Air monitoring robot

Abstract

The utility model discloses a kind of air monitoring robots, including chassis, the chassis includes bottom plate and two-layer plate spaced apart installed on bottom plate, laser radar for positioning is installed on the two-layer plate;Machine body, installed on the upper two-layer plate of the chassis, including rack and the machine body shell installed on the outside of rack, at least two groups of depth camera are installed on the side of the machine body shell close to the laser radar;Air monitoring device, installed on machine body, the air monitoring device includes lifting electric cylinder and mounting bracket installed on the moving end of the lifting electric cylinder, three-dimensional wind speed monitoring component is installed on the top and side of the mounting bracket, hygrodeik, particle counter and monitoring camera are also installed on the mounting bracket. The utility model is used to solve the problems of limited coverage of fixed equipment, high risk of manual operation, single function of mobile device and low integration of multiple parameters in existing clean room environment monitoring.

Description

Technical Field

[0001] This utility model relates to the field of intelligent indoor air quality monitoring equipment, and in particular to an air monitoring robot. Background Technology

[0002] Cleanroom environments have extremely stringent requirements for air cleanliness, temperature, humidity, and airflow organization. Any contamination or parameter fluctuations can severely impact the production process and product quality. Existing cleanroom environment monitoring technologies suffer from the following problems: traditional fixed monitoring equipment has high deployment costs and limited coverage; handheld monitoring instruments rely on manual operation, posing a risk of cross-contamination; existing mobile monitoring devices lack autonomous obstacle avoidance and dynamic height adjustment capabilities; and multi-parameter acquisition devices have low integration and poor data synchronization. This invention addresses these shortcomings by providing a multi-functional monitoring solution with autonomous navigation and vertical operation capabilities. Utility Model Content

[0003] The purpose of this invention is to provide an air monitoring robot to solve the problems of limited coverage of fixed equipment, high risk of manual operation, single function of mobile devices, and low integration of multiple parameters in existing cleanroom environmental monitoring.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an air monitoring robot, comprising a chassis, the chassis comprising a base plate and two layers of plates spaced apart on the base plate, wherein a laser radar for positioning is installed on the two layers of plates;

[0005] The fuselage, mounted on the upper two-layer plate of the chassis, includes a frame and a fuselage shell mounted outside the frame. At least two sets of depth cameras are mounted on the side of the fuselage shell near the lidar.

[0006] An air monitoring device is installed on the machine body. The air monitoring device includes a lifting electric cylinder and a mounting frame installed on the moving end of the lifting electric cylinder. A three-dimensional wind speed monitoring component is installed on the top and side of the mounting frame. A thermometer, a hygrometer, a particle counter and a monitoring camera are also installed on the mounting frame.

[0007] In one or more embodiments of this utility model, the chassis further includes a drive motor mounted on the base plate and omnidirectional wheels for assisting the movement of the drive motor. A battery is also installed in the middle of the base plate, and the battery is electrically connected to the drive motor. The chassis also includes a charging block electrically connected to the battery, and the charging block is installed on the side of the chassis shell. The chassis shell is fixedly installed on the base plate and the second layer plate. An ultrasonic radar for ranging is also installed on the base plate above the charging block, and a communication module is also installed at the bottom of the second layer plate.

[0008] In one or more embodiments of this utility model, a protruding anti-collision strip is also installed on the chassis shell.

[0009] In one or more embodiments of this utility model, the frame in the body includes a first mounting plate, a second mounting plate and a third mounting plate arranged sequentially from bottom to top. The first mounting plate and the second mounting plate are fixedly installed together by a first column, and the second mounting plate and the third mounting plate are fixedly installed together by a second column. The frame is covered with a body shell, and a control module and an electronic control module are also installed on the first mounting plate.

[0010] In one or more embodiments of this utility model, a first depth camera, a second depth camera, a light strip, and a control screen are mounted on the side of the housing.

[0011] In one or more embodiments of this utility model, at least two sets of inspection ports are provided on the side of the housing.

[0012] In one or more embodiments of the present invention, the air monitoring device further includes a bellows cover, the bellows cover covering the lifting cylinder and the bottom of the bellows cover contacting the third mounting plate of the body, so that the bellows cover and the outer shell of the body form a sealed whole.

[0013] In one or more embodiments of this utility model, the lifting electric cylinder is mounted on the second mounting plate via a base, the third mounting plate has an opening in the middle, the lifting electric cylinder is disposed in the opening in the middle of the third mounting plate, and a lifting motor is also mounted on the base, the lifting motor being connected to the lifting electric cylinder via a transmission component mounted on the base.

