CN111716318A - Roll call and inspection robot managed by labor tools - Google Patents

Abstract

The invention relates to a roll call and labor tool management inspection robot, in particular to a mobile robot which can provide accurate positioning, automatic navigation and autonomous charging and complete the statistic tasks of workers and labor tools through a face recognition and object detection algorithm. The invention comprises a head, a machine body, a movable chassis, a support frame, a controller and a power supply management module, wherein the head is used for image acquisition, the support frame is fixed on the movable chassis, and the height of a camera is adjusted according to requirements. The robot body is arranged above the movable chassis, and the controller and the power management module are arranged in the robot body and used for providing different power supplies for all modules of the robot and providing computing power for face recognition and object detection. The invention has the characteristics of simple deployment, convenient operation, high reliability and high flexibility, and the change of the seating order of workers does not influence the roll calling result and the statistical result of the labor tool even if the process of the production line is changed.

Description

Roll call and inspection robot managed by labor tools

Technical Field

The invention relates to a roll call and labor tool management inspection robot, in particular to a mobile robot capable of providing accurate positioning, automatic navigation and autonomous charging. The statistics of personnel and labor tools is completed through a face recognition algorithm and an object detection algorithm, and the method belongs to the field of mobile inspection robots.

Background

In industrial production and some special workplaces, statistics of workers and labor tools in workshops are required to be carried out at regular intervals. At present, there are three main solutions for people statistics. Scheme 1: the manual roll call scheme is characterized in that management personnel check the roll call one by one according to a roster, if a workshop 200 and 400 people count for more than 30 minutes, if the workshop counts for 6-8 times every day, a great deal of energy of the management personnel is consumed every day, and the management personnel are easily fatigued due to the influence of factors such as environmental factors and personnel quality. Scheme 2: the scheme of the station machine is that a fingerprint picker is installed on each station, and when the roll call broadcasting is carried out in a workshop, a manager can carry out fingerprint statistics on workers. However, the scheme has a plurality of terminals, and when the station is adjusted every time a machined product is replaced, the fingerprint pickup terminal needs to be adjusted according to the requirement, so that the maintenance difficulty is high. Similar problems exist with the management of labor tools. Scheme 3: according to the camera scheme, the face roll call is carried out through the existing camera in the workshop, however, due to the installation problem of the fixed camera and the matching problem of workers, the problem of serious missing points exists, namely, the problem that the statistical result is inaccurate and the labor tool management cannot be carried out exists.

The existing labor tool statistics solutions mainly comprise the following two solutions. Scheme 1: when workers go on and off duty, the management personnel count the labor tools of each station. Scheme 2: the method is characterized in that each tool is provided with an electronic tag, when workers go off duty, the working tools are placed on a signal pickup device on a desktop, signal statistics is carried out by a software background, and the number statistics of the working tools is completed.

Therefore, in order to improve the efficiency of workshop production and labor tool management, a more appropriate solution for workshop roll calling and labor tool statistics needs to be further explored.

Disclosure of Invention

To solve the above problems, the present invention aims to: the utility model provides a robot patrols and examines of roll call and working tool management, the high definition digtal camera that this scheme adopted the robot to carry accomplishes staff's roll call statistics function and the discernment of working tool in the workshop, and the robot patrols and examines and walks in the workshop round alright pass the management backstage of robot with roll call information/working tool's statistical information through wired/wireless mode, and the administrator on duty can know the condition of patrolling and examining statistics at every turn in real time. The invention provides two working modes, namely a roll call working mode and a labor tool counting mode; the roll call working mode is that a face recognition algorithm is utilized to carry out face positioning and face feature extraction on each frame of image collected by a camera, and the face positioning and face feature extraction are compared with face features in a face library to complete roll call of personnel in a workshop; the labor tool statistical mode is to identify the labor tool on the workbench by using an object detection algorithm.

