rotation through hole that cooperates with the adsorption pin. When the inspection arm generates the refuge support action, the emergency lock groove and the anti-rotation through hole are aligned, and can achieve mechanical anti-rotation locking of the linkage frame plate and the drive sleeve by cooperating with the adsorption pin.

[0016] As a further improvement of this application, the robot body is also equipped with an emergency rescue assistance system, which includes an emergency rescue processing unit. The input end of the emergency rescue processing unit is connected to a rescue data acquisition unit and a rescue program setting unit, and the output end of the emergency rescue processing unit is connected to a rescue support control unit and a rescue steering control unit.

[0017] The input end of the rescue data acquisition unit is connected to the inspection probe signal; the input end of the rescue program setting unit is connected to the read / write port located at the bottom; the output end of the rescue support control unit is connected to the arm controller and the inspection drive unit mounted in the robot body respectively; and the output end of the rescue steering control unit is connected to the arm controller signal.

[0018] As a further improvement of this application, the output end of the emergency rescue processing unit is also connected to an emergency energy-saving operation unit and a rescue auxiliary unit. The output end of the emergency energy-saving operation unit is connected to the intelligent inspection system mounted in the robot body, and the output end of the rescue auxiliary unit is connected to the alarm set at the front of the robot body and the remote signal transmitter set in the robot body, respectively.

[0019] As a further improvement of this application, an adsorption pad is fixedly connected to the upper end of the inspection probe, and a pressure probe is installed inside the adsorption pad. The input end of the emergency rescue processing unit is also connected to a rescue location acquisition unit, and the input end of the rescue location acquisition unit is connected to the pressure probe signal.

[0020] As a further improvement of this application, the output end of the emergency rescue processing unit is also connected to a rescue guidance unit and an emergency alarm transmission unit. The output end of the rescue guidance unit is connected to the voice player and the guide spotlight signal installed on the robot body, respectively, and the output end of the emergency alarm transmission unit is connected to the remote signal transmitter signal installed in the robot body.

[0021] In summary, through the coordinated operation of the inspection arm, the shielding wing structure, and the emergency self-resetting structure, the robot achieves dual protective capabilities of emergency support and wing-mounted protection, significantly enhancing its emergency protection capabilities. When encountering sudden emergencies such as earthquakes, the robot can quickly build a refuge area for people who cannot evacuate indoors in time. Through effective shielding at the top, it blocks potential threats from indoor debris to refugees, providing more comprehensive safety protection for those trapped. This fully leverages its safety protection role and further enhances the robot's practical functions and application value in indoor scenarios. Attached Figure Description

[0022] Figure 1 Generate isometric drawings of the robot body for emergency rescue in the second and third embodiments of this application;

[0023] Figure 2 This is a control logic diagram of the emergency rescue auxiliary system according to the third embodiment of this application;

[0024] Figure 3 A front view of the robot body in emergency rescue for the second and third embodiments of this application;

[0025] Figure 4 A partial enlarged view of the shielding wing structure and emergency self-resetting structure located on the right side of the drive joint structure during the inspection of the second and third embodiments of this application;

[0026] Figure 5 Enlarged view of the shielding wing structure and emergency self-resetting structure located on the right side of the drive joint structure during emergency rescue derailment in the second and third embodiments of this application;

[0027] Figure 6 Enlarged view of the shielding wing structure and emergency self-resetting structure located on the right side of the drive joint structure during emergency rescue wing deployment in the second and third embodiments of this application;

[0028] Figure 7 Exploded view showing the shielding wing structure and emergency self-resetting structure located on the right side of the drive joint structure in the second and third embodiments of this application;

[0029] Figure 8 These are diagrams showing the retracted and stowed states of the elastic inner wing and the shielding outer wing in the second and third embodiments of this application.

[0030] Figure 9 The following are isometric drawings of the robot body during inspection according to the first to third embodiments of this application;

[0031] Figure 10 This is a front view of the robot body during inspection according to the first to third embodiments of this application;

[0032] Figure 11 This is a top view of the robot body in the third embodiment of this application performing an emergency rescue action indoors.

