CN111255287A - Novel mechanical garage provided with mobile maintenance robot - Google Patents
Novel mechanical garage provided with mobile maintenance robot Download PDFInfo
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- CN111255287A CN111255287A CN202010191039.1A CN202010191039A CN111255287A CN 111255287 A CN111255287 A CN 111255287A CN 202010191039 A CN202010191039 A CN 202010191039A CN 111255287 A CN111255287 A CN 111255287A
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- garage
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- maintenance robot
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- 238000012423 maintenance Methods 0.000 title claims abstract description 48
- 230000003993 interaction Effects 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 241000237983 Trochidae Species 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000004297 night vision Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010191 image analysis Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- Engineering & Computer Science (AREA)
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Abstract
The invention relates to a mechanical garage provided with a mobile maintenance robot. Including garage main part and machinery vehicle storehouse control system, still including removing the dimension robot, the removal dimension robot include controller, storage module, collection module, orientation module and wireless communication module, the on-the-spot three-dimensional model of storage module built-in garage, the dimension robot carries out safe inspection according to three-dimensional model to each main part in garage, controller and machinery vehicle storehouse control system and central control system three form mutual interaction through wireless communication system, remove dimension robot and central control system and can control machinery vehicle storehouse control system respectively and make it and remove the completion collaborative work of dimension robot, collection module collection information transmission to controller or central control system analysis contrast. The intelligent garage inspection system can carry out comprehensive inspection on the garage according to needs, carry out intelligent analysis and comparison on shot pictures and data, realize intelligent control and improve the safety of the garage.
Description
Technical Field
The invention relates to a novel mechanical garage provided with a mobile maintenance robot.
Background
The control system configured in the existing mechanical garage can only find the faults of own electrical and circuit systems, but mechanical faults or hidden dangers still need to be found by manual inspection, but the manual inspection has irregular time and missing inspection, the safety problem also exists by manual inspection, meanwhile, the problems that the cost of manual maintenance is too high and the like exist, for example, 10 ten thousand garages are maintained in a mechanical garage one year, 40 people are needed for manual maintenance, the annual cost is 500 ten thousand yuan, and 5000 ten thousand yuan of renminty currency is needed in 10 years, so the prior art needs to be improved urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the novel mechanical garage provided with the mobile maintenance robot, which can automatically patrol the main mechanical system of the garage, find hidden dangers in advance, and can set maintenance according to instructions at any time or regularly according to the instructions, thereby greatly improving the safety level and the overall performance of the garage.
Therefore, the invention adopts the following technical scheme: the novel mechanical garage provided with the mobile maintenance robot comprises a garage main body and a mechanical garage control system and is characterized by further comprising the mobile maintenance robot, wherein the mobile maintenance robot comprises a controller, a storage module, an acquisition module, a positioning module and a wireless communication module, the storage module is internally provided with a three-dimensional model of a garage site, the maintenance robot carries out safe patrol on each main part of the garage according to the three-dimensional model, the controller, the mechanical garage control system and a central control system form mutual interaction through the wireless communication system, the mobile maintenance robot and the central control system can respectively control the mechanical garage control system to enable the mechanical garage control system and the mobile maintenance robot to complete cooperative operation, and the acquisition module acquires information and transmits the information to the controller or the central control system for analysis and comparison.
The maintenance robot comprises a chassis, moving wheels are arranged on the lower portion of the chassis, a lifting mechanism is arranged on the chassis, a top shell capable of rotating and adjusting the angle is arranged on the lifting mechanism, a rotary camera is arranged on one side of the top shell, the extension length and the angle of the rotary camera are adjustable, and the maintenance robot has a night vision function and a distance detection function.
The top shell connect the rotary camera through a first telescopic rod, and the telescopic rod is driven by electricity or hydraulic pressure.
The upper portion of elevating system sets up articulated seat, articulated seat one end articulated top shell, the other end articulated third telescopic link, the top shell is connected to the other end of third telescopic link.
The robot also comprises a scanning module, and the three-dimensional model is manually preset in the storage module or is scanned by the scanning module and is subjected to on-site instant modeling and stored in the storage module.
The camera position reserved scanning module installation interface, the scanning module who points can be fixed also can the dismouting, can also install other action bars of extension additional temporarily for the button operation in garage. The scanning modeling module can select various existing mature technologies such as an infrared mode, a laser mode, a sound wave mode, a radar and the like.
The mobile maintenance robot and the central control system are respectively provided with an image analysis judging module and a storage module, the storage module stores mechanical pictures and relevant parameters of a garage, and information collected by the image acquisition module is transmitted to the mobile maintenance robot and the central control system to judge whether faults exist through the image comparison judging module.