[0014] In one or more embodiments of this utility model, the three-dimensional wind speed monitoring component includes a first anemometer and a second anemometer. The first anemometer is mounted on the side of the mounting frame via a first bracket, and the second anemometer is mounted on the top of the mounting frame via a support frame and a second bracket.

[0015] The beneficial effects of this utility model are as follows:

[0016] This invention uses a high-precision two-stage electric cylinder, which, compared with traditional single-stage or screw lifting mechanisms, can increase its lifting stroke while maintaining height accuracy. It can flexibly adapt to the monitoring needs of different heights in cleanrooms, greatly improving work efficiency and flexibility.

[0017] This invention integrates a particle counter and an anemometer with spatiotemporal synchronous data acquisition technology, which can lay a data foundation for establishing a more accurate aerosol diffusion model, thereby improving the environmental monitoring accuracy and early warning capabilities of robots.

[0018] In this invention, the lifting mechanism is fully sealed with a bellows cover, which effectively prevents the escape of particulate matter caused by the wear of mechanical moving parts, so that the whole machine fully meets the strict cleanliness requirements of cleanrooms.

[0019] This invention integrates multiple sensors such as lidar, ultrasonic waves, and depth cameras to achieve SLAM navigation and multi-sensor fusion obstacle avoidance, ensuring that the robot can autonomously, safely, and accurately inspect in the complex environment of a cleanroom without human intervention and avoiding the risk of cross-contamination.

[0020] This invention enables remote monitoring and visual reporting via wireless transmission to a host computer. When monitored data exceeds a preset threshold, it automatically triggers an audible and visual alarm and generates a work order, which is then pushed to the maintenance terminal, achieving rapid response and intelligent early warning. Attached Figure Description

[0021] Figure 1 This is a front view of an air monitoring device in one embodiment of the present invention;

[0022] Figure 2 This is a side view of an air monitoring device in one embodiment of the present invention;

[0023] Figure 3 This is an isometric view of an air monitoring device in one embodiment of the present invention;

[0024] Figure 4 This is an isometric view of an air monitoring robot according to one embodiment of the present invention;

[0025] Figure 5 This is a front view of an air monitoring robot according to one embodiment of the present invention;

[0026] Figure 6 This is a side view of an air monitoring robot according to one embodiment of the present invention;

[0027] Figure 7 This is an isometric view of the internal structure of an air monitoring robot in one embodiment of the present invention;

[0028] Figure 8 This is a rear view of the internal structure of the air monitoring robot in one embodiment of the present invention;

[0029] Figure 9 This is an isometric view of the chassis in one embodiment of the present invention.

[0030] In the picture:

[0031] 100-Air monitoring device; 101-Base; 102-Transmission assembly; 103-Drive motor; 104-Lifting cylinder; 105-Mounting bracket; 106-Flute cover; 107-Particle counter; 108-Thermohygrometer; 109-First bracket; 110-First anemometer; 111-Monitoring camera; 112-Support frame; 113-Second bracket; 114-Second anemometer;

[0032] 200-Camera body; 201-First depth camera; 202-Second depth camera; 203-Light strip; 204-Control panel; 205-Control module; 206-Electrical control module; 207-First mounting plate; 208-Second mounting plate; 209-Third mounting plate; 210-First column; 211-Second column; 212-Camera body shell; 213-Inspection port;

[0033] 300-Chassis; 301-LiDAR; 302-Ultrasonic radar; 303-Base plate; 304-Second layer plate; 305-Chassis shell; 306-Anti-collision strip; 307-Drive motor; 308-Universal wheel; 309-Battery; 310-Charging block; 311-Communication module. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0035] In the description of this utility model, it should be understood that the terms "vertical", "horizontal", "top", "bottom", "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0036] It should be noted that, unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0037] like Figures 1-9As shown, this utility model provides an air monitoring robot, which mainly includes a chassis 300 for movement, a body 200 installed on the chassis 300, and an air monitoring device 100 housed inside the body 200. The air monitoring device 100 is used to monitor the air parameters in the cleanroom.

[0038] In a further embodiment, the chassis 300 serves as the robot's mobile carrier, comprising a base plate 303 and a second-layer plate 304 fixedly mounted on top of it. Two sets of drive motors 307 and four sets of omnidirectional wheels 308 are symmetrically mounted on the base plate 303, forming a dual-wheel differential drive system adapted to the smooth surfaces of cleanrooms, enabling precise movement. A battery 309 is installed in the middle of the base plate 303, providing power to the entire robot system. The battery 309 is electrically connected to a charging block 310 on the chassis housing 305, enabling automatic docking and charging with a charging station. A LiDAR 301 is mounted above the second-layer plate 304 for SLAM environmental mapping and high-precision positioning with an accuracy of ±2cm. An ultrasonic radar 302 is installed near the charging block 310 for precise ranging and alignment during automatic recharging. The bottom of the second-layer plate 304 is equipped with a communication module 311, which is a router providing stable wireless communication capabilities supporting 5G / WiFi dual-mode to ensure data transmission. The chassis shell 305 has an external anti-collision strip 306 to absorb minor impacts and protect the robot body. For the specific installation structure and method of the chassis 200 in this embodiment, please refer to Chinese Utility Model Patent Application No. 202421849685.2 entitled "A Robot Chassis Structure".