[0033] Explanation of the labels in the diagram:

[0034] 1. Robot body, 11. Arm controller, 12. Inspection arm, 2. Drive joint structure, 21. Linkage frame plate, 22. Drive insert, 23. Emergency hole, 24. Emergency lock groove, 25. Anti-rotation through hole, 26. Traction rail groove, 3. Inspection probe, 31. Adsorption pad, 4. Shielding wing structure, 41. Elastic inner wing, 42. Shielding outer wing, 43. Locking plate, 44. Liner plate, 5. Emergency self-resetting structure, 51. Emergency release pin, 52. Adsorption pin, 53. Self-resetting pin, 54. Emergency cable, 55. Extension spring. Detailed Implementation

[0035] The three embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0036] Implementation method 1:

[0037] Figure 9 and Figure 10 The diagram shows an indoor intelligent wheeled inspection robot, comprising a robot body 1, an arm controller 11 mounted on the upper end of the robot body 1, an inspection arm 12 mounted on the front end of the arm controller 11, an inspection probe 3 mounted on the upper end of the inspection arm 12, a drive joint structure 2 located in the middle of the inspection arm 12, and a lower arm rotatably mounted on the front end of the arm controller 11. The upper end of the lower arm is fixedly connected to the drive joint structure 2. A drive sleeve 22 is fixedly connected to the right end of the drive joint structure 2. The right end of the drive sleeve 22 is embedded in a linkage frame plate 21 located on the right side and rotates with it. The left end of the linkage frame plate 21 located on the right side is fixedly... The robot is equipped with an upper arm, with an inspection probe 3 mounted on the upper end of the upper arm. The robot body 1 is equipped with an inspection drive unit and an intelligent inspection system. The inspection drive unit can automatically control the wheels at the lower end of the robot body 1 according to instructions, so as to realize the automatic movement of the robot body 1 and effectively achieve the function of comprehensive inspection of the indoor environment. The intelligent inspection system can control and transmit the inspection status and inspection data of the robot body 1, so as to realize the intelligent and automated function of the robot body 1. In addition, it can also control the inspection drive unit according to the inspection route and obstacle avoidance judgment to realize the effectiveness of the inspection of the robot body 1.

[0038] The drive joint structure 2 includes a drive motor and a transmission gear set. The output end of the transmission gear is fixedly connected to the linkage frame plate 21 located on the right side. The drive motor can drive the upper arm to rotate through the transmission gear set and the linkage frame plate 21 located on the right side. The lower end of the inspection probe 3 is provided with a matching drive structure, which can realize the steering function of the inspection probe 3. The arm controller 11 can control the steering adjustment of the drive joint structure 2 and the inspection probe 3 according to the instructions. The arm controller 11, drive joint structure 2, inspection probe 3, inspection drive unit and intelligent inspection system are all components, units and systems of existing indoor intelligent wheeled inspection robots. They are directly referenced here without any changes to their principles and structures. The 11 unit, in conjunction with the drive joint structure 2 and other drive components on the inspection arm 12, can control the angles of the inspection arm 12 and the inspection probe 3, thereby achieving the inspection purpose at different positions. The drive joint structure 2 can connect the upper and lower arms of the inspection arm 12 and control the angle of the upper arm. The inspection probe 3 can collect indoor environmental data and effectively monitor the indoor environment. The inspection drive unit, in conjunction with the intelligent inspection system within the robot body 1, can enable the robot body 1 to move autonomously, achieving effective inspection and obstacle avoidance. Those skilled in the art can select and apply it as needed, so further details are omitted.

[0039] Figure 9 and Figure 10 As shown, the robot body 1 weighs 40-60kg, and its dimensions (length*width*height) are (550-670)*(500-650)*(1000-1500)mm. The inspection arm 12 has a length of 600-1100mm. The inspection probe 3 consists of a thermal imaging camera and a visible light camera. The robot body 1 is also equipped with a laser radar guidance system. The robot body 1 is equipped with a rechargeable battery. The battery life is ≥8h in inspection mode and ≥40h in energy-saving mode. In energy-saving mode, the intelligent inspection system controls the intelligent components in the robot body 1, shuts down the inspection function components, and stops signal transmission, maintaining only the alarm function. This ensures continuous protection while providing effective sound support for subsequent rescue, reducing the difficulty of rescue and locating the target. It can also be charged on demand with the charging dock.

[0040] The second implementation method:

[0041] Figure 1 and Figure 3 - Figure 10As shown, the indoor intelligent wheeled inspection robot is an improvement on the first embodiment, with improvements made to the structurally different positions. It includes a robot body 1, an arm controller 11 installed on the upper end of the robot body 1, an inspection arm 12 installed at the front end of the arm controller 11, an inspection probe 3 installed on the upper end of the inspection arm 12, and a drive joint structure 2 set in the middle of the inspection arm 12.

[0042] The drive joint structure 2 has linkage frame plates 21 on the left and right sides respectively, which cooperate with the inspection arm 12. Each of the two linkage frame plates 21 has a shielding wing structure 4 installed at the far end. The shielding wing structure 4 is provided with an emergency self-resetting structure 5 at the end close to the drive joint structure 2, and the emergency self-resetting structure 5 cooperates with the inspection probe 3.