The invention has the characteristics of simple deployment, reliable work, convenient operation, high reliability and high flexibility, and the change of the seat number of workers does not influence the roll calling result and the counting result of the labor tool even if the process on the production line is changed.

The technical scheme adopted by the invention is as follows: a polling robot for roll calling and labor tool management comprises a head, a machine body, a movable chassis, a support frame, a controller and a power management module, wherein the head is used for image acquisition, is arranged above the machine body and is fixed above the support frame, and the lower part of the support frame is fixed on the movable chassis through a locking screw; the robot body is arranged above the mobile chassis and used for protecting and beautifying the robot, and the controller and the power management module are arranged in the robot body and fixed below the support frame and used for providing different power supplies for all modules of the robot and providing calculation power for face recognition and object detection; the invention completes roll call statistical function of workers in a production workshop through a face recognition algorithm, and realizes the recognition and positioning of labor tools by using an object detection algorithm so as to complete the statistics of the labor tools.

Further, the head, including head upper cover, head bounding wall, neck, camera and camera mounting, the head upper cover fix on the head bounding wall, the camera is established around the head bounding wall, sets up preceding, left and right threely according to actual need, the camera compresses tightly on the head bounding wall through the camera mounting.

Further, the fuselage, including preceding fuselage shell, back fuselage shell, scram switch, speaker, degree of depth camera and fuselage apron, preceding fuselage shell pass through locking screw to be fixed on removing the chassis, back fuselage shell passes through set screw locking in the front on the fuselage shell, the scram switch sets up in back fuselage shell upper back for emergency braking, the speaker sets up in the front fuselage shell upper front, when the robot patrols and examines, carries out voice prompt, the degree of depth camera sets up on the fuselage apron for vision when the robot navigates around the barrier, the fuselage apron is fixed in the front on fuselage shell and back fuselage shell through the end line that the below set up.

Further, the mobile chassis comprises: the robot comprises a body fixing plate, a chassis cover plate, differential wheels, a laser radar, a charging panel, front supporting wheels, a controller mounting frame, a power battery, rear supporting wheels, a control panel cover, a 4G/wifi communication antenna, a chassis controller, a chassis control panel, a chassis supporting column and a chassis supporting plate, wherein the body fixing plate is fixed on the chassis cover plate through supporting studs, the chassis cover plate is fixed on the chassis supporting plate through the chassis supporting columns, the differential wheels are fixed on the chassis supporting plate through a suspension system to provide power for the robot to walk, the laser radar is fixed on the chassis supporting plate through a radar mounting seat, the charging panel is arranged below the laser radar and is positioned in front of a mobile chassis, the front supporting wheels are arranged in front under the chassis supporting plate, the rear supporting wheels are arranged behind the chassis supporting plate and are respectively arranged on the left side and the right side, the front supporting wheels and the rear supporting wheels are mutually matched to support, the control panel lid sets up on the chassis apron for protect chassis control panel, chassis control panel sets up in the back upper place of chassis backup pad, and is located the rear of chassis apron, and 4G wifi communication antenna sets up in the top of fuselage fixed plate, and chassis controller control sets up in the top of controller mounting bracket, and the controller mounting bracket is fixed in the chassis backup pad, and power battery sets up the below in the chassis backup pad.

Further, the support frame includes: slide rail, fastening roof beam, slide bar mounting bracket, slide bar support frame and connecting plate, slide rail below fix on the fuselage fixed plate, and the left and right sides is fixed once more through fastening roof beam, in order to reduce the shake of head at the walking in-process, the slide sets up in the spout of slide rail, and the eccentric mechanism that the accessible side set up carries out manual locking and fixes, slide bar mounting bracket fixes on the slide, the slide bar lower extreme is fixed in the mounting hole of slide bar mounting bracket, and for the tension assembly, the slide bar support frame is fixed in the slide rail top, and distribute at the both sides face, be used for leading the slide bar, the connecting plate is fixed to be set up in the upper end of slide bar.

