CN111802119B - Greening maintenance system for smart city - Google Patents
Greening maintenance system for smart city Download PDFInfo
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- CN111802119B CN111802119B CN202010543626.2A CN202010543626A CN111802119B CN 111802119 B CN111802119 B CN 111802119B CN 202010543626 A CN202010543626 A CN 202010543626A CN 111802119 B CN111802119 B CN 111802119B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 238000013519 translation Methods 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 14
- 238000010191 image analysis Methods 0.000 claims abstract description 11
- 230000009194 climbing Effects 0.000 claims description 36
- 230000008859 change Effects 0.000 claims description 22
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 210000005056 cell body Anatomy 0.000 claims description 14
- 238000013459 approach Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 24
- 230000008569 process Effects 0.000 abstract description 20
- 238000010586 diagram Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
- A01G9/022—Pots for vertical horticulture
- A01G9/025—Containers and elements for greening walls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a greening maintenance system of a smart city, which comprises a greening wall component, a camera, an image analysis module, a control center, a replacement control module, a wall fixing mechanism, a robot translation mechanism and a component replacement robot, wherein the component fixing structure comprises installation groove bodies arranged on two sides of the greening wall component and anti-falling structures arranged in the installation grooves, and the component fixing structure is divided into a wall component fixing structure arranged on a wall through the wall fixing mechanism and a robot component fixing structure arranged on the component replacement robot; the component replacement robot inserts a new greening wall component into the wall surface component fixing structure from bottom to top, and the new greening wall component jacks and inserts the greening wall component to be replaced into the robot component fixing structure. The invention avoids the possibility of reverse rotation, sliding and falling of the greening wall component in the replacement process, and effectively ensures the safety of the replacement process. The replacement time is short and safe.
Description
Technical Field
The invention relates to a greening maintenance system for a smart city.
Background
With the increase of building height and greening demand, the number of greening walls arranged on building walls is increased, and for buildings with higher height, greening wall components are usually paved on the wall surface, wherein the greening wall components are generally provided with soil in the lower part or an interlayer and are provided with a net-shaped surface for plants to climb. The components can be fixedly installed on the wall surface in an attached mode, the appearance is attractive, and on the other hand, if plants in the partial greening wall components wither and grow excessively, the greening wall components only need to be replaced. Therefore, the greening wall structure is widely applied to the design of the smart city for automatically managing and maintaining greening facilities.
However, due to the building height, the height of the greening wall is continuously increased, and for the greening wall component at a higher position, whether the growth condition is normal or not is not easy to find out at ordinary times, more importantly, the danger is greatly increased when the high greening wall component is replaced. The problem lies in that although the components can be grabbed by the grabbing device in the replacing process, due to the lack of protection in the disassembling and assembling process, the components are likely to be impacted by falling objects, blown by strong wind, and the grabbing device is influenced by cables to shake and other external factors, so that grabbing failure is caused or the components slide down before grabbing, and the automatic replacing process is not facilitated.
Disclosure of Invention
The invention aims to provide a greening maintenance system for a smart city, and the greening maintenance system is used for solving the problems that when a greening wall component at a high wall position is replaced in the prior art, the greening wall component is not protected in the process of dismounting and replacing, the phenomenon of overturning and sliding is easy to occur, and the safety in the replacement process cannot be guaranteed.
The invention provides a greening maintenance system of a smart city, which comprises a greening wall component arranged on a wall, and further comprises a camera, an image analysis module, a control center, a replacement control module, a wall fixing mechanism, a robot translation mechanism and a component replacement robot, wherein the component replacement robot is provided with a robot control module; the greening wall component is detachably mounted on a component fixing structure, the component fixing structure comprises mounting groove bodies arranged on two sides of the greening wall component and anti-falling structures arranged in the mounting grooves, the greening wall component is inserted into the mounting groove bodies and blocked by the anti-falling structures to prevent the greening wall component from falling, and the component fixing structure is divided into a wall surface component fixing structure mounted on a wall surface through the wall surface fixing mechanism and a robot component fixing structure arranged on the component replacing robot; the replacement control module controls the component replacement robot to move to a greening wall component needing to be replaced, the component replacement robot carries a new greening wall component, the greening wall component needing to be replaced extends to a replacement position on the component replacement robot, the component replacement robot inserts the new greening wall component into the wall component fixing structure from bottom to top, and the new greening wall component jacks the greening wall component needing to be replaced into the robot component fixing structure.