[0043] In an emergency rescue situation, the inspection probe 3 lowers its head, causing the emergency self-resetting structure 5 to automatically unlock and reset, releasing the locking effect on the shielding wing structure 4. This allows the shielding wing structure 4 to extend and deform, forming a refuge area with the safety support position. It should be noted that if the inspection probe 3 is damaged and cannot lower its head, personnel who have not escaped can manually pull the emergency cable 54 exposed on the outside of the inspection probe 3 to unlock the shielding wing structure 4 in an emergency. Through the coordinated operation of the inspection arm 12, the shielding wing structure 4, and the emergency self-resetting structure 5, a dual protective effect of emergency support and wing extension is achieved, significantly enhancing the emergency protection capability of the robot body 1. When encountering sudden dangers such as earthquakes, the robot body 1 can quickly build a refuge area for personnel who have not been able to evacuate the room in time. Through the effective shielding of the top, the potential threat of indoor debris to the refugees is blocked, providing more comprehensive safety protection for the trapped personnel, thus giving full play to the safety protection role and further enhancing the practical function and application value of the robot body 1 in indoor scenarios.

[0044] Figure 4 - Figure 8As shown, the shielding wing structure 4 includes a liner 44 fixedly mounted on the end of the linkage frame plate 21 away from the inspection arm 12. A locking plate 43 is rotatably connected to the end of the liner 44 away from the linkage frame plate 21. A torsion spring is sleeved at the rotatable connection between the locking plate 43 and the liner 44, which can drive the locking plate 43 to rotate toward the side away from the liner 44. The rotatable connection position between the locking plate 43 and the liner 44 is located on the side away from the drive joint structure 2. The length of the liner 44 and the locking plate 43 is 400-600mm. An elastic inner wing 41 is fixedly mounted between the locking plate 43 and the liner 44. An outer shielding wing 42 is fixedly connected to the unfolded end of the elastic inner wing 41. The wing 42 is folded and sandwiched within the locking plate 43 and the liner 44. Both the elastic inner wing 41 and the outer shielding wing 42 are made of a composite of elastic frame and elastic fabric. The elastic fabric wraps around the outside of the elastic frame, which can be made of elastic alloy or carbon fiber composite material. After the locking plate 43 and the liner 44 lose their limiting effect, they gradually unfold under the action of elasticity to form a protective shielding wing. The fully unfolded width of the elastic inner wing 41 and the outer shielding wing 42 is 400-600mm, which can form a refuge area of ​​about 1 cubic meter during emergency rescue. While ensuring effective protection, it can also fully realize the protection of multiple people.

[0045] Figure 4 - Figure 8 As shown, the emergency self-resetting structure 5 includes an emergency release pin 51 fixedly disposed on the side of the locking plate 43 near the drive joint structure 2. The end of the emergency release pin 51 away from the locking plate 43 passes through the elastic inner wing 41, the outer shielding wing 42, and the liner 44, and extends into the linkage frame plate 21. The emergency release pin 51 is in sliding engagement with the elastic inner wing 41, the outer shielding wing 42, the liner 44, and the linkage frame plate 21, respectively. One end of the emergency release pin 51 located in the linkage frame plate 21 is slidably inserted with a vertically arranged suction pin 52. The upper end of the suction pin 52 is slidably inserted with a horizontally arranged self-resetting pin 53. Through the arrangement of the self-resetting pin 53 and the suction pin 52, the emergency release pin 51 can be repositioned. Locking pin 51 maintains the folded state of the shielding wing structure 4. Under the action of adsorption pin 52 and self-resetting pin 53, emergency release pin 51 can lock the locking plate 43 and the liner plate 44, thereby maintaining the effective folding of the elastic inner wing 41 and the shielding outer wing 42 under normal inspection conditions, reducing the volume of the robot body 1 during inspection, ensuring its inspection flexibility, reducing obstacle avoidance difficulty, and automatically releasing and unlocking through mechanical linkage during emergency rescue, effectively improving rescue efficiency and protection, while also ensuring the smooth deployment of the elastic inner wing 41 and the shielding outer wing 42, effectively promoting the safety of the refuge area.

[0046] Figure 4 - Figure 8As shown, the linkage frame plate 21 has an emergency hole 23 located on the upper side of the emergency release pin 51, and the emergency hole 23 is in sliding fit with the self-resetting pin 53. The linkage frame plate 21 also has a traction rail groove 26 connected to the emergency hole 23 and located on the upper side of the emergency release pin 51. The lower end of the linkage frame plate 21 has an emergency locking groove 24 that cooperates with the adsorption pin 52.

