Safety inspection robot for installation and construction site of large-scale public building

By designing a safety inspection robot for the installation and construction site of a large public building equipped with a variety of sensors and computing units, the time-consuming and inaccurate problems of relying on human eye inspection in the existing technology is solved, and the accurate perception of the construction site and the rapid identification of safety hazards are achieved, and the efficiency and accuracy of safety inspection at the construction site are improved.

CN222874600UActive Publication Date: 2025-05-16XIAN CONSTR SCI & TECH UNIV ENG TECH CO LTD
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Patent Information

Application Number
CN202422341144.5
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-09-25
Publication Date
2025-05-16
Estimated Expiration
2034-09-25

AI Technical Summary

Technical Problem

The existing safety inspection robots for large public buildings installation and construction sites rely on human eye inspection, which is time-consuming, labor-intensive, dangerous and repetitive, and inadequate data analysis may produce subjective results, resulting in the inability to accurately judge safety hazards at the construction site.

Method used

A safety inspection robot for the installation and construction site of a large public building was designed, using a four-wheel differential robot chassis, equipped with three-dimensional lidar, binocular depth camera, ultrasonic radar, visible and thermal imaging dual-spectral camera, AI acceleration module and inertia unit. Through the combination of these sensors and computing units, accurate perception and data analysis of the construction site are achieved.

Benefits of technology

Through accurate environmental perception and data analysis, the robot can quickly and accurately identify safety hazards at the construction site, reduce human errors, improve the efficiency and accuracy of safety inspections, and reduce safety risks at the construction site.

✦ Generated by Eureka AI based on patent content.

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Patent Text Reader

Abstract

The utility model provides a large-scale public building installation construction site safety inspection robot, which relates to the technical field of building construction, and comprises a four-wheel differential robot chassis, the top end of the four-wheel differential robot chassis is fixedly connected with a connecting plate, and the middle of the connecting plate is respectively connected with an AI acceleration module, a USB hub, an inertia unit and a robot host. One side of the top end of the connecting plate is fixedly connected with a three-dimensional laser radar, and through the cooperation of the three-dimensional laser radar and a binocular depth camera, the surrounding environment information of the inspection robot is sensed more accurately in a mode of fusing the three-dimensional laser radar, the binocular depth camera and ultrasonic waves. A sensing blind area of the inspection robot in a complex building construction site is avoided, a distributed calculation mode is used, and two arithmetic units of the inspection robot host and the deep learning host for installing the safety of the construction site are arranged, so that the inspection robot is quicker in calculation and higher in real-time performance.
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Description

Technical Field

[0001] The utility model relates to the technical field of building construction, in particular to a safety inspection robot for installing a construction site of a large public building. Background Art

[0002] Large public buildings install construction site safety inspection robots. Through high-definition cameras and various sensors, the robots monitor the construction site around the clock and promptly detect safety hazards, such as fire hazards, illegal operations, improper material stacking, etc. The robots monitor the air quality, temperature, humidity and noise levels at the construction site to ensure compliance with safe operating standards and protect the health of workers. According to safety regulations, the robots automatically check whether the construction area meets safety standards, including the stability of the scaffolding, the integrity of protective facilities, etc., to reduce human negligence. The collected data is analyzed in real time, potential risks are predicted and early warnings are issued, helping managers take measures in advance to prevent accidents. By recording the on-site conditions, safety education materials are provided to workers to strengthen safety awareness and operating procedure training.

[0003] However, the existing large public buildings are equipped with construction site safety inspection robots, and the safety officers on the construction site perform inspection tasks with the naked eye. This process is time-consuming, labor-intensive, dangerous, and repetitive, and the data analysis is not in place, which may produce subjective results and make it impossible to judge the safety hazards existing on the construction site. Therefore, it is necessary to propose a new type of large public building installation construction site safety inspection robot. Utility Model Content

[0004] The purpose of the utility model is to solve the above-mentioned problem that safety officers at construction sites perform inspection tasks with the naked eye, and the process is time-consuming, labor-intensive, dangerous, and repetitive, and the data analysis is not in place, which may produce subjective results and make it impossible to judge the safety hazards existing at the construction site. A large public building installation safety inspection robot is proposed.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a large public building installation construction site safety inspection robot, including a four-wheel differential robot chassis, the top of the four-wheel differential robot chassis is fastened with a connecting plate, the middle of the connecting plate is respectively connected to an AI acceleration module, a USB hub, an inertial unit and a robot host, one side of the top of the connecting plate is fastened with a three-dimensional laser radar, the other side of the top of the connecting plate is provided with an environmental sensor, one side of the middle of the connecting plate is fastened with a visible and thermal imaging dual-spectrum camera, the middle of one end of the connecting plate is fastened with a binocular depth camera, and one side of the four-wheel differential robot chassis is respectively provided with a front left ultrasonic radar and a front right ultrasonic radar.