Preferably, the component replacement robot includes a main body frame, an upper component storage structure, a lower component storage structure, and a climbing movement mechanism, the climbing moving mechanism is connected with the left side and the right side of the main body frame, the upper assembly storage structure and the lower assembly storage structure are arranged on the upper side and the lower side of the main body frame, the space above the lower assembly storage structure on the inward side of the main body frame is the replacement position, the lower component storage structure is provided with a component positioning structure which is positioned right below the replacing position, the lower component storage structure comprises a first lifting mechanism connected with the main body frame, go up the subassembly and deposit the structure and include robot subassembly fixed knot constructs, robot subassembly fixed knot constructs and is located directly over the change position to with get into the wall subassembly fixed knot structure in the change position and coincide in vertical direction.
Preferably, the structure of preventing falling is a plurality of rotatable joint pieces, but rotatable joint piece is installed through the pivot the inslot wall of installation cell body, the afforestation wall subassembly left and right sides all is equipped with a plurality of draw-in grooves, the draw-in groove arranges from top to bottom, the draw-in groove with but rotatable joint piece one-to-one joint, but rotatable joint piece lower part be equipped with to the tank bottom of installation cell body is stretched out prevents changeing the bulge, install in the mounting groove and support prevent changeing the slat that prevents of bulge, but change joint piece upper portion with prevent changeing and leave the rotation space between the slat, but change joint piece upper portion with the side butt of going up of draw-in groove.
Preferably, the anti-rotation lath is connected with the groove bottom through a telescopic mechanism to enable the anti-rotation lath to approach or be far away from the groove bottom.
Preferably, the assembly positioning structure comprises a pair of assembly positioning groove bodies symmetrically arranged on the first movable plate of the first lifting mechanism, the assembly positioning groove bodies can be inserted into the assembly positioning groove bodies from the upper side, and the notch parts of the assembly positioning groove bodies are in sliding fit with the strip positioning grooves on the left side and the right side of the green wall assembly.
Preferably, the wall fixing mechanism further comprises an electric cylinder installed on the outer side of the wall and a stretching connecting rod connected to the output end of the electric cylinder, the stretching connecting rod is connected to the wall component fixing structure, and the electric cylinder drives the wall component fixing structure to be close to or far away from the wall through the stretching connecting rod.
Preferably, the robot translation mechanism is installed at the top of the building and comprises a horizontal rail parallel to the wall and a translation trolley moving on the horizontal rail, the climbing mechanism moves along a climbing rail arranged on the wall and is provided with a pin connection mechanism fixed with the climbing rail in a pin connection mode, an initial rail is fixed on one side, close to the wall, of the translation trolley, and the component replacement robot is fixedly connected with the initial rail in an initial state.
Preferably, the camera is used for collecting images of all greening wall components on the wall, the image analysis module is used for identifying abnormal greening wall components in the images and marking the abnormal greening wall components in the images, the control center determines the position of the greening wall components needing to be replaced according to the images with abnormal marks and generates corresponding replacing instructions to be sent to the replacing control module, and the replacing control module controls the wall fixing mechanism, the robot translation mechanism and the component replacing robot to cooperate to complete replacement of the greening wall components.
Preferably, be equipped with the location strip on the main body frame, location strip inboard is equipped with the inductor, both sides are equipped with the confession respectively around the cell body of subassembly location the location strip passes through logical groove one with supply wall fixed establishment stretch out logical groove two that the connecting rod passes through, lead to groove one with lead to the equal opening in upper end of groove two.
The invention has the following advantages: the wall surface component fixing structure and the robot component fixing structure are reliably installed and fixed, and the wall surface fixing structure and the component replacing robot can form good matching through the control of the control center and the replacing control module in the system. The greening wall component needing to be replaced extends to the replacement position on the robot by the wall fixing mechanism, and then the safe replacement process after the greening wall component needs to be replaced can be guaranteed to run well. And the replacement process also combines two transportation processes of lifting the greening wall assembly after the greening wall assembly is detached and putting down a new greening wall assembly into one, so that the danger possibly generated in the transportation process is reduced.