The maintenance robot is provided with an acousto-optic warning module and a voice interaction module to realize a man-machine interaction function, and the upper part of the chassis is provided with a display screen, an acousto-optic warning device and an audio microphone device.
The multi-angle distance measuring device is arranged around the chassis and on the top shell, and the chassis is internally provided with a rechargeable battery and a charging interface.
The central control system and the controller are also provided with a mobile client, and the movement of the robot and the garage can be controlled through the mobile client to acquire the operation information of the garage.
The central control system is combined with the maintenance robot and the garage control system, the maintenance robot and the garage control system are mutually interacted through the wireless communication system, the robot can comprehensively patrol the garage as required, and intelligently analyzes and compares shot pictures and data, so that intelligent control is realized, and the safety of the garage is improved.
The maintenance robot and the central control system are respectively provided with a picture recognition software system, an operation keyboard and related buttons of the garage can be recognized through the camera, and operation of different garages can be realized by controlling the temporary operation rod additionally arranged on the front end telescopic rod.
Drawings
Fig. 1 is a schematic structural diagram of a maintenance robot according to the present invention.
Fig. 2 is a sectional view of a portion a of fig. 1.
Fig. 3 is a sectional view of the portion B of fig. 1.
Fig. 4 is a schematic diagram of normal contraction of the camera.
Fig. 5 is a schematic view of the camera head extending after rotation.
Fig. 6 is a schematic diagram of an adjustable position area of a robot camera.
Fig. 7 is a schematic view (network area) of the robot of the present invention actually patrolling a garage.
Fig. 8 is a schematic diagram of a side view of the robot for actual inspection in a garage.
Detailed Description
A concentric dual axis control mechanism of the present invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1-6, a novel mechanical garage configured with a mobile maintenance robot comprises a garage main body, a mechanical garage control system and the mobile maintenance robot, wherein the mobile maintenance robot comprises a controller, a storage module, a scanning module, a collecting module and a positioning module, the acquisition module acquires information and transmits the information to the controller, the mechanical garage control system and the central control system form mutual interaction through a wireless communication system, the storage module is internally provided with a three-dimensional garage model which is manually preset in the storage module or is scanned by a scanning module and is instantly modeled and stored in the storage module, the central control system controls the maintenance robot to safely patrol each main part of the garage in the garage, and the mobile robot and the central control system can respectively control the mechanical garage control system and the mobile maintenance robot to cooperatively work.
The system comprises an acquisition module, a central control system and a storage module, wherein the acquisition module comprises an image acquisition module, a noise monitoring module and a multi-angle ranging device, the central control system comprises an image comparison judgment module and the storage module, the storage module stores the intact mechanical picture of the garage, and the information acquired by the image acquisition module is transmitted to the central control system and is judged whether to have faults or not through the image comparison judgment module.
The maintenance robot is provided with an acousto-optic warning module and a voice interaction module, and a man-machine interaction function is achieved. The voice interaction module can set authority and security measures in a password portrait acquisition mode and the like.
The maintenance robot comprises a bottom shell 9, a moving wheel 23 is arranged on the lower portion of the bottom shell 9, a second telescopic rod 13 is arranged on a chassis, a top shell 3 capable of adjusting the angle in a rotating mode is arranged on the second telescopic rod 13, a camera 1 is arranged on one side of the top shell and can be used for night vision, and the extending length and the angle of the camera are adjustable. The moving rollers are Mecanum wheels, the four rollers are controlled by four independent motors 25, each wheel can have an independent rotating direction, and the movement of the whole machine is cooperatively completed by independent steering among different wheels.
The top shell connect the night vision camera through first telescopic link 2, the telescopic link be electronic or hydraulic drive. The top shell is also provided with a base 19 of a first telescopic rod and a driving motor 20, and the top shell is also provided with a cable drum 21 and a cable 22 of a fixed outlet end.
The upper portion of second telescopic link sets up articulated seat 14, articulated seat one end articulated top shell 3, the articulated third telescopic link 15 of other end, the top shell is connected to the other end of third telescopic link.
The upper part of the chassis is provided with a display screen 10, an acousto-optic warning indicator 12 and an audio microphone device 11.
The multi-angle distance measuring device is arranged around the chassis, a rechargeable battery 28 and a charging interface 8 are arranged in the chassis, and a base 26 and a motor 27 of a second telescopic rod are further arranged in the chassis. And the top shell is provided with a top radar 18, a two-dimensional code 4 and other marks.
The night vision camera is provided with a scanning module mounting interface.
