CN114734458A - Intelligent building inspection robot - Google Patents
Intelligent building inspection robot Download PDFInfo
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- CN114734458A CN114734458A CN202210349263.8A CN202210349263A CN114734458A CN 114734458 A CN114734458 A CN 114734458A CN 202210349263 A CN202210349263 A CN 202210349263A CN 114734458 A CN114734458 A CN 114734458A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L13/00—Speech synthesis; Text to speech systems
- G10L13/02—Methods for producing synthetic speech; Speech synthesisers
- G10L13/04—Details of speech synthesis systems, e.g. synthesiser structure or memory management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention discloses an intelligent building inspection robot which comprises a main body frame, a control module, an image acquisition module, a radar navigation module, a voice broadcasting module, a motor driving module, a voltage reduction module and a power supply module, wherein the control module is used for controlling the image acquisition module and the radar navigation module; the intelligent building inspection robot disclosed by the invention records the surrounding environment during inspection through the image acquisition module, a building manager can remotely monitor the building environment and remotely control the intelligent building inspection robot through the upper computer of the monitoring center, the attention of the surrounding personnel can be timely reminded through voice broadcasting in case of emergency, and the six-wheel moving mechanism of the rocker arm bogie enables the intelligent building inspection robot to cross the obstacle with a certain height, so that the working range of the intelligent building inspection robot is widened. The building inspection system is mainly used for assisting building managers to inspect buildings so as to solve the problems that the physical limitation of inspectors needs to be considered, higher labor cost is possibly generated and the inspectors cannot be timely preprocessed in case of emergency in the current manual inspection, and the quality and the efficiency of building inspection are obviously improved.
Description
Technical Field
The invention relates to the technical field of inspection, in particular to an intelligent building inspection robot, and belongs to the technical field of intelligent building inspection.
Background
With the rapid development of artificial intelligence technology, the intelligent inspection technology is gradually applied to modern buildings, the safety of personnel and property in the buildings can be practically guaranteed in building inspection, particularly in office places and living places where people, objects and properties are continuously gathered and frequently flow, a plurality of safety problems are increasingly highlighted, and the quality and efficiency of building inspection work need to be more emphasized and improved.
In view of the fact that the current building inspection is mainly completed manually, the manual inspection needs to consider physical limitation of inspection personnel, more labor cost needs to be spent for manual inspection of large buildings, in order to reduce the building inspection cost and improve the efficiency of the building inspection, an intelligent building inspection robot is designed and applied to assist building management personnel in inspecting the safety conditions of personnel and property in the buildings, and the intelligentization of building inspection is realized as necessary.
Disclosure of Invention
In order to solve the problems, the invention discloses an intelligent building inspection robot, which records the surrounding environment during inspection through an image acquisition module, and a building manager can remotely monitor the building environment and remotely control the intelligent building inspection robot through a monitoring central upper computer, can timely remind surrounding personnel to pay attention through voice broadcast in case of emergency, and solves the problems that the physical limitation of the inspection personnel needs to be considered, higher labor cost is possibly generated and the inspection personnel cannot timely perform previous treatment in case of emergency.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention discloses an intelligent building inspection robot, which comprises: the radar navigation system comprises a main body frame, a control module, an image acquisition module (401), a radar navigation module (501), a voice broadcast module (304), a motor driving module, a voltage reduction module (305) and a power supply module (306).
The main body frame comprises a main body cabin (101) and a six-wheel moving mechanism of a rocker arm bogie; a chassis (301) is arranged in the main body bin (101) and used for arranging the control module, the voice broadcast module (304), the motor driving module, the voltage reduction module (305) and the power supply module (306); the six-wheel moving mechanism of the rocker arm bogie is mainly used for moving, obstacle crossing and moving direction changing of the intelligent building inspection robot.
The control module comprises a master controller (3031) and a slave controller (3032); the main controller (3031) is respectively connected with the image acquisition module (401), the radar navigation module (501) and the slave controller (3032) through a first serial port, a second serial port and a third serial port on the periphery of the main controller.