And the subassembly replacement robot guarantees through subassembly location cell body that its position of new afforestation wall subassembly is all by accurate stable definite down transporting with change in-process, consequently can accurately insert wall subassembly fixed knot from the below when changing to the afforestation wall subassembly that will change is ejecting. The accurate and reliable robot component fixing structure installed at the upper part of the robot can accurately receive greening wall components from the lower part without errors. Therefore, the greening wall component is dismounted and mounted simultaneously through one work, and the greening wall component is protected by the positioning groove body, the wall surface component fixing structure and the robot component fixing structure in the whole process, so that the possibility that the greening wall component is reversed, slides and falls in the replacement process is avoided, and the safety of the replacement process is effectively guaranteed. The replacement time is short and safe.
Due to the fact that the climbing moving mechanism is adopted, the robot is fixed through the brake and the pin joint mechanism, when the robot is moved to the position of the greening wall component to be fixed, the robot is affected by strong wind to a small extent, the fixing is stable and reliable, the problem that the robot collides with the greening wall component or the wall cannot occur when the greening wall component on the wall is pushed out and replaced, and the reliability of the replacement process is greatly improved. And protect through the safety line, even take place the track and climb the wheel condition of skidding and also can guarantee that the robot can not suddenly the landing or swing on the wall, guaranteed the security of this system.
Drawings
Fig. 1 is a block diagram of a greening maintenance system for a smart city according to the present invention.
Fig. 2 is a schematic structural diagram of a building structure of a greening maintenance system for a smart city according to the present invention.
Fig. 3 is a schematic structural view of the component replacement robot in an initial state according to the present invention.
Fig. 4 is a front view of the structure shown in fig. 3.
Fig. 5 is an enlarged view of the region a of the structure shown in fig. 3.
FIG. 6 is a top view of the replacement position of the present invention after the replacement of the greening wall assembly to be replaced by the lifting of a new greening wall assembly;
fig. 7 is a schematic structural view of the component replacement robot and the wall surface fixing mechanism when the component of the greening wall to be replaced is extended to the replacement position, and the upper component storage structure and the lower component storage structure are omitted.
Fig. 8 is a schematic structural diagram of the component replacement robot of the present invention when the component of the greening wall to be replaced is extended to the replacement position.
Fig. 9 is a schematic view of the structure of the component fixing structure of the present invention when a greening wall component is installed.
Fig. 10 is an enlarged view of the region B of the structure shown in fig. 9.
Fig. 11 is a side view of the structure shown in fig. 9.
The labels in the figures are: 1. the component replacement robot comprises a component replacement robot, 11, a main body frame, 111, a main frame, 112, a lifting machine shell, 113, a moving mechanism mounting frame, 114, a positioning strip, 12, a climbing moving mechanism, 121, a moving mechanism shell, 122, a climbing wheel, 123, a pin joint mechanism, 124, a fixing pin, 13, a lower component storage structure, 131, a first lifting motor, 132, a first lifting mechanism, 133, a first moving plate, 134, a component positioning structure, 14, an upper component storage structure, 141, a second lifting mechanism, 142, a second moving plate, 143, a second lifting motor, 15, a robot component fixing structure, 151, an installation groove body, 152, a telescopic mechanism, 1521, a bidirectional screw rod, 1522, a nut, 1523, a small connecting rod, 4, a handle, 153, a falling prevention structure, 1531, a rotatable component, 16, a robot control module, 2, a greening wall clamping component, 21, a strip-shaped positioning groove, 22, a clamping groove, 23 and a net-shaped part, 3. robot translation mechanism, 4, capstan winch mechanism, 5, climbing track, 6, wall fixed establishment, 61, wall subassembly fixed knot construct, 62, stretch out the connecting rod, 63, electric jar, 7, initial orbit.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-11, the present invention provides a greening maintenance system for smart city, which comprises a greening wall component 2 mounted on a wall, a camera, an image analysis module, a control center, a replacement control module, a wall fixing mechanism 6, a robot translation mechanism 4 and a component replacement robot 1, wherein the component replacement robot 1 is provided with a robot control module 16; the greening wall component 2 is detachably mounted on a component fixing structure, the component fixing structure comprises mounting groove bodies 151 arranged on two sides of the greening wall component 2 and anti-falling structures 153 arranged in the mounting grooves, the greening wall component 2 is inserted into the mounting groove bodies 151 and blocked by the anti-falling structures 153 to prevent the greening wall component 2 from falling, and the component fixing structure is divided into a wall surface component fixing structure 61 mounted on a wall surface through the wall surface fixing mechanism 6 and a robot component fixing structure 15 arranged on the component replacing robot 1; change control module control the subassembly is changed robot 1 and is removed the afforestation wall subassembly 2 department that needs to be changed, subassembly is changed robot 1 and is carried new afforestation wall subassembly 2, wall fixed establishment 6 stretches out the afforestation wall subassembly 2 that needs to be changed change the change position on the subassembly is changed robot 1, subassembly is changed robot 1 and is pegged graft new afforestation wall subassembly 2 by supreme down in the wall subassembly fixed knot constructs 61, and the afforestation wall subassembly 2 jacking that new afforestation wall subassembly 2 will need to be changed is inserted in robot subassembly fixed knot constructs 15.