Each arm that contracts disposes trailing cable 7 or reel cable 16, sets up the required relevant support of cable on the robot, including removal end cable support 5 and stiff end trailing cable support 6, still sets up the cable conductor pulley on reel cable 16, guarantees the connection of data line power line control line.
As shown in fig. 7-8, the central control system controls the robot to reach the designated position of the garage, and judges whether the monitoring position needs to enter the garage through the modeling information, when the monitoring position enters the garage, the robot firstly judges whether a vehicle carrying board has a vehicle through a radar and a camera, and whether the garage control system needs to allocate the vehicle carrying board to send the robot to the upper layer of the garage, after the judgment is completed, the central control system or the robot sends an instruction to the garage, the garage control system receives and executes the instruction through wireless communication, the garage operation state interaction with the robot is completed, the robot is conveyed to the designated position according to the instruction, main mechanical parts of the garage are shot through the camera, and the main mechanical parts are transmitted to the central control system to be compared to judge whether the fault exists.
The specific process is as follows:
acousto-optic warning
In the moving process of the robot, the sound box gives out an alarm and a prompt sound, and the robot is also provided with a light prompt, so that the attention of passerby and vehicles is more easily aroused, the distance of an obstacle can be monitored in real time by the bottom radar and the top radar in the moving process, and the robot can move in an avoidance mode within an allowable range when encountering the obstacle, wherein the allowable range is determined by modeling.
Sound collection
The robot is provided with a microphone, so that the running sound and the environmental sound of the robot can be collected and transmitted to the central control system for analysis.
Image collection
In the non-operating state, the camera can be used as a recorder to face the traveling direction or the obstacle direction. Under the operating condition, according to the modeling in the system, firstly adjusting the position of the camera, after reaching the specified angle and height, the camera and the head radar can monitor the distance and the picture of the barrier outside the modeling data, adjusting and avoiding in time, rotating to the shooting angle after reaching the specified position, collecting the required picture data, transmitting the required picture data back to the central control system for analysis, and temporarily installing a three-dimensional modeling scanning device at the head end of the camera for real-time modeling scanning.
Modeling
In order to realize automatic movement of the robot and identification of key parts of the garage by the camera, three-position modeling needs to be carried out on the whole garage and surrounding road buildings, the three-position modeling can be conducted in a robot control system through manual modeling, a scanning device can also be temporarily additionally arranged at the position of the camera of the robot, and in a system debugging link, the robot moves to be matched with a transmission system to adjust the position and angle and change the position of the scanning device to carry out all-dimensional scanning modeling. After the scanning is finished, the scanning signal is transmitted to the central control system by the wireless transmission system, and is checked and adjusted by professional personnel and then is implanted into the robot control system. And after modeling is completed, taking down the scanning device.
Robot and garage interaction
The wireless communicator is arranged in the garage and connected with the garage PLC, and the robot can communicate wireless instructions with the garage through the central control system. The robot can conveniently enter the garage, the robot reaches the front side of the vehicle board, whether the vehicle is carried by the vehicle board is identified through radar and camera shooting, and the vehicle board is controlled and moved by the aid of the PLC of the garage to vacate a space for the robot or ascend and descend to a high level by the aid of the vehicle board. The robot can carry out universal removal and go up and down, and this robot can judge the distance of barrier through range unit according to the garage three-dimensional space of instruction and the internal storage of system and peripheral barrier model, removes or dodges with according to the model route, and the top is equipped with range unit equally, guarantees under the prerequisite of trafficability characteristic, goes to the different positions in different garage regions and garages with according to the instruction. By adding wireless communication equipment to the old garage and modeling, the garage can be upgraded into an intelligent maintenance garage.
The foregoing is merely exemplary of the preferred embodiments of the present invention and is not intended to limit the invention thereto. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The novel mechanical garage provided with the mobile maintenance robot comprises a garage main body and a mechanical garage control system and is characterized by further comprising the mobile maintenance robot, wherein the mobile maintenance robot comprises a controller, a storage module, an acquisition module, a positioning module and a wireless communication module, the storage module is internally provided with a three-dimensional model of a garage site, the maintenance robot carries out safe patrol on each main part of the garage according to the three-dimensional model, the controller, the mechanical garage control system and a central control system form mutual interaction through the wireless communication system, the mobile maintenance robot and the central control system can respectively control the mechanical garage control system to enable the mechanical garage control system and the mobile maintenance robot to complete cooperative operation, and the acquisition module acquires information and transmits the information to the controller or the central control system for analysis and comparison.