The voice broadcasting module (304) comprises a voice synthesis module and a micro broadcasting loudspeaker; the terminal wire of the micro broadcast loudspeaker is connected to the audio output port of the voice synthesis module and used for playing synthesized voice, the pin of the voice synthesis module used for data sending is connected with the pin of the main controller (3031) used for data receiving, and the pin of the voice synthesis module used for data receiving is connected with the pin of the main controller (3031) used for data sending.
The intelligent building inspection robot comprises a power module (306), a power switch (307) and a power supply module (306), wherein the power supply module (306) is a 12V direct-current stabilized voltage power supply, the power supply module (306) is directly used for supplying power to a motor driving module, the positive pole and the negative pole of the power module (306) are connected to an input stage wiring terminal of a voltage reduction module (305), power voltage is reduced to 5V, the positive pole and the negative pole are derived from an output stage wiring terminal of the voltage reduction module (305), the input stage positive pole and the negative pole pins of a main controller (3031), a radar navigation module (501) and a voice broadcast module (304) are connected for supplying power, and the image acquisition module (401) and the slave controller (3032) are respectively supplied with power by a first serial port and a third serial port of the main controller (3031).
The motor driving module comprises three motor driving boards, the output stage positive and negative pole pins of the slave controller (3032) are connected with the input stage positive and negative pole pins of a first motor driving board (3021), the output stage positive and negative pole pins of the first motor driving board (3021) are connected with the input stage positive and negative pole pins of a second motor driving board (3022), the output stage positive and negative pole pins of the second motor driving board (3022) are connected with the input stage positive and negative pole pins of a third motor driving board (3023), each motor driving board is provided with a power supply connection terminal and two 6P XH2.54 ports for driving output and speed feedback, the positive and negative poles of the power supply module (306) are connected with the positive and negative poles of the power supply connection terminal of each motor driving board, the two 6PXH 2.54.54 ports of each motor driving board are connected with the 6P XH2.54 ports of two coaxial driving motors (206) through 6P XH2.54 terminal lines, the pin of each motor driving board for PWM speed regulation is connected with the pin with the PWM speed regulation function of the slave controller (3032), the pin of the first motor driving board (3032) for Hall code counting is connected with the pin with the interrupt function of the slave controller (3032), and the other signal pins of each motor driving board are connected to the common signal pin of the slave controller (3032).
The image acquisition module (401) and the radar navigation module (501) are arranged on a T-shaped frame (102) at the front end of the main body cabin (101); the image acquisition module (401) is arranged at the central position of the joint of the two connecting rods on the front surface of the T-shaped frame (102); the radar navigation module (501) is positioned right above the image acquisition module (401) and is mounted at the center of the connecting rod closest to the top of the main body cabin (101) and the center of the connecting rod at the top of the T-shaped frame (102) in a crossing manner.
The six-wheel moving mechanism of the rocker arm bogie is in left-right mirror symmetry relative to the main body cabin (101), two sides of the main body cabin (101) respectively comprise a first inverted V-shaped frame (201), a second inverted V-shaped frame (202), a connecting mechanism (203) for connecting two connecting rods of the first inverted V-shaped frame (201) and a first connecting rod (2021) for connecting the second inverted V-shaped frame (202), three mounting bases (204), three mounting frames (205), three driving motors (206) and three driving wheels, wherein the first driving wheel (2071) and the second driving wheel (2072) on one side of the main body cabin (101) are mounted at the bottom ends of the two connecting rods of the first inverted V-shaped frame (201) on the side, and the third driving wheel (2073) on the side is mounted at the bottom end of the second connecting rod (2022) of the second inverted V-shaped frame (202) on the side.