The component replacement robot 1 includes a main body frame 11, an upper component storage structure 14, a lower component storage structure 13, and a climbing movement mechanism 12, the climbing moving mechanism 12 is connected to the left and right sides of the main body frame 11, the upper assembly storage structure 14 and the lower assembly storage structure 13 are arranged on the upper and lower sides of the main body frame 11, the space above the lower module storage structure 13 on the inward side of the main body frame 11 is the replacement position, the lower component storage structure 13 has a component positioning structure 134 located directly below the replacement position, the lower module storage structure 13 includes a lifting mechanism one 132 connected to the main body frame 11, go up subassembly storage structure 14 and include robot assembly fixed knot constructs 15, robot assembly fixed knot constructs 15 and is located change position directly over to with get into the wall subassembly fixed knot structure 61 in changing the position and coincide in the vertical direction.
The main body frame 11 includes a main frame 111, a lift case 112 disposed on both sides of the main frame 111, and a moving mechanism mounting frame 113 installed outside the lift case 112. A part of the first lifting mechanism 132 and a part of the second lifting mechanism 141 are both arranged in the lifting machine shell 112, and the corresponding first lifting motor 131 and the second lifting motor 143 are arranged outside the lifting machine shell 112 and are connected with the components of the lifting mechanism inside for driving. The structure can not only protect the lifting mechanism, but also guide the lifting process, and has better stability.
The upper assembly storage structure 14 further includes a second lifting mechanism 141 connected to the main body frame 11, and the top of the robot assembly fixing structure 15 is fixed below a second moving plate 142 of the second lifting mechanism 141. The upper end of a bidirectional screw 1521 in the robot assembly fixing structure 15 penetrates through the second moving plate 142 and is provided with a handle 1524.
The anti-rotation lath is connected with the groove bottom through a telescopic mechanism 152 to enable the anti-rotation lath to approach or be far away from the groove bottom. Telescopic machanism 152 includes a pair of removal nut 1522, two pairs of little connecting rods 1523, a two-way screw rod 1521 and a fixed plate, the fixed plate is installed the bottom or the top of installation cell body 151, two-way screw rod 1521 includes two sections opposite screw thread sections of turning round, two-way screw rod 1521 vertical fixation is in on the fixed plate, removal nut 1522 is connected respectively in two screw thread sections, every nut 1522 both sides are connected through a little connecting rod 1523 respectively prevent changeing the slat with the tank bottom, two-way screw rod 1521 upwards stretches out and is equipped with handle 1524. Thus, when the greening wall assembly 2 is accidentally stuck, the greening wall assembly 2 can freely enter and exit the assembly fixing structure through the telescopic mechanism 152.
The component positioning structure 134 comprises a pair of component positioning groove bodies symmetrically arranged on the first moving plate 133 of the first lifting mechanism 132, the mounting groove bodies 151 can be inserted into the component positioning groove bodies from the upper part, and the notch parts of the component positioning groove bodies are in sliding fit with the strip-shaped positioning grooves 21 on the left side and the right side of the greening wall component 2.