[0039] In a further embodiment, the body 200 is the main structural component connecting the chassis 300 and the air monitoring device 100. The body frame is fixed by a first mounting plate 207, a second mounting plate 208, and a third mounting plate 209 via a first column 210 and a second column 211. The first mounting plate 207 is spaced apart from the second-layer plate 304 of the chassis 300, and the outer shell 212 is fitted over these mounting plates, providing overall protection. The outer shell 212 integrates various interactive and sensing components on its sides, including a first depth camera 201 and a second depth camera 202 for recognizing the surrounding environment during robot movement, an LED strip 203 for displaying the robot's status, and a control screen 204 for easy operation by on-site personnel. The first mounting plate 207 is equipped with a control module 205 (industrial computer) and an electrical control module 206 (circuit control board), which together constitute the robot's main control unit and power management unit. The outer shell 212 also has an inspection port 213 for easy maintenance personnel to inspect the internal components.

[0040] In a further embodiment, the air monitoring device 100 is mounted on the second mounting plate 208 of the fuselage 200 through the base 101. The device includes: a lifting mechanism, and the lifting mechanism includes a lifting electric cylinder 104 driven by a lifting motor 103. The lifting electric cylinder 104 is preferably a two-stage electric push rod. In this embodiment, the model of the lifting electric cylinder can be TYSD095-L800-A5F-H4K2, its maximum stroke can reach 800 mm, the thrust meets ≥100 N, and it has a self-locking device, which can maintain the height accuracy within ±2 mm. The third mounting plate 209 is provided with an opening to cooperate with the lifting electric cylinder 104 to move up and down within this opening.

[0041] In a further embodiment, an installation frame 105 is provided at the top of the lifting electric cylinder 104 for carrying various sensors, including a high-precision particle counter 107, a temperature and humidity meter 108, a high-definition monitoring camera 111, and at least two three-dimensional wind speed monitoring components. Among them, the first wind speed meter 110 is installed on the side of the installation frame 105 through the first bracket 109, and the second wind speed meter 114 is installed on the top of the installation frame 105 through the support frame 112 and the second bracket 113. The first wind speed meter 110 and the second wind speed meter 114 are arranged in a spatial array to realize multi-point and multi-dimensional wind speed measurement, which is beneficial to establish a more accurate aerosol diffusion model. The monitoring camera 111 is fixedly installed on the top of the installation frame 105.

[0042] In a further embodiment, a bellows cover 106 is provided on the outer side of the bottom of the installation frame 105, covering the entire lifting electric cylinder 104, providing a fully enclosed protection to prevent the escape of fine particles generated during the movement of the lifting mechanism. The bottom of the bellows cover 106 contacts and seals with the third mounting plate 209 of the fuselage 200 to ensure that the entire robot meets the use standards of a clean room. The whole machine shell is made of metal material, combined with an electrostatic wheel design, so that the electrostatic parameters of the whole machine are less than the fifth power.

[0043] In a further embodiment, the data processing module inside the air monitoring device 100 has an embedded controller as its core. This module is responsible for synchronously collecting, real-time processing such as outlier filtering and preliminary analysis of data such as temperature and humidity, wind speed, and particulate matter collected by the sensor integration unit. The processed data is transmitted to the control module 205 or the upper computer system through the built-in 5G / WiFi dual-mode module quickly and stably, realizing remote monitoring and linkage analysis. In this embodiment, the data processing module realizing this function is a prior art, so it will not be elaborated here.

[0044] Workflow: After powering on, the robot performs a self-check to confirm that all sensors are functioning normally. While moving along the path, the robot uses data from the ultrasonic radar 302, the first depth camera 201, and the second depth camera 202 to perform real-time obstacle avoidance, ensuring a safe and stable arrival at each preset monitoring point. Upon reaching the monitoring point, the electronic control module 206 controls the lifting motor 103 to drive the lifting cylinder 104, raising the sensor group on the mounting frame 105. According to task requirements, the sensor group is adjusted to the optimal sampling height between 0.8m and 2.5m. At this height, the particle counter 107, thermo-hygrometer 108, first anemometer 110, and second anemometer 114 begin synchronous and continuous data acquisition. Simultaneously, the monitoring camera 111 records real-time video, facilitating remote observation of the environmental conditions by monitoring personnel. The data acquisition unit within the air monitoring device 100 transmits the data to the control module 205 within the robot body 200. The control module 205, as the core processing unit, performs further in-depth analysis on all received sensor data. The control module 205 transmits the analyzed data to the host computer system to generate a visual monitoring report, including historical trends, real-time data, and warnings of exceeding standards. It can also simulate and analyze the airflow organization and particulate matter diffusion path in the cleanroom through the established aerosol diffusion model.