[0006] Preferably, a first power converter and a second power converter are fastened to one side of the top end of the four-wheel differential robot chassis.

[0007] Preferably, two ends of the surface of the four-wheel differential robot chassis are respectively connected to a USB conversion module and a dual-channel relay control module.

[0008] Preferably, a front left turn signal lamp and a front right turn signal lamp are provided on one side of the top end of the four-wheel differential robot chassis.

[0009] Preferably, a rear left turn signal lamp and a rear right turn signal lamp are respectively fastened to the other side of the top end of the four-wheel differential robot chassis.

[0010] Preferably, a WiFi router is fastened to the other side of the top of the four-wheel differential robot chassis.

[0011] Preferably, a rear left ultrasonic radar and a rear right ultrasonic radar are provided on the other side of the four-wheel differential robot chassis, and a patrol robot power switch and a patrol machine emergency stop switch are connected in the middle of one side of the four-wheel differential robot chassis.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] 1. In the utility model, by cooperating with the three-dimensional laser radar and binocular depth camera, the three-dimensional laser radar, binocular depth camera and ultrasonic fusion method can more accurately perceive the surrounding environment information of the inspection robot, avoiding the inspection robot from having perception blind spots in complex construction sites.

[0014] 2. In the utility model, the robustness and accuracy of the posture estimation of the inspection robot at a complex construction site are improved by cooperating with the wheel odometer, visual odometer, laser odometer and inertial unit.

[0015] 3. In the present invention, a distributed computing method is used to set up two computing units, namely, a patrol robot host for construction site safety and a deep learning host, so that the patrol robot can calculate faster and more real-time.

[0016] 4. In the present invention, by setting a dual-spectrum pan-tilt camera that integrates visible light and thermal imaging, the perception information of the construction site inspection robot for safety inspection is made more comprehensive and rich, further improving the use effect of the overall equipment.

[0017] 5. Install a safety inspection robot on the construction site to obtain semantic information of the walls, columns, holes, stairs and other building structures of large public buildings from BIM (Building Information Model), and transmit the taken photos to the mobile phone via wireless, USB data cable and cloud. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The utility model proposes a three-dimensional structural diagram of a safety inspection robot for installation and construction sites of large public buildings;

[0019] Figure 2 The utility model proposes a schematic diagram of a top view structure of a safety inspection robot for installation and construction site of a large public building;

[0020] Figure 3 The utility model proposes a side view structural schematic diagram of a safety inspection robot for installation and construction sites of large public buildings;

[0021] Figure 4 The utility model provides a system structure diagram of a safety inspection robot for installing a construction site of a large public building.

[0022] Legend: 1. 3D laser radar; 2. Environmental sensor; 3. Visible light and thermal imaging dual-spectrum camera; 4. AI acceleration module; 5. USB hub; 6. Inertial unit; 7. Robot host; 8. Binocular depth camera; 9. USB to 485 module; 10. 485 dual-channel relay control module; 11. First power converter; 12. Second power converter; 13. Front left turn signal; 14. Front right turn signal; 15. WiFi6 router; 16. Rear left turn signal; 17. Rear right turn signal; 18. Front left ultrasonic radar; 19. Front right ultrasonic radar; 20. Rear left ultrasonic radar; 21. Rear right ultrasonic radar; 22. Inspection robot power switch; 23. Inspection machine emergency stop switch; 24. Four-wheel differential robot chassis. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0025] Example 1: Figure 1-Figure 4As shown, the utility model provides a technical solution: a large-scale public building installation construction site safety inspection robot, including a four-wheel differential robot chassis 24, the top of the four-wheel differential robot chassis 24 is fastened with a connecting plate 25, the middle of the connecting plate 25 is respectively connected with an AI acceleration module 4, a USB hub 5, an inertial unit 6 and a robot host 7, a top side of the connecting plate 25 is fastened with a three-dimensional laser radar 1, the other side of the top of the connecting plate 25 is provided with an environmental sensor 2, a middle side of the connecting plate 25 is fastened with a visible and thermal imaging dual-spectrum camera 3, a binocular depth camera 8 is fastened in the middle of one end of the connecting plate 25, a front left ultrasonic radar 18 and a front right ultrasonic radar 19 are respectively provided on one side of the four-wheel differential robot chassis 24, a rear left ultrasonic radar 20 and a rear right ultrasonic radar 21 are provided on the other side of the four-wheel differential robot chassis 24, and an inspection robot power switch 22 and an inspection machine emergency stop switch 23 are connected in the middle of one side of the four-wheel differential robot chassis 24.