Furthermore, the number of the cameras is not only three, namely front, left and right, but also 1, 2 or 4 according to the requirement.

Furthermore, the loudspeakers are arranged on the left side and the right side of the machine body.

Furthermore, the slide base drives the screw rod mechanism to move up and down by the driving motor, so that the actual detection height of the camera in the head part is adjusted.

Drawings

FIG. 1 is an overall assembly diagram of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a side view of the present invention.

Fig. 4 is a top view of the present invention.

Fig. 5 is an internal structural view of the present invention.

Fig. 6 is a head structure view of the present invention.

Fig. 7 is a view showing the internal structure of the head of the present invention.

Fig. 8 is a structural view of the support frame of the present invention.

Fig. 9 is a front structural view of the mobile chassis of the present invention.

Fig. 10 is a rear structure view of the mobile chassis of the present invention.

Fig. 11 is a front internal structure view of the mobile chassis of the present invention.

Fig. 12 is a rear internal structure view of the mobile chassis of the present invention.

In the figure, 1 is a head, 2 is a body, 3 is a movable chassis, 4 is a support frame, and 5 is a controller and a power management module. Wherein the head 1 comprises: 1-1 is a head upper cover, 1-2 is a head coaming, 1-3 is a neck, 1-4 is a camera, and 1-5 is a camera fixing piece. The body 2 includes: 2-1 is a front machine body shell, 2-2 is a rear machine body shell, 2-3 is an emergency stop switch, 2-4 is a loudspeaker, 2-5 is a depth camera, and 2-6 is a machine body cover plate. The moving chassis 3 includes: 3-1 is a machine body fixing plate, 3-2 is a chassis cover plate, 3-3 is a differential wheel, 3-4 is a laser radar, 3-5 is a charging panel, 3-6 is a front supporting wheel, 3-7 is a controller mounting frame, 3-8 is a power battery, 3-9 is a rear supporting wheel, 3-10 is a control panel cover, 3-11 is a 4G/wifi communication antenna, 3-12 is a chassis controller, 3-13 is a chassis control panel, 3-14 is a chassis supporting column, and 3-15 is a chassis supporting plate. The support frame 4 includes: 4-1 is a slide rail, 4-2 is a fastening beam, 4-3 is a slide seat, 4-4 is a slide bar mounting rack, 4-5 is a slide bar, 4-6 is a slide bar support frame, and 4-7 is a connecting plate.

Detailed Description

Example 1

Referring to fig. 1 to 12, a robot that patrols and examines of roll call and working tool management, includes head 1, fuselage 2, removes chassis 3, support frame 4 and controller and power management module 5, its characterized in that: the head 1 is used for image acquisition, is arranged above the machine body 2 and is fixed above the support frame 4, and the lower part of the support frame 4 is fixed on the movable chassis 3 through a locking screw; the robot body 2 is arranged above the mobile chassis 3 and used for protecting and beautifying the robot, and the controller and power management module 5 is arranged in the robot body 2 and fixed below the support frame 4 and used for providing different power supplies for various modules of the robot and providing computing power for face recognition and object detection; the invention completes roll call statistical function of workers in a production workshop through a face recognition algorithm, and realizes the recognition and positioning of labor tools by using an object detection algorithm so as to complete the statistics of the labor tools.

Example 2

The difference between the embodiment and the embodiment 1 is that the head 1 comprises a head upper cover 1-1, a head boarding 1-2, a neck 1-3, a camera 1-4 and a camera fixing piece 1-5, and is characterized in that: the head upper cover 1-1 is fixed on the head boarding 1-2, the cameras 1-4 are arranged around the head boarding 1-2, the front, the left and the right are arranged according to actual requirements, and the cameras 1-4 are tightly pressed on the head boarding 1-2 through the camera fixing piece 1-5.