[0045] When the particle concentration or temperature and humidity data monitored by the control module 205 exceeds a preset threshold after being preprocessed and transmitted by the air monitoring device's data acquisition unit, the control module 205 will immediately issue an audible and visual alarm via the light strip 203 and the control panel 204. Simultaneously, the control module 205 automatically generates an abnormal work order and pushes it to the maintenance terminal or the factory MES system via wireless network, notifying relevant personnel to investigate and handle the issue, achieving rapid response.

[0046] Through the above-described structure and working principle, this utility model achieves intelligent, automated, and efficient cleanroom environmental monitoring, effectively solving many problems in the prior art.

[0047] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. An air monitoring robot, characterized in that: include: The chassis (300) includes a base plate (303) and a second plate (304) spaced apart on the base plate (303), on which a laser radar (301) for positioning is installed. The body (200) is mounted on the upper second plate (304) of the chassis (300). The body (200) includes a frame and a body shell (212) mounted outside the frame. At least two sets of depth cameras are mounted on the side of the body shell (212) near the lidar (301). An air monitoring device (100) is installed on the body (200). The air monitoring device (100) includes a lifting cylinder (104) and a mounting frame (105) installed on the moving end of the lifting cylinder (104). A three-dimensional wind speed monitoring component is installed on the top and side of the mounting frame (105). A thermometer and hygrometer (108), a particle counter (107), and a monitoring camera (111) are also installed on the mounting frame (105).

2. An air monitoring robot according to claim 1, characterized in that: The chassis (300) also includes a drive motor (307) mounted on the base plate (303) and casters (308) for assisting the drive motor (307) in movement. A battery (309) is also installed in the middle of the base plate (303). The battery (309) is electrically connected to the drive motor (307). The chassis also includes a charging block (310) electrically connected to the battery (309). The charging block (310) is installed on the side of the chassis shell (305). The chassis shell (305) is fixedly installed on the base plate (303) and the second layer plate (304). An ultrasonic radar (302) for ranging is also installed on the upper part of the charging block (310) on the base plate (303). A communication module (311) is also installed on the bottom of the second layer plate (304).

3. An air monitoring robot according to claim 2, characterized in that: The chassis shell (305) is also equipped with a protruding anti-collision strip (306).

4. An air monitoring robot according to claim 1, characterized in that: The frame in the fuselage (200) includes a first mounting plate (207), a second mounting plate (208), and a third mounting plate (209) arranged sequentially from bottom to top. The first mounting plate (207) and the second mounting plate (208) are fixedly installed together by a first column (210), and the second mounting plate (208) and the third mounting plate (209) are fixedly installed together by a second column (211). The frame is covered with a fuselage shell (212). A control module (205) and an electrical control module (206) are also installed on the first mounting plate (207).

5. An air monitoring robot according to claim 4, characterized in that: The side of the housing (212) is equipped with a first depth camera (201), a second depth camera (202), a light strip (203), and a control screen (204).

6. An air monitoring robot according to claim 4, characterized in that: The side of the fuselage (212) is also provided with at least two sets of inspection ports (213).

7. An air monitoring robot according to claim 1, characterized in that: The air monitoring device (100) also includes a bellows cover (106), which covers the lifting cylinder (104) and the bottom of the bellows cover (106) is in contact with the third mounting plate (209) of the body (200), so that the bellows cover (106) and the outer shell (212) of the body form a sealed whole.

8. An air monitoring robot according to claim 4, characterized in that: The lifting electric cylinder (104) is mounted on the second mounting plate (208) via the base (101). The third mounting plate (209) has an opening in the middle. The lifting electric cylinder (104) is located in the opening in the middle of the third mounting plate (209). The base (101) is also equipped with a lifting motor (103). The lifting motor (103) is connected to the lifting electric cylinder (104) via a transmission assembly (102) mounted on the base (101).

9. An air monitoring robot according to claim 1, characterized in that: The three-dimensional wind speed monitoring component includes a first anemometer (110) and a second anemometer (114). The first anemometer (110) is mounted on the side of the mounting frame (105) via a first bracket (109), and the second anemometer (114) is mounted on the top of the mounting frame (105) via a support frame (112) and a second bracket (113).

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