[0047] A self-resetting pin 53 is fixedly connected to an extension spring 55 near one end of the emergency hole 23, and the other end of the extension spring 55 is fixedly connected to the inner wall of the emergency hole 23. An emergency cable 54 is slidably installed in the traction rail groove 26. The emergency cable 54 is made of steel rope to effectively ensure its tension. The lower end of the emergency cable 54 extends into the emergency hole 23 and is fixedly connected to the self-resetting pin 53. The upper end of the emergency cable 54 extends to the outside of the linkage frame plate 21 and is fixedly connected to the inspection probe 3. Through the setting of the emergency lock groove 24 and the anti-rotation through hole 25, the adsorption pin 52 can fall into the emergency lock groove 24 and the anti-rotation through hole 25 while the emergency release pin 51 generates an automatic release and unlocking action through mechanical linkage. Within the hole 25, the linkage frame plate 21 and the drive sleeve 22 are locked. Through mechanical locking, the effectiveness of the inspection arm 12 rescue support is ensured, avoiding the problem of the upper and lower arm connection turning due to the large amount of heavy objects at the top, which would cause the top shield to fail. This effectively ensures the effectiveness of the top shield of the refuge area. In addition, the tilting setting of the inspection arm 12 can also guide the heavy objects at the top, causing them to move downwards and accumulate at the rear of the robot body 1. While playing a role in limiting the robot body 1, it can also prevent the continuous accumulation of heavy objects from damaging the inspection arm 12 and the shielding wing structure 4, thus promoting the continuity and effectiveness of safety protection.

[0048] Figure 1 and Figure 3 - Figure 10 As shown, the inspection arm 12 includes a lower arm rotatably mounted at the front end of the arm controller 11. The upper end of the lower arm is fixedly connected to the drive joint structure 2. The right end of the drive joint structure 2 is fixedly connected to a drive sleeve 22. The right end of the drive sleeve 22 is embedded in the linkage frame plate 21 located on the right side and rotates with it. The left end of the linkage frame plate 21 located on the right side is fixedly mounted with an upper arm. An inspection probe 3 is mounted on the upper end of the upper arm. Through the cooperation of the linkage frame plate 21 and the inspection arm 12, the different inspection positions of the inspection probe 3 can be adjusted. Under the action of the arm controller 11, the inspection range at different angles can also be adjusted, which promotes the effectiveness and comprehensiveness of the inspection application function of the robot body 1. It can also play a supporting role in emergency rescue, promote the safety of building a refuge area, and thus play an effective top shielding role.

[0049] Figure 4 - Figure 8As shown, a non-rotational through hole 25 is provided at the rotatable connection between the drive sleeve 22 and the linkage frame plate 21, which cooperates with the adsorption pin 52. The non-rotational through hole 25 and the adsorption pin 52 are in transitional fit, and a guide chamfer is also provided at the upper end of the non-rotational through hole 25 to facilitate the adsorption pin 52 to enter the emergency lock groove 24 after falling, so as to achieve the locking function. The sum of the depths of the emergency lock groove 24 and the non-rotational through hole 25 is greater than or equal to the length of the adsorption pin 52. When the inspection arm 12 generates the refuge support action, the emergency lock groove 24 and the non-rotational through hole 25 are aligned, and can achieve the locking function of the linkage frame plate through the cooperation with the adsorption pin 52. The mechanical anti-rotation lock of 21 and drive sleeve 22, after the drive joint structure 2 drives the linkage frame plate 21 connected to the upper arm to adjust the refuge angle, the emergency lock groove 24 and the anti-rotation through hole 25 are aligned. Then, when the inspection probe 3 makes a downward movement to take refuge, the limit lock on the emergency release pin 51 and the adsorption pin 52 can be released under the action of the emergency cable 54, so that the adsorption pin 52 can fall into the emergency lock groove 24 and the anti-rotation through hole 25, realizing the mechanical locking effect on the rotation connection position of the upper arm and the lower arm, thereby ensuring the effectiveness of the refuge support of the inspection arm 12 and promoting the safety of the refuge area.

[0050] Figure 1 and Figure 3 - Figure 10 As shown, in an emergency, the robot body 1 moves to an effective support position indoors and, through the arm controller 11, controls the inspection arm 12 and the drive joint structure 2 to perform an emergency steering action. This causes the upper and lower arms of the inspection arm 12 to rotate to the same straight line, and the entire inspection arm 12 tilts forward, forming an angle of 30° to 60° with the front of the robot body 1, with 45° being the preferred angle. When there are fewer people, 60° is chosen to improve the effectiveness of the inspection arm 12 in guiding falling foreign objects when blocked from above, reducing the load-bearing pressure on the inspection arm 12 and the shielding wing structure 4, and promoting the continuous effectiveness of its support and protection. When there are more people, 30° is chosen to increase the space of the refuge area and achieve the protection of more people. Subsequently, the arm controller 11 controls the inspection probe 3 to perform a downward tilting action, while the robot body 1 moves until the suction pad 31 abuts against the wall, locking its wheels to ensure the effectiveness of the support position.