Example 3

The difference between the embodiment and the embodiment 1 is that the body 2 comprises a front body shell 2-1, a rear body shell 2-2, an emergency stop switch 2-3, a loudspeaker 2-4, a depth camera 2-5 and a body cover plate 2-6, and is characterized in that: the robot is characterized in that the front body shell 2-1 is fixed on the movable chassis 3 through a locking screw, the rear body shell 2-2 is locked on the front body shell 2-1 through a fixing screw, the emergency stop switch 2-3 is arranged above the rear body shell 2-2 for emergency braking, the loudspeaker 2-4 is arranged above the front body shell 2-1 for voice prompt when the robot patrols and examines, the depth camera 2-5 is arranged on the body cover plate 2-6 for visual obstacle avoidance when the robot navigates, and the body cover plate 2-6 is fixed on the front body shell 2-1 and the rear body shell 2-2 through a stop line arranged below.

Example 4

The present embodiment is different from embodiment 1 in that the moving chassis 3 includes: 3-1 of fuselage fixed plate, 3-2 of chassis apron, differential wheel 3-3, laser radar 3-4, charging panel 3-5, preceding supporting wheel 3-6, controller mounting bracket 3-7, power battery 3-8, back supporting wheel 3-9, control panel lid 3-10, 4G wifi communication antenna 3-11, chassis controller 3-12, chassis control panel 3-13, chassis support column 3-14 and chassis backup pad 3-15, its characterized in that: the robot body fixing plate 3-1 is fixed on a chassis cover plate 3-2 through a supporting stud, the chassis cover plate 3-2 is fixed on a chassis supporting plate 3-15 through a chassis supporting column 3-14, a differential wheel 3-3 is fixed on the chassis supporting plate 3-15 through a suspension system to provide power for the robot to walk, a laser radar 3-4 is fixed on the chassis supporting plate 3-15 through a radar mounting seat, a charging panel 3-5 is arranged below the laser radar 3-4 and is positioned in front of a mobile chassis 3, a front supporting wheel 3-6 is arranged below and in front of the chassis supporting plate 3-15, a rear supporting wheel 3-9 is arranged below and behind the chassis supporting plate 3-15, the left supporting wheel and the right supporting wheel are respectively provided, the front supporting wheel 3-6 and the rear supporting wheel 3-9 are matched with each other to support the whole robot, the control panel cover 3-10 is arranged on the chassis cover plate 3-2 and used for protecting a chassis control panel 3-13, the chassis control panel 3-13 is arranged on the rear upper portion of the chassis support plate 3-15 and located behind the chassis cover plate 3-2, the 4G/wifi communication antenna 3-11 is arranged on the upper portion of the machine body fixing plate 3-1, the chassis controller 3-12 is arranged on the upper portion of the controller mounting frame 3-7, the controller mounting frame 3-7) is fixed on the chassis support plate 3-15, and the power battery 3-8 is arranged below the chassis support plate 3-15.

Example 5

The difference between this embodiment and embodiment 4 is that the supporting frame 4 includes: 4-1 slide rail, 4-2 fastening beam, 4-3 slide, 4-4 slide bar mounting bracket, 4-5 slide bar, 4-6 slide bar support frame and 4-7 connecting plate, its characterized in that: the lower portion of the sliding rail 4-1 is fixed on a machine body fixing plate 3-1, the left side and the right side of the sliding rail are fixed again through a fastening beam 4-2 so as to reduce shaking of the head 1 in the walking process, the sliding seat 4-3 is arranged in a sliding groove of the sliding rail 4-1 and can be manually locked and fixed through an eccentric mechanism arranged on the side face, the sliding rod mounting frame 4-4 is fixed on the sliding seat 4-3, the lower end of the sliding rod 4-5 is fixed in a mounting hole of the sliding rod mounting frame 4-4 and is in over-tight assembly, the sliding rod supporting frame 4-6 is fixed above the sliding rail 4-1 and is distributed on the two side faces and used for guiding the sliding rod 4-5, and the connecting plate 4-7 is fixedly arranged at the upper end of the sliding rod 4.