The greening wall component 2 is characterized in that strip-shaped positioning grooves 21 are symmetrically arranged on the front side and the rear side of the greening wall component 2, the strip-shaped positioning grooves 21 on the same side are arranged on the left side and the right side in pairs, positioning convex strips protruding inwards and matched with the strip-shaped positioning grooves 21 are arranged at the groove openings of the component positioning groove bodies, and the groove width of the component positioning groove bodies is matched with the external width of the installation groove body 151. In the middle of the greening wall assembly 2 is a net-shaped part 23 for plants to climb.
Wall fixed establishment 6 is still including installing the electric jar 63 in the wall outside and connecting the connecting rod 62 that stretches out of electric jar 63's output, it is connected to stretch out connecting rod 62 wall subassembly fixed knot constructs 61, electric jar 63 is through stretching out the connecting rod 62 drive wall subassembly fixed knot constructs 61 and is close or keeps away from the wall.
The electric cylinders 63 are at least two pairs and are symmetrically arranged on the upper side and the lower side, the output ends of the electric cylinders 63 extend outwards perpendicular to the wall surface, the electric cylinders 63 are positioned on the left side and the right side of the greening wall component 2, and two ends of the extending connecting rod 62 are respectively fixed on the output ends of the electric cylinders 63 and the outer side of the wall surface component fixing structure 61. This structure can effectively install fixed wall subassembly fixed knot and construct 61 to convenient control extension volume, thereby can change robot 1 with the subassembly and carry out good cooperation.
The robot translation mechanism 4 is installed at the top of a building and comprises a horizontal rail parallel to a wall and a translation trolley moving on the horizontal rail, the climbing mechanism 12 moves along the climbing rail 5 on the wall and is provided with a pin joint mechanism 123 fixed with the climbing rail 5 in a pin joint mode, an initial rail is fixed on one side of the translation trolley close to the wall, and the component replacing robot 1 is fixedly connected with the initial rail in an initial state.
The climbing rail 5 is provided with pin holes around the greening wall assembly 2 to match with the fixing pins 124 driven by the pin joint mechanisms 123. The exposed part of the climbing rail 5 is a rail with a T-shaped cross section, the climbing wheels 122 respectively clamped with the top of the T-shaped cross section of the rail are arranged on two sides of the climbing moving mechanism 12 in the moving mechanism shell 121, the surfaces of the rail, which are in contact with the climbing wheels 122, are provided with sawtooth racks for preventing slipping, and anti-slip sawteeth matched with the sawtooth racks are arranged on the surfaces of the climbing wheels 122, so that slipping along the rail during climbing can be avoided, the accurate climbing and lifting distance can be effectively guaranteed, and the pin connection mechanisms 123 are guaranteed to correspond to corresponding pin holes. A brake device corresponding to the clamping climbing wheel 122 is also arranged inside the climbing moving mechanism 12.
The initial rail is also provided with pin holes corresponding to the pin joint mechanisms 123, and the brake device and the pin joint mechanisms 123 together allow the component replacement robot 1 to be fixed on the initial rail 7. The initial rail 7 can move to a position aligned with the climbing rail 5 along with the translation trolley, when the initial rail 7 and the climbing rail 5 are aligned, the fixing pin 124 is withdrawn and separated from the connection with the initial rail 7, the brake device releases the brake, and the climbing moving mechanism 12 can move up and down along the initial rail 7 and the climbing rail 5.
The translation trolley can be further provided with a winch mechanism 4, a safety cable is arranged on the winch and connected to a main body frame 11 of the component replacement robot 1, the safety cable is synchronously retracted or released when the component replacement robot 1 goes up and down, and the component replacement robot 1 is protected from falling.
Above-mentioned structural combination lets subassembly change robot 1 can remove each afforestation wall subassembly 2 to can stop comparatively accurately in the position of the afforestation wall subassembly 2 that needs to be changed, guarantee to be fixed with climbing track 5 in this department, thereby at transportation and change afforestation wall subassembly 2 in-process, sufficient security and reliability can both be guaranteed to subassembly change robot 1, reduce afforestation wall subassembly 2 and the possibility that subassembly change robot 1 dropped.