[0051] After the inspection probe 3 lowers its head, it directly pulls the emergency cable 54, causing it to move out of the linkage frame plate 21 under the guidance of the traction rail groove 26. This, in turn, pulls the self-resetting pin 53, causing it to move into the emergency hole 23 under the pulling force of the emergency cable 54 and compress the extension spring 55. After the self-resetting pin 53 moves into the emergency hole 23, it releases the locking limit on the adsorption pin 52. Guided by its own weight and the sliding cooperation of the emergency release pin 51, the adsorption pin 52 falls and disengages from the emergency release pin 51, releasing the locking of the emergency release pin 51. Under the combined action of the elastic deployment of the wing 41 and the outer shielding wing 42, and the reset action of the torsion spring at the rotating connection of the locking plate 43 and the liner 44, the locking plate 43 gradually moves away from the liner 44, releasing the folding restriction on the elastic inner wing 41 and the outer shielding wing 42. The outer shielding wing 42 flips back from the elastic inner wing 41 and produces a synchronized wing-spreading action. The shielding wing structure 4 on the left side spreads its lower wing, and the shielding wing structure 4 on the right side spreads its upper wing, thereby effectively increasing the protective area of ​​the inspection arm 12, achieving the top shielding effect of the refuge area, preventing falling foreign objects from causing injury to the personnel in the refuge area, and ensuring safety during emergency refuge.

[0052] When the drive joint structure 2 drives the linkage frame plate 21 connected to the upper arm to rotate, causing the upper arm and forearm to be in the same straight line, the emergency locking groove 24 and the anti-rotation through hole 25 rotate to the same position, forming an alignment connection. Then, the inspection arm 12 completes the emergency turn, and when the inspection probe 3 produces a drooping action, the drooping action of the inspection probe 3 will directly pull the emergency cable 54, causing the emergency cable 54 to move out of the linkage frame plate 21 under the guidance of the traction rail groove 26, which in turn pulls the self-resetting pin 53. Under the action of the pulling force of the emergency cable 54, the self-resetting pin 53 moves into the emergency hole 23 and compresses the extension spring 55. After the self-resetting pin 53 moves into the emergency hole 23... The locking limit on the adsorption pin 52 is released. Under the guidance of its own weight and the sliding cooperation of the emergency release pin 51, the adsorption pin 52 falls and disengages from the emergency release pin 51. While unlocking the emergency release pin 51, the adsorption pin 52 also moves into the anti-rotation through hole 25 and the emergency lock groove 24, realizing the rotational locking effect on the linkage frame plate 21 and the drive sleeve 22. This achieves the mechanical locking effect on the rotational connection position between the upper arm and the lower arm in the inspection arm 12. Through mechanical locking, the effectiveness of the rescue support of the inspection arm 12 is ensured, and the problem of the upper arm and lower arm connection turning due to the large amount of weight at the upper end, resulting in the failure of the top shield, is avoided. This effectively ensures the effectiveness of the top shield of the refuge area.

[0053] The third implementation method:

[0054] Figure 1 - Figure 11 As shown, the indoor intelligent wheeled inspection robot is an improvement on the second implementation method. The robot body 1 is also equipped with an emergency rescue assistance system. The emergency rescue assistance system includes an emergency rescue processing unit. The input end of the emergency rescue processing unit is connected to a rescue data acquisition unit and a rescue program setting unit. The output end of the emergency rescue processing unit is connected to a rescue support control unit and a rescue steering control unit.

[0055] The input end of the rescue data acquisition unit is connected to the inspection probe 3, the input end of the rescue program setting unit is connected to the read / write port located at the bottom, the output end of the rescue support control unit is connected to the arm controller 11 and the inspection drive unit mounted in the robot body 1, and the output end of the rescue steering control unit is connected to the arm controller 11. Through the setting of the emergency rescue auxiliary system, the effectiveness of safety protection in emergency situations can be effectively realized. After determining that some people have not escaped successfully, the refuge area is automatically built according to the set rescue program and indoor environmental data, which plays a role in protecting the safety of those who have not escaped.