Example 6

The difference between this embodiment and embodiment 2 is that the number of the cameras 1-4 can be set to 1, 2 or 4 as required.

Example 7

The present embodiment is different from embodiment 3 in that the speakers 2-4 are provided on the left and right sides of the body 2.

Example 8

The difference between this embodiment and embodiment 5 is that the slide 4-3 is driven by a driving motor to drive a screw mechanism to move the slide 4-3 up and down, so as to adjust the actual detection height of the camera 1-4 in the head 1.

The working principle of the invention patent is as follows: when the robot is used for the first time, the robot can finish map construction of a workshop environment by walking once in a workshop through a self-contained composition algorithm, and then the robot can finish face roll calling and the statistical task of a labor tool in the walking process of the robot according to the setting of a task and the configuration of a patrol route, a patrol mode and parameters during patrol set by a background of the robot. And the robot can stop the barrier or avoid the barrier according to the road conditions at the in-process of patrolling and examining, and when the robot is in the task of calling a roll, can carry out voice broadcast and remind the staff just to the camera, accomplish the work of calling a roll.

The specific functions of the invention also include:

1) the device has the functions of visual obstacle avoidance and laser radar obstacle avoidance;

2) the device has the functions of active cruising and automatic cruising;

3) the voice prompt function is provided;

4) the system has the uploading function of wireless/wired roll call result/production tool statistics;

5) the automatic charging function is achieved;

6) the face roll call function is achieved;

7) object identification of the labor tool;

8) the device has the functions of active obstacle detouring and obstacle stopping;

9) the automatic drawing establishment function is provided;

10) the method has the function of background management; the background management comprises a task management module, a robot setting module and a user management module.

The task management module supports task issuing, task list checking and roll call condition checking, and the robot setting supports the settings of robot configuration such as inspection point setting, robot inspection speed and volume setting. In addition, the user management supports the addition, deletion, search and modification of the early warning information and supports the addition, deletion, search and modification of the prisoner information.

Claims (8)

1. The utility model provides a roll call and inspection robot of working tool management, includes head (1), fuselage (2), removes chassis (3), support frame (4) and controller and power management module (5), its characterized in that: the head (1) is used for image acquisition, is arranged above the machine body (2) and is fixed above the support frame (4), and the lower part of the support frame (4) is fixed on the movable chassis (3) through a locking screw; the robot body (2) is arranged above the movable chassis (3) and used for protecting and beautifying the robot, and the controller and power management module (5) is arranged inside the robot body (2) and fixed below the support frame (4) and used for providing different power supplies for all modules of the robot and providing calculation power for face recognition and object detection.

2. The inspection robot for roll calling and labor tool management according to claim 1, wherein the head (1) comprises a head upper cover (1-1), a head boarding (1-2), a neck (1-3), a camera (1-4) and a camera fixing piece (1-5); the head upper cover (1-1) is fixed on the head coaming (1-2), the cameras (1-4) are arranged around the head coaming (1-2) and are arranged in a front, left and right mode according to actual requirements, and the cameras (1-4) are tightly pressed on the head coaming (1-2) through the camera fixing piece (1-5).

3. The roll call and labor tool management inspection robot according to claim 1, wherein the robot body (2) is characterized in that: comprises a front machine body shell (2-1), a rear machine body shell (2-2), an emergency stop switch (2-3), a loudspeaker (2-4), a depth camera (2-5) and a machine body cover plate (2-6); the robot is characterized in that the front body shell (2-1) is fixed on the movable chassis (3) through a locking screw, the rear body shell (2-2) is locked on the front body shell (2-1) through a fixing screw, the emergency stop switch (2-3) is arranged above the rear body shell (2-2) and used for emergency braking, the loudspeaker (2-4) is arranged above the front body shell (2-1), voice prompt is carried out when the robot patrols and examines, the depth camera (2-5) is arranged on the body cover plate (2-6) and used for visual obstacle detouring when the robot navigates, and the body cover plate (2-6) is fixed on the front body shell (2-1) and the rear body shell (2-2) through a stop line arranged below.