The connecting mechanism (203) is a group of connecting pieces which are connected and closed tightly, wherein an upper connecting piece (2031) and a lower connecting piece (2032) are fixed through bolt connection, the connecting mechanism (203) is embedded with a bolt-type bearing (2033) at the axis position of an internal circular groove and fixed by screws at the top of the mechanism, acts on the first inverted V-shaped frame (201) to do a rotary motion of not less than ninety degrees relative to the second inverted V-shaped frame (202) so as to facilitate the intelligent building inspection robot to cross a certain height of obstacle, the connecting mechanism (203) is connected through two connecting rods which are embedded in the first inverted V-shaped frame (201) and is connected with a first connecting rod (2021) of the second inverted V-shaped frame (202) through a bolt-type bearing (2033) which is embedded in the connecting mechanism (203), and (2) fixing by using nuts, and fixing a first connecting rod (2021) and a second connecting rod (2022) of the second inverted V-shaped frame (202) on the side surface of the main body cabin (101) by bolts, wherein the first connecting rod (2021) is tightly mounted on the side surface of the main body cabin (101), and the second connecting rod (2022) is fixedly mounted on a first side column (1011) and a second side column (1012) on the side surface of the main body cabin (101) and keeps a certain distance with the first connecting rod (2021), so that the wheel edges of a first driving wheel (2071), a second driving wheel (2072) and a third driving wheel (2073) on two sides of the main body cabin (101) are superposed on a straight line.
The mounting base (204) is connected with the first inverted V-shaped frame (201) and the second inverted V-shaped frame (202) through connecting rods which are nested, fixed by bolts, and then attached and fixed with the mounting frame (205) through bolts and the bottom of the first inverted V-shaped frame, the mounting frame (205) is attached and fixed with the driving motor (206) through screws, a nut column is nested and fixed outside an output shaft of the driving motor (206) through jackscrews and embedded in a groove position of the axle center of the driving wheel, and the driving wheel is fixed on the nut column nested outside the output shaft of the driving motor (206) through the axle center screws, so that the output shaft of the driving motor (206) can drive the driving wheel to rotate.
The working method of the intelligent building inspection robot specifically comprises the following steps:
step S100: starting a power switch (307) on the chassis (301), supplying power to the main controller (3031), the radar navigation module (501), the voice broadcasting module (304) and the motor driving module, and supplying power to the image acquisition module (401) and the slave controller (3032) by the main controller (3031) so as to complete power supply of the intelligent building inspection robot;
step S110: the radar navigation module (501) performs laser scanning on the surrounding environment, the obtained environment two-dimensional coordinate data is transferred to a monitoring center upper computer through the main controller (3031) to be processed, a building manager remotely controls the intelligent building inspection robot to a target position in a point dragging mode by pressing a keyboard or a mouse according to an environment two-dimensional map obtained after the processing of the monitoring center upper computer, and 6 driving wheels on the left side and the right side of the main body bin (101) change the moving direction in a differential steering mode, so that the 6 driving wheels drive the intelligent building inspection robot to move along a route preset by the building manager;
step S120: the intelligent building inspection robot comprises an image acquisition module (401), a main controller (3031), a monitoring center upper computer and a monitoring center monitoring module, wherein the image acquisition module (401) acquires and records images of the surrounding environment when the intelligent building inspection robot moves, and transmits the obtained image data of the environment to the monitoring center upper computer through the main controller (3031), and the monitoring center upper computer processes the received image data of the environment, so that the functions of image monitoring, marker identification, danger early warning and the like are realized, and building managers are assisted to carry out intelligent inspection on buildings;
step S130: when building managers follow discover that there is the potential safety hazard in the building environment in the image that intelligent building patrols and examines the robot and gathers, can pass through the central host computer of control to intelligent building patrols and examines the content that the robot sent voice broadcast, voice broadcast module (304) carry out voice broadcast after receiving, in time remind personnel around to notice to send the potential safety hazard to the personnel of security.