[0056] Figure 2 As shown, the output of the emergency rescue processing unit is also connected to an emergency energy-saving operation unit and a rescue assistance unit. The output of the emergency energy-saving operation unit is connected to the intelligent inspection system installed in the robot body 1. The output of the rescue assistance unit is connected to the alarm set at the front of the robot body 1 and the remote signal transmitter set in the robot body 1. Through the setting of the emergency energy-saving operation unit, when setting up a refuge area for those who have not escaped and providing a sense of security for the personnel, the energy-saving operation function can be activated to save the power consumption of the robot body 1. In the subsequent safety protection process, it can continuously send rescue signals through the alarm, which makes it easier for subsequent rescuers to find the rescue location, improves rescue efficiency, and further ensures the continuity and effectiveness of the safety protection of the robot body 1. In addition, the setting of the rescue assistance unit and the remote signal transmitter can also transmit the number and situation data of the people in the refuge area to the outside before the energy-saving mode is activated, thereby providing effective data reference for subsequent rescue.

[0057] Figure 2As shown, an adsorption pad 31 is fixedly connected to the upper end of the inspection probe 3. A pressure probe is installed inside the adsorption pad 31. The input end of the emergency rescue processing unit is also connected to the rescue position acquisition unit. The input end of the rescue position acquisition unit is connected to the pressure probe signal. The setting of the rescue position acquisition unit and the pressure probe can, in combination with the indoor support wall, realize the monitoring function of the position of the robot body 1 forming a refuge area, avoid the movement of the robot body 1 caused by the influence of subsequent heavy objects on the top, fully ensure the effectiveness of the anti-rotation control of the robot body 1's wheels, and further ensure the safety of the refuge area. In addition, it can also judge the support status of the inspection arm 12 during emergency rescue based on the data feedback, and then issue warning signals for different emergency situations to assist rescuers in judging the situation of the refuge area, thereby increasing the safety and effectiveness of the rescue.

[0058] Figure 2 As shown, the output of the emergency rescue processing unit is also connected to a rescue guidance unit and an emergency alarm transmission unit. The output of the rescue guidance unit is connected to the voice player and guide spotlight signal installed on the robot body 1, respectively. The output of the emergency alarm transmission unit is connected to the remote signal transmitter signal installed inside the robot body 1. The rescue guidance unit and the emergency alarm transmission unit can further enhance the emergency rescue functionality of the robot body 1, and can guide people to escape in a timely manner when an emergency occurs, promote the efficiency of people escaping from the room, play an effective role in risk avoidance guidance, and provide timely emergency refuge guidance and safety protection for people who have not escaped in time, so as to fully ensure the safety of people in emergency situations.

[0059] Figure 1 - Figure 11As shown, when robot body 1 is used, relevant technicians input rescue programs related to indoor environmental data into the rescue program setting unit via the read / write port. The rescue program setting unit transmits this data to the emergency rescue processing unit. The emergency rescue processing unit can generate effective rescue guidance and refuge area selection based on the indoor environment, ensuring the effectiveness of rescue guidance and refuge protection. The inspection probe 3 continuously inspects the indoor environment. When abnormal environmental data is acquired, the signal is transmitted to the rescue data acquisition unit. The rescue data acquisition unit converts the data and transmits it to the emergency rescue processing unit. The emergency rescue processing unit then processes the abnormal environmental data. The system assesses the situation based on data. If the situation is deemed non-emergency, no control action is taken. If the situation is deemed emergency, the system first activates the rescue guidance unit, using directional spotlights and a voice player to guide occupants along escape routes, facilitating timely evacuation. Then, with the assistance of a remote signal transmitter, the emergency alarm transmission unit transmits emergency data to the inspection platform, enabling personnel to respond promptly and control other structures within the building. This ensures unobstructed escape routes, further enhancing the effectiveness of the rescue guidance and improving the efficiency and safety of occupants' escape.

[0060] Then, the inspection probe 3 re-inspects and assesses the personnel inside the room. If data indicating that personnel have not escaped is obtained, the data is transmitted to the emergency rescue processing unit via the rescue data acquisition unit. The emergency rescue processing unit first controls the arm controller 11 through the rescue support control unit to perform linear control of the upper and lower arms of the inspection arm 12, as well as steering control for emergency evacuation. Then, the rescue steering control unit controls the arm controller 11 to make the inspection probe 3 lower, unlocking the emergency release pin 51 and enabling the wing structure 4 to deploy, providing protection for the personnel who have not escaped. Subsequently, the emergency rescue processing unit simultaneously controls the rescue support control unit and the rescue auxiliary unit, enabling the rescue support control unit to control the inspection drive unit, which moves the robot body 1 to a wall with load-bearing support, thus creating an effective refuge area. The rescue auxiliary unit issues an alarm through an alarm to remind the personnel under the protection of the shielding wing structure 4 to move synchronously to refuge. The alarm also urges them to gather with the remaining personnel for shelter. Furthermore, the rescue auxiliary unit transmits the relevant data of the remaining personnel to the inspection platform via a remote signal transmitter for subsequent rescue arrangements.