The camera is used for collecting images of all greening wall components 2 on the wall, the image analysis module is used for identifying abnormal greening wall components 2 in the images and marking the abnormal greening wall components 2 in the images, the control center determines the positions of the greening wall components 2 needing to be replaced according to the images with abnormal marks and generates corresponding replacing instructions to be sent to the replacing control module, and the replacing control module controls the wall fixing mechanism 6, the robot translation mechanism 4 and the component replacing robot 1 to cooperate to complete replacement of the greening wall components 2. Through the combination of the modules, the real-time monitoring can be carried out on a plurality of greening wall components 2 on the wall, abnormal greening wall components 2 can be found in time, the wall fixing mechanism 6, the component replacing robot 1 and the robot translation mechanism 4 are well controlled, the orderly cooperation of the three is ensured, and the corresponding replacing process is completed.
Be equipped with location strip 114 on the main body frame 11, location strip 114 inboard is equipped with the inductor, both sides are equipped with the confession respectively around the subassembly location cell body leading to groove one and confession that location strip 114 passes through the logical groove two that stretch out connecting rod 62 of wall fixed establishment 6 passes through, lead to groove one with lead to the equal opening in upper end of groove two.
The working process of the invention is as follows: under the initial state, new afforestation wall subassembly 2 both sides are pegged graft in the subassembly location cell body, guarantee that new afforestation wall subassembly 2 is fixed reliably and is fixed a position accurately, are difficult to drop from the robot. The component replacement robot 1 is fixed on the start track. When the system is started, firstly, image data acquired by the camera is sent to the image analysis module, and the image analysis module extracts the features and then analyzes and judges the features and the threshold value of a normal image to determine the abnormal image features and mark the abnormal image features in the image. The image analysis module sends the image after processing the identification to the control center, the control center firstly identifies whether an identification area exists, if so, the identification area is compared with the stored layout drawing of the greening wall component 2 to determine the abnormal greening wall component 2, and a corresponding replacement instruction is generated according to the position of the abnormal greening wall component 2, namely, the greening wall component 2 at a certain coordinate position is replaced, and the replacement instruction is sent to the replacement control module. The replacement control module sends corresponding control instructions to the wall fixing mechanism 6, the robot translation mechanism 4 and the component replacement robot 1 in sequence, and the component replacement robot 1 can control the component replacement robot to make more actions through the robot control module 16 on the component replacement robot and the actions are more accurate.
Firstly, the robot translation mechanism 4 moves the initial track and the component replacing robot 1 thereon to the position right above the greening wall component 2 to be replaced, so that the component replacing robot 1 can move up and down along the initial track and the climbing track 5, and then descends to the position of the greening wall component 2 to be replaced through the climbing movement mechanism 12, and the moving position of the component replacing robot 1 can be monitored to be correct through the camera and the image analysis module. When the component replacement robot 1 moves to the corresponding position, the fixing pin 124 is driven out by the pin joint mechanism 123 to fix the component replacement robot 1 at the corresponding position. Then the wall fixing mechanism 6 at the position is operated, the output end of the electric cylinder 63 contracts, the first lifting mechanism 132 moves the component positioning structure 134 provided with the new greening wall component 2 to the lower part, and thus, the main body frame 11 is reserved with a replacing position which is opposite to the greening wall component 2 to be replaced.
At this time, when receiving the information sent by the image recognition module or the robot control module 16, the control center can start the corresponding wall fixing mechanism 6 by replacing the control module, the electric cylinder 63 contracts inwards, one end of the extending connecting rod 62 at the upper side and the lower side moves inwards along with the inward movement of the extending connecting rod 62, so that the extending connecting rod 62 is opened outwards, the wall component fixing structure 61 provided with the greening wall component 2 is pushed outwards until the wall component fixing structure is blocked by the positioning strip 114, and the sensor at the part of the positioning strip 114 sends a signal, so that the replacement control module stops the operation of the wall fixing mechanism 6. The greening wall assembly 2 to be replaced is located right above the new greening wall assembly 2, and the lifting mechanism one 132 lifts the new greening wall assembly 2 to push the greening wall assembly 2 in the wall surface assembly fixing structure 61 upwards, and meanwhile, the new greening wall assembly 2 is inserted into the wall surface assembly fixing structure 61 from below.