The intelligent building inspection robot is characterized in that the upper computer of the monitoring center is remotely controlled in a mouse point dragging mode, the intelligent building inspection robot adopts an intelligent path planning algorithm to calculate the optimal motion track and move along the optimal track, and the path planning algorithm specifically comprises the following steps:
step S200: determining the motion track of the building inspection robot, wherein the coordinates of the building inspection robot at the time t are as follows:
x(t)＝x(t-1)+v(t)Δtcos(θ(t-1))
y(t)＝y(t-1)+v(t)Δtsin(θ(t-1))
θ(t)＝θ(t-1)+ω(t)Δt
wherein, X (t), X (t-1) are X-axis coordinates of the building inspection robot at the time t and t-1, Y (t), Y (t-1) are Y-axis coordinates of the building inspection robot at the time t and t-1, theta (t) and theta (t-1) are included angles between the building inspection robot at the time t and t-1 and the X-axis, v (t) and omega (t) are linear speed and angular speed of the building inspection robot at the time t, and delta t is a time interval of two adjacent actions of the building inspection robot, namely a sampling period;
step S210: sampling the motion speed of the intelligent building inspection robot, calculating the motion trail of the intelligent building inspection robot according to the motion speed of the intelligent building inspection robot, calculating the motion trail according to a certain number of sampled speeds, and then evaluating whether the motion trails are proper or not;
whereinThe sampling speed needs to meet the requirement in a certain sampling space, the determination of the sampling space is influenced by the following three factors, specifically including the limitation of the maximum speed and the minimum speed of the intelligent building inspection robot, the motor performance of the intelligent building inspection robot, and the obstacles encountered in the moving process of the intelligent building inspection robot, and three speed sets V can be obtained according to the formula (1), the formula (2) and the formula (3)s、Vd、VaThe sampling space V can be calculatedrAs the intersection V of the three velocity setsr＝Vs∩Vd∩Va；
Vs＝{(v,ω)|v∈[vmin,vmax]∧ω∈[ωmin,ωmax]} (1)
Vd＝{(v,ω)|v∈[vc-vbΔt,vc+vaΔt]∧ω∈[ωc-ωbΔt,ωc+ωaΔt]} (2)
Wherein V and omega are linear velocity and angular velocity ranges of the building inspection robot within one sampling period, and in the formula (1), V issIs a speed set obtained by limiting the building inspection robot by the maximum speed and the minimum speed per se, vmax、vminMaximum and minimum linear speed omega of building inspection robotmax、ωminMaximum and minimum angular velocities of the building inspection robot are obtained; in the formula (2), VdSpeed set v obtained by inspection robot for building under influence of motor performancec、ωcLinear velocity, angular velocity v of the building inspection robot at the current momenta、vbAdding and reducing speed omega for maximum line of building inspection robota、ωbAdding and reducing speed for the maximum angle of the building inspection robot, wherein delta t is the sampling period of the building inspection robot; in the formula (3), VaSpeed obtained by influence of obstacles encountered in moving process of building inspection robotDegree set, vbMaximum line deceleration of the building inspection robot, omegabFor the maximum angular deceleration of the building inspection robot, dist (v, omega) is the distance from the obstacle on the track corresponding to the speed (v, omega);
step S220: evaluating the optimal motion track, evaluating the calculated motion track according to an evaluation function formula (4), and further selecting the optimal motion track in the current state;
G(v,ω)＝σ(αheading(v,ω)+βdistance(v,ω)+γvelocity(v,ω)) (4)
the intelligent building inspection robot comprises a building inspection robot, a heading (v, omega) evaluation subfunction, a distance (V, omega) evaluation subfunction) and a distance (S) between the building inspection robot and an obstacle, wherein the heading (v, omega) evaluation subfunction mainly promotes the intelligent building inspection robot to rapidly reach a target position, the distance (V, omega) evaluation subfunction is a subfunction which mainly promotes the intelligent building inspection robot to rapidly reach the target position, the meaning is that the distance between the intelligent building inspection robot and the nearest obstacle on a map is obtained when the intelligent building inspection robot is located at the position of the predicted track end point, an algorithm punishs sampling points close to the obstacle, the autonomous obstacle avoidance capability of the intelligent building inspection robot is ensured, the probability of collision between the intelligent building inspection robot and the obstacle is reduced, and the velocity (v, omega) evaluation subfunction is a subfunction which mainly promotes the intelligent building inspection robot to rapidly reach the target position by a formula (5), Formula (6) and formula (7);
heading(v,ω)＝180°-θ (5)
velocity(v,ω)＝|vg| (7)
wherein, theta is an included angle between the orientation of the tail end point of the track to be evaluated of the building inspection robot and a connecting line between the building inspection robot and a target point, d is a distance between the building inspection robot and a nearest barrier on a map when the building inspection robot is positioned at the tail end point of the track, L is a threshold value which is set in advance and is far away from the barrier, | vgAnd | is the linear velocity of the track to be evaluated.