4. The roll call and labor tool management inspection robot according to claim 1, the mobile chassis (3) characterized by: comprises a machine body fixing plate (3-1), a chassis cover plate (3-2), differential wheels (3-3), laser radars (3-4), a charging panel (3-5), front supporting wheels (3-6), a controller mounting frame (3-7), power batteries (3-8), rear supporting wheels (3-9), a control panel cover (3-10), 4G/wifi communication antennas (3-11), a chassis controller (3-12), a chassis control panel (3-13), chassis supporting columns (3-14) and a chassis supporting plate (3-15), wherein the machine body fixing plate (3-1) is fixed on the chassis cover plate (3-2) through supporting studs, the chassis cover plate (3-2) is fixed on the chassis supporting plate (3-15) through chassis supporting columns (3-14), differential wheels (3-3) are fixed on chassis supporting plates (3-15) through a suspension system to provide power for the robot to walk, a laser radar (3-4) is fixed on the chassis supporting plates (3-15) through a radar mounting seat, a charging panel (3-5) is arranged below the laser radar (3-4) and is positioned in front of a movable chassis (3), front supporting wheels (3-6) are arranged in front of the lower parts of the chassis supporting plates (3-15), rear supporting wheels (3-9) are arranged behind the lower parts of the chassis supporting plates (3-15) and are respectively arranged on the left and the right, the front supporting wheels (3-6) and the rear supporting wheels (3-9) are matched with each other to support the whole robot, a control panel cover (3-10) is arranged on a chassis cover plate (3-2) to protect the chassis control panels (3-13), the chassis control panel (3-13) is arranged above the rear portion of the chassis support plate (3-15) and behind the chassis cover plate (3-2), the 4G/wifi communication antenna (3-11) is arranged above the machine body fixing plate (3-1), the chassis controller (3-12) is arranged above the controller mounting frame (3-7), the controller mounting frame (3-7) is fixed on the chassis support plate (3-15), and the power battery (3-8) is arranged below the chassis support plate (3-15).

5. The inspection robot for roll calling and labor tool management according to claim 4, wherein the support frame (4) is characterized in that: comprises a slide rail (4-1), a fastening beam (4-2), a slide seat (4-3), a slide bar mounting rack (4-4), a slide bar (4-5), a slide bar support frame (4-6) and a connecting plate (4-7), wherein the lower part of the slide rail (4-1) is fixed on a machine body fixing plate (3-1), the left side and the right side of the slide rail are fixed again through the fastening beam (4-2) so as to reduce the shaking of the head (1) in the walking process, the slide seat (4-3) is arranged in a slide groove of the slide rail (4-1) and can be locked and fixed manually through an eccentric mechanism arranged on the side surface, the slide bar mounting rack (4-4) is fixed on the slide seat (4-3), the lower end of the slide bar (4-5) is fixed in a mounting hole of the slide bar mounting rack (, and for over-tight assembly, the slide bar supporting frames (4-6) are fixed above the slide bars (4-1) and distributed on two side surfaces for guiding the slide bars (4-5), and the connecting plates (4-7) are fixedly arranged at the upper ends of the slide bars (4-5) for supporting the head (1) of the robot.

6. The roll call and labor tool managed inspection robot of claim 2, wherein: the number of the cameras (1-4) can be 1, 2 or 4 according to the requirement.

7. The roll call and labor tool managed inspection robot of claim 3, wherein: the loudspeakers (2-4) are arranged at the left side and the right side of the machine body (2).

8. The roll call and labor tool managed inspection robot of claim 5, wherein: the sliding seat (4-3) drives the screw rod mechanism to enable the sliding seat (4-3) to move up and down by the driving motor, and then the actual detection height of the camera (1-4) in the head (1) is adjusted.

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