The wall surface component fixing structure 61 can prevent the new greening wall component 2 from falling all the time in the inserting process and can fix the position of the new greening wall component 2 in all directions, therefore, the new greening wall component 2 is unlikely to turn over or slide horizontally, on the other hand, the greening wall component 2 to be replaced is inserted into the robot component fixing structure 15 from the lower part immediately after being ejected out, and the latter has the same structure with the wall surface component fixing structure 61 and can prevent the possibility that the detached greening wall component 2 falls down, turns over or slides and falls in the detaching process. This scheme has thoroughly stopped afforesting wall subassembly 2 and has taken place the possibility that drops at the dismouting in-process to do not need personnel to carry out high altitude construction, make afforesting wall subassembly 2's change very safe.
After replacing the new greening wall component 2 to the wall surface component fixing structure 61, the first lifting mechanism 132 controls the component positioning structure 134 to descend, a feedback signal is sent after the completion, and the replacement control module controls the corresponding wall surface fixing mechanism 6 to reversely run, so that the new greening wall component 2 and the wall surface component fixing structure 61 are withdrawn to the wall surface again, and the reset fixation is realized. The robot module fixing structure 15 loaded with the replaced greening wall module 2 is lowered to the original replacing position along with the second lifting mechanism 141, and then the module replacing robot 1 can move to the position for recovering the greening wall module 2 from the top or the bottom, and the greening wall module 2 is taken out from the upper part during recovery.
If the greening wall assembly 2 is jammed when being taken out, the lower portion of the rotatable engaging member 1531 can be rotated toward the bottom of the tank by rotating the handle 1524 of the telescoping mechanism 152 to move the rotation-preventing strip toward the bottom of the tank, so that the greening wall assembly 2 can be taken out from the lower portion.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (8)
1. The utility model provides a afforestation maintenance system in wisdom city, includes install afforestation wall subassembly (2) on the wall, its characterized in that: the robot component replacing system is characterized by further comprising a camera, an image analysis module, a control center, a replacing control module, a wall surface fixing mechanism (6), a robot translation mechanism (4) and a component replacing robot (1), wherein the component replacing robot (1) is provided with a robot control module (16); the greening wall component (2) is detachably mounted on a component fixing structure, the component fixing structure comprises mounting groove bodies (151) arranged on two sides of the greening wall component (2) and anti-falling structures (153) arranged in the mounting grooves, the greening wall component (2) is inserted into the mounting groove bodies (151) and is blocked by the anti-falling structures (153) to prevent the greening wall component from falling, and the component fixing structure is divided into a wall surface component fixing structure (61) mounted on a wall surface through the wall surface fixing mechanism (6) and a robot component fixing structure (15) arranged on the component replacing robot (1); the replacement control module controls the component replacement robot (1) to move to a greening wall component (2) to be replaced, the component replacement robot (1) carries a new greening wall component (2), the wall fixing mechanism (6) stretches the greening wall component (2) to be replaced out of a replacement position on the component replacement robot (1), the component replacement robot (1) inserts the new greening wall component (2) into the wall component fixing structure (61) from bottom to top, and the new greening wall component (2) jacks the greening wall component (2) to be replaced and inserts into the robot component fixing structure (15);
the component replacement robot (1) comprises a main body frame (11), an upper component storage structure (14), a lower component storage structure (13) and a climbing moving mechanism (12), wherein the climbing moving mechanism (12) is connected to the left side and the right side of the main body frame (11), the upper component storage structure (14) and the lower component storage structure (13) are arranged on the upper side and the lower side of the main body frame (11), the inward side of the main body frame (11) is positioned above the lower component storage structure (13) and is used for replacing the position, the lower component storage structure (13) is provided with a component positioning structure (134) positioned under the replacing position, the lower component storage structure (13) comprises a first lifting mechanism (132) connected with the main body frame (11), and the upper component storage structure (14) comprises a robot component fixing structure (15), robot subassembly fixed knot constructs (15) and is located change position directly over to with get into wall subassembly fixed knot structure (61) in changing the position and coincide in the vertical direction.
2. The system of claim 1, wherein the smart city comprises: prevent falling structure (153) and be a plurality of rotatable joint spare (1531), rotatable joint spare (1531) is installed through the pivot the inslot wall of installation cell body (151), afforestation wall subassembly (2) the left and right sides all is equipped with a plurality of draw-in grooves (22), draw-in groove (22) are arranged from top to bottom, draw-in groove (22) with rotatable joint spare (1531) one-to-one joint, rotatable joint spare (1531) lower part be equipped with to the tank bottom of installation cell body (151) is stretched out prevents changeing the bulge, install in installation cell body (151) and support prevent changeing the slat of changeing of bulge, rotatable joint spare (1531) upper portion with prevent changeing and leave the rotation space between the slat, rotatable joint spare (1531) upper portion with the side butt of draw-in groove (22).