The invention has the beneficial effects that:
1. the invention adopts the six-wheel moving mechanism of the rocker arm bogie, so that the building inspection robot can span barriers with certain height in the inspection process, and the working range of the inspection robot is widened.
2. According to the intelligent building inspection robot, based on an artificial intelligence technology, the surrounding environment during inspection is recorded through the image acquisition module, building managers can remotely monitor the building environment and remotely control the intelligent building inspection robot through the upper computer of the monitoring center, the attention of surrounding personnel can be timely reminded through voice broadcasting in case of emergency, and the problems that the physical limitation of the inspection personnel needs to be considered in the current artificial inspection, higher labor cost is possibly generated, and the inspection personnel cannot be timely preprocessed in case of emergency are solved.
3. The intelligent building patrol inspection system is reasonable in structural design, simple to operate, low in manufacturing cost, strong in functionality, convenient for assisting building managers in intelligently inspecting buildings, and capable of remarkably improving the quality and efficiency of building patrol inspection.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a front view of an embodiment of the present invention;
FIG. 3 is a schematic top view of an embodiment of the present invention;
FIG. 4 is an enlarged schematic view of 301 in FIG. 1 according to an embodiment of the present invention;
FIG. 5 is a schematic view of a split structure 203 in FIG. 1 according to an embodiment of the present invention;
the parts in the drawings are numbered as follows:
101-a main body cabin, 102-a T-shaped frame, 1011-a first side column, 1012-a second side column, 201-a first inverted V-shaped frame, 202-a second inverted V-shaped frame, 2021-a first connecting rod, 2022-a second connecting rod, 203-a connecting mechanism, 2031-an upper connecting plate, 2032-a lower connecting plate, 2033-a bolt-type bearing, 204-a mounting base, 205-a mounting frame, 206-a driving motor, 2071-a first driving wheel, 2072-a second driving wheel, 2073-a third driving wheel, 301-a chassis, 3021-a first driving motor, 3022-a second driving motor, 3023-a third driving motor, 3031-a main controller, 3032-a slave controller, 304-a voice module, 305-a voltage reduction module, 306-a power supply module, 307-power switch, 401-image acquisition module, 501-radar navigation module.
Detailed Description
In order to make the technical solution, the structural features, the achieved objects and the advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following detailed description and the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-5, the invention discloses an intelligent building inspection robot, comprising: main part frame, control module, image acquisition module (401), radar navigation module (501), voice broadcast module (304), motor drive module, step-down module (305) and power module (306).
Preferably, the image acquisition module (401) adopts a 720P high-definition USB drive-free camera, the radar navigation module (501) adopts YDLIDAR X2L laser radar, the motor driving module adopts TB6612 motor drive, the voltage reduction module adopts an LM2596S DC-DC adjustable voltage reduction module, and the power supply module (306) adopts a 12V DC stabilized voltage power supply.
The main body frame comprises a main body cabin (101) and a six-wheel moving mechanism of a rocker arm bogie; a chassis (301) is arranged in the main body bin (101) and used for arranging the control module, the voice broadcast module (304), the motor driving module, the voltage reduction module (305) and the power supply module (306); the six-wheel moving mechanism of the rocker arm bogie is mainly used for moving, obstacle crossing and changing the moving direction of the intelligent building inspection robot.
The control module comprises a master controller (3031) and a slave controller (3032); the master controller (3031) is respectively connected with the image acquisition module (401), the radar navigation module (501) and the slave controller (3032) through a first serial port, a second serial port and a third serial port on the periphery of the master controller.
Preferably, the master controller (3031) employs raspberry pi 3B +, and the slave controller (3032) employs Arduino Mega2560Pro development board.
The voice broadcasting module (304) comprises a voice synthesis module and a micro broadcasting loudspeaker; the terminal wire of the micro broadcast loudspeaker is connected to the audio output port of the voice synthesis module and used for playing synthesized voice, the pin of the voice synthesis module used for data sending is connected with the pin of the main controller (3031) used for data receiving, and the pin of the voice synthesis module used for data receiving is connected with the pin of the main controller (3031) used for data sending.
Preferably, the voice synthesis module of the voice broadcast module (304) adopts a science news flying XFS5152CE voice synthesis module, and the micro broadcast speaker adopts an 8 ohm 1W micro speaker.