[0061] Alternatively, during the process of the robot body 1 guiding people to escape from the room, the emergency rescue unit can control the drive unit through the rescue support unit, causing the robot body 1 to move to the originally planned designated indoor refuge area. Then, through the rescue support control unit, the arm controller 11 is activated, controlling the upper and lower arms to perform linear movements and controlling the inspection arm 12 to perform a rescue turning movement. Then, through the rescue turning control unit, the arm controller 11 is activated, causing the inspection probe 3 to droop, unlocking the emergency release pin 51, realizing the wing-spreading function of the shielding wing structure 4. The inspection drive unit is then controlled through the rescue support control unit, and the suction pad 3... After the robot 1 is placed against the corresponding refuge wall, the pressure probe inside will transmit the data to the emergency rescue processing unit through the rescue location acquisition unit. The emergency rescue processing unit determines that the robot body 1 has reached the designated position and formed an effective refuge area. It then locks the inspection drive unit and controls the rescue auxiliary unit to activate the alarm, sending a refuge area call signal to the people who have not successfully escaped from the room. This can prompt nearby people to go to the refuge area for shelter. Then, the inspection probe 3 collects the data of the refugees and transmits it to the emergency rescue processing unit through the rescue data acquisition unit. The emergency rescue processing unit then feeds back the data of the people who have not escaped to the inspection platform through the remote signal transmitter, which is convenient for subsequent rescue arrangements.

[0062] After the data transmission of those who have not escaped is completed, the emergency rescue processing unit sends energy-saving operation data to the intelligent inspection system inside the robot body 1 through the emergency energy-saving operation unit. This causes the intelligent inspection system to shut down its inspection-related functions and related signal communication functions, retaining only the locking function of the drive unit, the alarm, and the pressure probe. This ensures the positional validity of the robot body 1, preventing it from moving under the weight of the overhead object. It also allows for the assessment of the continuous support effectiveness of the inspection arm 12. If the inspection arm 12 deforms or breaks under load, causing the adsorption pad 31 to shift, the system can promptly sense this through changes in pressure data. Then, it generates different rescue signals through the alarm, facilitating subsequent rescuers to assess the status of the refuge area. This promotes the timeliness and effectiveness of rescue efforts. Furthermore, the continuous operation of the alarm reduces the difficulty of subsequent search and rescue work, improves rescue efficiency, and fully ensures the safety of people inside the room. The energy-saving operation mode effectively saves energy consumption and provides effective sound source support for subsequent search and rescue operations.

[0063] In light of current practical needs, the above-described embodiments adopted in this application are not limited to these. Any changes made within the scope of knowledge possessed by those skilled in the art without departing from the concept of this application still fall within the protection scope of this invention.

Claims

1. An indoor intelligent wheeled inspection robot, characterized in that: It includes a robot body (1), an arm controller (11) is installed on the upper end of the robot body (1), an inspection arm (12) is installed at the front end of the arm controller (11), an inspection probe (3) is installed on the upper end of the inspection arm (12), and a drive joint structure (2) is provided in the middle of the inspection arm (12). The drive joint structure (2) is provided with linkage frame plates (21) on the left and right sides respectively, which cooperate with the inspection arm (12). The two linkage frame plates (21) are each equipped with a shielding wing structure (4) at the far end. The shielding wing structure (4) is provided with an emergency self-resetting structure (5) that cooperates with it at the end close to the drive joint structure (2). The emergency self-resetting structure (5) cooperates with the inspection probe (3). In an emergency rescue situation, the inspection probe (3) will droop, which will cause the emergency self-resetting structure (5) to automatically unlock and reset, releasing the locking effect on the shielding wing structure (4), so that the shielding wing structure (4) can extend and deform, and form a refuge area with the safety support position. The shielding wing structure (4) includes a liner (44) fixedly disposed at the end of the linkage frame plate (21) away from the inspection arm (12). The end of the liner (44) away from the linkage frame plate (21) is rotatably connected to a locking plate (43), and the rotatable connection position of the locking plate (43) and the liner (44) is disposed on the side away from the drive joint structure (2). An elastic inner wing (41) is fixedly disposed between the locking plate (43) and the liner (44). The unfolded end of the elastic inner wing (41) is fixedly connected to a shielding outer wing (42), and the shielding outer wing (42) is folded and sandwiched inside the locking plate (43) and the liner (44). The emergency self-resetting structure (5) includes an emergency release pin (51) fixedly installed on the side of the locking plate (43) near the drive joint structure (2). The end of the emergency release pin (51) away from the locking plate (43) passes through the elastic inner wing (41), the shielding outer wing (42) and the liner (44), and extends into the linkage frame plate (21). The emergency release pin (51) is in sliding cooperation with the elastic inner wing (41), the shielding outer wing (42), the liner (44) and the linkage frame plate (21). The end of the emergency release pin (51) located in the linkage frame plate (21) is slidably inserted with a vertically arranged adsorption pin (52). The upper end of the adsorption pin (52) is slidably inserted with a horizontally arranged self-resetting pin (53). Through the setting of the self-resetting pin (53) and the adsorption pin (52), the emergency release pin (51) is locked, and the folded state of the shielding wing structure (4) is maintained. An emergency hole (23) is provided in the linkage frame plate (21) above the emergency release pin (51), and the emergency hole (23) is in sliding fit with the self-resetting pin (53). A traction rail groove (26) is also provided in the linkage frame plate (21) to communicate with the emergency hole (23) and located above the emergency release pin (51). An emergency locking groove (24) is provided at the lower end of the linkage frame plate (21) to cooperate with the adsorption pin (52). The self-resetting pin (53) is fixedly connected to an extension spring (55) at one end near the emergency hole (23), and the other end of the extension spring (55) is fixedly connected to the inner wall of the emergency hole (23). An emergency cable (54) is slidably arranged in the traction rail groove (26). The lower end of the emergency cable (54) extends into the emergency hole (23) and is fixedly connected to the self-resetting pin (53). The upper end of the emergency cable (54) extends to the outside of the linkage frame plate (21) and is fixedly connected to the inspection probe (3).