3. The system of claim 2, wherein the smart city comprises: the anti-rotation lath is connected with the groove bottom through a telescopic mechanism (152) to enable the anti-rotation lath to approach or be far away from the groove bottom.
4. The system of claim 1, wherein the smart city comprises: the component positioning structure (134) comprises a pair of component positioning groove bodies which are symmetrically arranged on a first movable plate (133) of the lifting mechanism (132), the installation groove bodies (151) can be inserted into the component positioning groove bodies from the upper side, and the notch parts of the component positioning groove bodies are in sliding fit with the strip positioning grooves (21) on the left side and the right side of the greening wall component (2).
5. The system of claim 1, wherein the smart city comprises: wall fixed establishment (6) are still including installing electric jar (63) in the wall outside and connecting stretch out connecting rod (62) of the output of electric jar (63), it is connected to stretch out connecting rod (62) wall subassembly fixed knot constructs (61), electric jar (63) are through stretching out connecting rod (62) drive wall subassembly fixed knot constructs (61) and is close or keep away from the wall.
6. The system of claim 1, wherein the smart city comprises: robot translation mechanism (4) are installed at the building top, including parallel and the horizontal rail of wall with the translation dolly that moves on the horizontal rail, climbing moving mechanism (12) are along setting up climbing track (5) on the wall remove and be equipped with climbing track (5) pin joint fixed pin joint mechanism (123), the translation dolly is being fixed with initial track by wall one side, subassembly change robot (1) under initial condition with initial track fixed connection.
7. The system of claim 1, wherein the smart city comprises: the camera is used for collecting images of all greening wall components (2) on the wall, the image analysis module is used for identifying abnormal greening wall components (2) in the images and identifying the abnormal greening wall components in the images, the control center determines the position of the greening wall components (2) to be replaced according to the images with abnormal identifications and generates a corresponding replacement instruction to send the replacement instruction to the replacement control module, and the replacement control module controls the wall fixing mechanism (6), the robot translation mechanism (4) and the component replacement robot (1) to cooperate to complete replacement of the greening wall components (2).
8. The system of claim 4, wherein the smart city comprises: be equipped with location strip (114) on main body frame (11), location strip (114) inboard is equipped with the inductor, both sides are equipped with the confession respectively around the cell body of subassembly location the logical groove one that location strip (114) pass through and confession stretch out logical groove two that connecting rod (62) pass through of wall fixed establishment (6), lead to groove one with lead to the equal opening in upper end of groove two.
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| CN107278667A (en) * | 2017-06-21 | 2017-10-24 | 深圳市玖品空气净化科技有限公司 | A kind of intelligent city vertical planting building being conveniently replaceable |
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| IL260144B2 (en) * | 2018-06-19 | 2023-04-01 | Arkadi Buberman | Automated modular plant growth system |
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| CN107278667A (en) * | 2017-06-21 | 2017-10-24 | 深圳市玖品空气净化科技有限公司 | A kind of intelligent city vertical planting building being conveniently replaceable |
| CN109548513A (en) * | 2017-09-22 | 2019-04-02 | 江苏华夏知识产权服务有限公司 | A kind of intellectual city greening wall for being easily installed and transplanting based on Internet of Things |
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Effective date of registration: 20240106 Address after: 4th Floor, Building 34, Zhongke Science and Technology Park, Yongxing Road, Chongchuan District, Nantong City, Jiangsu Province, 226000 Patentee after: Jiangsu Tengshen Building Decoration Engineering Co.,Ltd. Address before: 226000 Yongxing Road, Gangzha District, Nantong, Jiangsu Province, No. 14 Patentee before: Nantong Institute of Technology |
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Denomination of invention: A Green Maintenance System for Smart Cities Granted publication date: 20220107 Pledgee: Suzhou Bank Co.,Ltd. Nantong Branch Pledgor: Jiangsu Tengshen Building Decoration Engineering Co.,Ltd. Registration number: Y2024980021301 |