The intelligent building inspection robot comprises a power module (306), a power switch (307) and a power supply module (306), wherein the power supply module (306) is a 12V direct-current stabilized voltage power supply, the power supply module (306) is directly used for supplying power to a motor driving module, the positive pole and the negative pole of the power module (306) are connected to an input stage wiring terminal of a voltage reduction module (305), power voltage is reduced to 5V, the positive pole and the negative pole are derived from an output stage wiring terminal of the voltage reduction module (305), the input stage positive pole and the negative pole pins of a main controller (3031), a radar navigation module (501) and a voice broadcast module (304) are connected for supplying power, and the image acquisition module (401) and the slave controller (3032) are respectively supplied with power by a first serial port and a third serial port of the main controller (3031).
The motor driving module comprises three motor driving boards, the output stage positive and negative pole pins of the slave controller (3032) are connected with the input stage positive and negative pole pins of a first motor driving board (3021), the output stage positive and negative pole pins of the first motor driving board (3021) are connected with the input stage positive and negative pole pins of a second motor driving board (3022), the output stage positive and negative pole pins of the second motor driving board (3022) are connected with the input stage positive and negative pole pins of a third motor driving board (3023), each motor driving board is provided with a power supply connection terminal and two 6P XH2.54 ports for driving output and speed feedback, the positive and negative poles of the power supply module (306) are connected with the positive and negative poles of the power supply connection terminal of each motor driving board, the two 6PXH 2.54.54 ports of each motor driving board are connected with the 6P XH2.54 ports of two coaxial driving motors (206) through 6P XH2.54 terminal lines, the pin of each motor driving board for PWM speed regulation is connected with the pin with the PWM speed regulation function of the slave controller (3032), the pin of the first motor driving board (3032) for Hall coding counting is connected with the pin with the interrupt function of the slave controller (3032), and the other signal pins of each motor driving board are connected to the common signal pin of the slave controller (3032).
The image acquisition module (401) and the radar navigation module (501) are arranged on a T-shaped frame (102) at the front end of the main body cabin (101); the image acquisition module (401) is arranged at the central position of the joint of the two connecting rods on the front surface of the T-shaped frame (102); the radar navigation module (501) is positioned right above the image acquisition module (401) and is mounted at the center of the connecting rod closest to the top of the main body cabin (101) and the center of the connecting rod at the top of the T-shaped frame (102) in a crossing manner.
Preferably, the main body bin (101) and the T-shaped frame (102) are built by 1515 European standard aluminum profiles, the aluminum profiles are connected at right angles by matching corner groove standard connecting pieces, and each module and the circuit layout are fixed in the main body bin (101) by black insulating adhesive tapes.
The six-wheel moving mechanism of the rocker arm bogie is in left-right mirror symmetry relative to the main body cabin (101), two sides of the main body cabin (101) respectively comprise a first inverted V-shaped frame (201), a second inverted V-shaped frame (202), a connecting mechanism (203) for connecting two connecting rods of the first inverted V-shaped frame (201) and a first connecting rod (2021) for connecting the second inverted V-shaped frame (202), three mounting bases (204), three mounting frames (205), three driving motors (206) and three driving wheels, wherein the first driving wheel (2071) and the second driving wheel (2072) on one side of the main body cabin (101) are mounted at the bottom ends of the two connecting rods of the first inverted V-shaped frame (201) on the side, and the third driving wheel (2073) on the side is mounted at the bottom end of the second connecting rod (2022) of the second inverted V-shaped frame (202) on the side.
Preferably, the driving motor is a direct current speed reduction motor with the idle speed of 64rpm and the speed reduction ratio of 1:150, a first inverted V-shaped frame (201) and a second inverted V-shaped frame (202) in the six-wheel moving mechanism of the rocker arm bogie are both built by 1020 European standard aluminum profiles, the connecting mechanism (203) and the mounting base (204) are preferably printed by white printing consumables 3D, and the driving wheel is a rubber tire with the diameter of 80 mm.