2. The indoor intelligent wheeled inspection robot according to claim 1, characterized in that: The inspection arm (12) includes a lower arm that is rotatably mounted at the front end of the arm controller (11). The upper end of the lower arm is fixedly connected to the drive joint structure (2). The right end of the drive joint structure (2) is fixedly connected to a drive sleeve (22). The right end of the drive sleeve (22) is embedded in the linkage frame plate (21) located on the right side and rotates with it. The left end of the linkage frame plate (21) located on the right side is fixedly mounted with an upper arm. An inspection probe (3) is mounted on the upper end of the upper arm.

3. The indoor intelligent wheeled inspection robot according to claim 2, characterized in that: The drive sleeve (22) and the linkage frame plate (21) are connected by a rotational anti-rotation through hole (25) that cooperates with the adsorption pin (52). When the inspection arm (12) generates a refuge support action, the emergency lock groove (24) and the anti-rotation through hole (25) are aligned, and can achieve mechanical anti-rotation locking of the linkage frame plate (21) and the drive sleeve (22) by cooperating with the adsorption pin (52).

4. The indoor intelligent wheeled inspection robot according to claim 1, characterized in that: The robot body (1) is also equipped with an emergency rescue assistance system. The emergency rescue assistance system includes an emergency rescue processing unit. The input end of the emergency rescue processing unit is connected to a rescue data acquisition unit and a rescue program setting unit. The output end of the emergency rescue processing unit is connected to a rescue support control unit and a rescue steering control unit. The input end of the rescue data acquisition unit is connected to the inspection probe (3) via signal. The input end of the rescue program setting unit is connected to the read / write port located at the lower end via signal. The output end of the rescue support control unit is connected to the arm controller (11) and the inspection drive unit mounted in the robot body (1) via signal. The output end of the rescue steering control unit is connected to the arm controller (11) via signal.

5. The indoor intelligent wheeled inspection robot according to claim 4, characterized in that: The output of the emergency rescue processing unit is also connected to an emergency energy-saving operation unit and a rescue auxiliary unit. The output of the emergency energy-saving operation unit is connected to the intelligent inspection system installed in the robot body (1). The output of the rescue auxiliary unit is connected to the alarm set at the front of the robot body (1) and the remote signal transmitter set in the robot body (1).

6. The indoor intelligent wheeled inspection robot according to claim 4, characterized in that: The inspection probe (3) is fixedly connected to an adsorption pad (31) at its upper end. A pressure probe is installed inside the adsorption pad (31). The input end of the emergency rescue processing unit is also connected to a rescue location acquisition unit. The input end of the rescue location acquisition unit is connected to the pressure probe signal.

7. The indoor intelligent wheeled inspection robot according to claim 4, characterized in that: The output of the emergency rescue processing unit is also connected to a rescue guidance unit and an emergency alarm transmission unit. The output of the rescue guidance unit is connected to the voice player and the guide spotlight signal installed on the robot body (1), respectively. The output of the emergency alarm transmission unit is connected to the remote signal transmitter signal installed in the robot body (1).

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