[0026] In this embodiment, a four-wheel differential robot chassis 24 is set up, which mainly includes a motor drive controller, a power battery and four brushless DC motors, wherein the four motors drive four drive wheels respectively, and the tails of the four motors are equipped with encoders for measuring the motor speed. The power battery directly powers the motor drive controller, and the power supply of other equipment needs to be converted by a power converter for power supply. The visible light and thermal imaging dual-spectrum camera 3 is mainly used to detect and perceive safety hazards at the construction site (abnormal temperature of the temporary distribution box, meter readings of the temporary distribution box, hot work, fire watchers in the hot work, fire extinguishers in the hot work area, acetylene cylinders) and various situations of workers not complying with safety regulations (safety helmets not worn, reflective vests not worn, smoking in non-smoking areas) and other visual information. Then, under the action of the connecting plate 25, it is convenient to connect subsequent equipment. Then, under the action of the AI ​​acceleration module 4, the visual image detected by the dual-spectrum camera runs deep The inertial unit 6 cooperates with the robot host 7 to measure the linear acceleration and angular acceleration of the inspection robot and control the algorithm, plan the inspection path, run the simultaneous positioning and map construction algorithm, etc. The three-dimensional laser radar 1 can sense the surrounding environment of the inspection robot, and the environmental sensor 2 (the model of this environmental sensor is ‌BMV080) can detect environmental pollutants at the construction site. The binocular depth camera 8 can sense the surrounding environment information and improve the data for the visual odometer. By using the front left ultrasonic radar 18, the front right ultrasonic radar 19, the rear left ultrasonic radar 20 and the rear right ultrasonic radar 21, the ultrasonic radar can detect obstacles near the inspection robot to make up for the detection blind spot of the three-dimensional laser radar. The inspection robot power switch 22 and the inspection machine emergency stop switch 23 are used to facilitate the control of the overall equipment for operation.

[0027] Example 2: Figure 1-Figure 4 As shown, one side of the top of the four-wheel differential robot chassis 24 is fastened with a first power converter 11 and a second power converter 12, and both ends of the surface of the four-wheel differential robot chassis 24 are respectively connected with a USB to 485 module 9 and a 485 dual-way relay control module 10, a front left turn signal 13 and a front right turn signal 14 are provided on one side of the top of the four-wheel differential robot chassis 24, and a rear left turn signal 16 and a rear right turn signal 17 are fastened on the other side of the top of the four-wheel differential robot chassis 24, and a WiFi6 router 15 is fastened on the other side of the top of the four-wheel differential robot chassis 24.

[0028] In this embodiment, through the first power converter 11 and the second power converter 12, the 24V power battery can be powered and then converted into a stable 12V power supply. The front left turn signal 13, the front right turn signal 14, the rear left turn signal 16 and the rear right turn signal 17, the four turn signals are flashing during the inspection process. When the inspection robot turns left, the front left and rear left turn signals flash, and the other turn signals are turned off. The opposite is true when the inspection robot turns right. The WiFi6 router can build a communication LAN for the inspection robot. Through the rear left ultrasonic radar 20 and the rear right ultrasonic radar 21, the ultrasonic radar can detect obstacles near the inspection robot to make up for the detection blind spot of the three-dimensional laser radar.