2. The mechanical garage with the mobile maintenance robot as claimed in claim 1, wherein the maintenance robot includes a chassis, the lower portion of the chassis is provided with a mobile wheel, the chassis is provided with a lifting mechanism, the lifting mechanism is provided with a top housing capable of being adjusted in angle in a rotating manner, one side of the top housing is provided with a rotary camera, the rotary camera is adjustable in extension length and angle and has a night vision function and a distance detection function.
3. The novel mechanical garage provided with the mobile maintenance robot as claimed in claim 2, wherein the top housing is connected with the rotary camera through a first telescopic rod, the telescopic rod is driven by electricity or hydraulic pressure, and a temporary operating rod can be additionally connected to the outer end of the telescopic rod and used for operating a button of the garage.
4. The novel mechanical garage provided with the mobile maintenance robot as claimed in claim 3, wherein a hinged seat is arranged at the upper part of the lifting mechanism, one end of the hinged seat is hinged to the top shell, the other end of the hinged seat is hinged to a third telescopic rod, and the other end of the third telescopic rod is connected with the top shell.
5. The novel mechanical garage with the mobile maintenance robot as claimed in claim 1, wherein the three-dimensional model is manually preset in the storage module or is scanned by the scanning module and stored in the storage module in real-time modeling on site.
6. The novel mechanical garage provided with the mobile maintenance robot as claimed in claim 5, wherein the robot further comprises a scanning module, a movable mounting interface of the scanning module is reserved at the position of the camera, and the scanning module can be fixed at the mounting interface and can also be detached.
7. The novel mechanical garage provided with the mobile maintenance robot as claimed in claim 1, wherein the collection module comprises an image collection module, a noise monitoring module and a multi-angle ranging device, the central control system and the robot control system both comprise an image analysis and identification module and a storage module, the storage module stores mechanical pictures and relevant parameters of the garage, and information collected by the image collection module can be transmitted to the central control system and can be judged whether a fault exists through the image comparison judgment module.
8. The mechanical garage with the mobile maintenance robot as claimed in claim 1, wherein the maintenance robot has an audio-visual warning module and a voice interaction module to realize a man-machine interaction function, and a display screen, an audio-visual warning device and an audio microphone are arranged on the upper portion of the chassis.
9. The novel mechanical garage provided with the mobile maintenance robot as claimed in claim 7, wherein the multi-angle ranging device is arranged around the chassis and on the top shell, and the chassis is internally provided with a rechargeable battery and a charging interface.
10. The novel mechanical garage provided with the mobile maintenance robot as claimed in claim 1, wherein the central control system and the controller are further provided with a mobile client, and the mobile client can control the movement of the robot and the movement of the garage to acquire the operation information of the garage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191039.1A CN111255287A (en) | 2020-03-18 | 2020-03-18 | Novel mechanical garage provided with mobile maintenance robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191039.1A CN111255287A (en) | 2020-03-18 | 2020-03-18 | Novel mechanical garage provided with mobile maintenance robot |
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| CN111255287A true CN111255287A (en) | 2020-06-09 |
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| CN202010191039.1A Pending CN111255287A (en) | 2020-03-18 | 2020-03-18 | Novel mechanical garage provided with mobile maintenance robot |
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Citations (7)
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|---|---|---|---|---|
| JPH05111544A (en) * | 1991-10-18 | 1993-05-07 | Nohmi Bosai Ltd | Fire extinguishing robot for mechanical parking lot |
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| CN110014440A (en) * | 2019-05-24 | 2019-07-16 | 北京深醒科技有限公司 | A kind of underground garage security protection crusing robot |
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| CN212154317U (en) * | 2020-03-18 | 2020-12-15 | 杭州智骨软件科技有限公司 | Maintenance robot |
-
2020
- 2020-03-18 CN CN202010191039.1A patent/CN111255287A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| JPH05111544A (en) * | 1991-10-18 | 1993-05-07 | Nohmi Bosai Ltd | Fire extinguishing robot for mechanical parking lot |
| CN102535915A (en) * | 2012-02-03 | 2012-07-04 | 无锡普智联科高新技术有限公司 | Automatic parking system based on mobile robot trolley |
| CN106043480A (en) * | 2016-05-25 | 2016-10-26 | 刘明月 | New-energy automobile part warehouse operation robot |
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| CN110014440A (en) * | 2019-05-24 | 2019-07-16 | 北京深醒科技有限公司 | A kind of underground garage security protection crusing robot |
| CN110667717A (en) * | 2019-09-30 | 2020-01-10 | 中铁第四勘察设计院集团有限公司 | Triangular wheel inspection robot applied to subway train inspection warehouse |
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Non-Patent Citations (3)
| Title |
|---|
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