[0029] The working principle of this embodiment: when in use, through the four-wheel differential robot chassis 24, the four-wheel differential robot chassis 24 mainly includes a motor drive controller, a power battery and four DC brushless motors, wherein the four motors drive four driving wheels respectively, and the four motors are equipped with encoders at the tail to measure the motor speed. The power battery directly supplies power to the motor drive controller, and the power supply of other equipment needs to be converted by a power converter for power supply. The visible light and thermal imaging dual-spectrum camera 3, its main function is to detect and perceive safety hazards at the construction site (abnormal temperature of the temporary distribution box, meter readings of the temporary distribution box, hot work, fire watchers, The visual information such as fire extinguishers, acetylene bottles in the hot work area and various situations where workers do not comply with safety regulations (safety helmets not worn, reflective vests not worn, smoking in non-smoking areas) is collected. Then, under the action of the connecting plate 25, it is convenient to connect the subsequent equipment. Then, under the action of the AI ​​acceleration module 4, the visual image detected by the dual-spectrum camera runs the deep learning algorithm to judge the operating status of the equipment. The USB hub 5 can integrate the data of many USB serial ports and transmit them to the robot host. With the cooperation of the inertial unit 6 and the robot host 7, the linear acceleration and angular acceleration of the inspection robot can be measured, and the algorithm can be controlled to plan the inspection path and run while positioning. The 3D laser radar 1 can sense the environment around the inspection robot, and the environmental sensor 2 (the model of this environmental sensor is ‌BMV080) can detect environmental pollutants at the construction site. The binocular depth camera 8 can sense the surrounding environment information and provide high data for visual mileage. By using the front left ultrasonic radar 18, the front right ultrasonic radar 19, the rear left ultrasonic radar 20 and the rear right ultrasonic radar 21, the ultrasonic radar can detect obstacles near the inspection robot to make up for the detection blind spot of the 3D laser radar. The inspection robot power switch 22 and the inspection machine emergency stop switch 23 are used to facilitate the control of the overall equipment. Operation, the first power converter 11 and the second power converter 12 can draw power from the 24V power battery and then convert it into a stable 12V power supply. The front left turn signal 13, the front right turn signal 14, the rear left turn signal 16 and the rear right turn signal 17, during the inspection process, the four turn signals are in a flashing state. When the inspection robot turns left, the front left and rear left turn signals flash, and the other turn signals are turned off. The opposite is true when the inspection robot turns right. The WiFi6 router can build a communication LAN for the inspection robot. By setting the rear left ultrasonic radar 20 and the rear right ultrasonic radar 21, the ultrasonic radar can detect obstacles near the inspection robot to make up for the detection blind spot of the three-dimensional laser radar.

[0030] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A large-scale public building installation construction site safety inspection robot, characterized by: The invention comprises a four-wheel differential robot chassis (24), wherein a connecting plate (25) is fastened to the top of the four-wheel differential robot chassis (24), an AI acceleration module (4), a USB hub (5), an inertial unit (6) and a robot host (7) are respectively connected in the middle of the connecting plate (25), a three-dimensional laser radar (1) is fastened to one side of the top of the connecting plate (25), an environmental sensor (2) is arranged on the other side of the top of the connecting plate (25), a visible light and thermal imaging dual-spectrum camera (3) is fastened to one side of the middle of the connecting plate (25), a binocular depth camera (8) is fastened to the middle of one end of the connecting plate (25), and a front left ultrasonic radar (18) and a front right ultrasonic radar (19) are respectively arranged on one side of the four-wheel differential robot chassis (24).

2. The large-scale public building installation construction site safety inspection robot according to claim 1 is characterized by: A first power converter (11) and a second power converter (12) are fastened to one side of the top end of the four-wheel differential robot chassis (24).

3. The large-scale public building installation construction site safety inspection robot according to claim 2 is characterized by: Two ends of the surface of the four-wheel differential robot chassis (24) are respectively connected to a USB to 485 module (9) and a 485 dual-channel relay control module (10).

4. The large-scale public building installation construction site safety inspection robot according to claim 3 is characterized by: A front left turn signal lamp (13) and a front right turn signal lamp (14) are arranged on one side of the top end of the four-wheel differential robot chassis (24).

5. The large-scale public building installation construction site safety inspection robot according to claim 4 is characterized by: A rear left turn signal lamp (16) and a rear right turn signal lamp (17) are respectively fastened to the other side of the top end of the four-wheel differential robot chassis (24).

6. The large-scale public building installation construction site safety inspection robot according to claim 4 is characterized by: The other side of the top end of the four-wheel differential robot chassis (24) is fastened with a WiFi6 router (15).

7. The large-scale public building installation construction site safety inspection robot according to claim 4 is characterized by: A rear left ultrasonic radar (20) and a rear right ultrasonic radar (21) are arranged on the other side of the four-wheel differential robot chassis (24), and an inspection robot power switch (22) and an inspection machine emergency stop switch (23) are connected in the middle of one side of the four-wheel differential robot chassis (24).