The connecting mechanism (203) is a group of connecting pieces which are connected and closed tightly, wherein an upper connecting piece (2031) and a lower connecting piece (2032) are fixed through bolt connection, the connecting mechanism (203) is embedded with a bolt-type bearing (2033) at the axis position of an internal circular groove and fixed by screws at the top of the mechanism, acts on the first inverted V-shaped frame (201) to do a rotary motion of not less than ninety degrees relative to the second inverted V-shaped frame (202) so as to facilitate the intelligent building inspection robot to cross a certain height of obstacle, the connecting mechanism (203) is connected through two connecting rods which are embedded in the first inverted V-shaped frame (201) and is connected with a first connecting rod (2021) of the second inverted V-shaped frame (202) through a bolt-type bearing (2033) which is embedded in the connecting mechanism (203), and (2) fixing by using nuts, and fixing a first connecting rod (2021) and a second connecting rod (2022) of the second inverted V-shaped frame (202) on the side surface of the main body cabin (101) by bolts, wherein the first connecting rod (2021) is tightly mounted on the side surface of the main body cabin (101), and the second connecting rod (2022) is fixedly mounted on a first side column (1011) and a second side column (1012) on the side surface of the main body cabin (101) and keeps a certain distance with the first connecting rod (2021), so that the wheel edges of a first driving wheel (2071), a second driving wheel (2072) and a third driving wheel (2073) on two sides of the main body cabin (101) are superposed on a straight line.
The mounting base (204) is connected with the first inverted V-shaped frame (201) and the second inverted V-shaped frame (202) through connecting rods which are nested, fixed by bolts, and then attached and fixed with the mounting frame (205) through bolts and the bottom of the first inverted V-shaped frame, the mounting frame (205) is attached and fixed with the driving motor (206) through screws, a nut column is nested and fixed outside an output shaft of the driving motor (206) through jackscrews and embedded in a groove position of the axle center of the driving wheel, and the driving wheel is fixed on the nut column nested outside the output shaft of the driving motor (206) through the axle center screws, so that the output shaft of the driving motor (206) can drive the driving wheel to rotate.
In the technical scheme, the working method of the intelligent building inspection robot specifically comprises the following steps:
step S100: starting a power switch (307) on the chassis (301), supplying power to the main controller (3031), the radar navigation module (501), the voice broadcasting module (304) and the motor driving module, and supplying power to the image acquisition module (401) and the slave controller (3032) by the main controller (3031) so as to complete power supply of the intelligent building inspection robot;
step S110: the radar navigation module (501) performs laser scanning on the surrounding environment, the obtained environment two-dimensional coordinate data is transferred to a monitoring center upper computer through the main controller (3031) to be processed, a building manager remotely controls the intelligent building inspection robot to a target position in a point dragging mode by pressing a keyboard or a mouse according to an environment two-dimensional map obtained after the processing of the monitoring center upper computer, and 6 driving wheels on the left side and the right side of the main body bin (101) change the moving direction in a differential steering mode, so that the 6 driving wheels drive the intelligent building inspection robot to move along a route preset by the building manager;
step S120: the intelligent building inspection robot comprises an image acquisition module (401), a main controller (3031), a monitoring center upper computer and a monitoring center, wherein the image acquisition module (401) acquires and records surrounding environment images when the intelligent building inspection robot moves, and transmits the obtained environment image data to the monitoring center upper computer through the main controller (3031), and the monitoring center upper computer processes the received environment image data, so that the functions of image monitoring, marker identification, danger early warning and the like are realized, and building managers are assisted to carry out intelligent inspection on buildings;
step S130: when building managers follow discover that there is the potential safety hazard in the building environment in the image that intelligent building patrols and examines the robot collection, can go through the control center host computer to intelligent building patrols and examines the content that the robot sent voice broadcast, voice broadcast module (304) carry out voice broadcast after receiving, in time remind personnel around to notice to send the potential safety hazard to personnel.
In the technical scheme, the upper computer of the monitoring center remotely controls the intelligent building inspection robot in a mouse point dragging mode, the intelligent building inspection robot adopts an intelligent path planning algorithm for calculating the optimal motion track, so that the intelligent building inspection robot can move along the optimal track, and the path planning algorithm specifically comprises the following steps:
step S200: determining the motion track of the building inspection robot, wherein the coordinates of the building inspection robot at the time t are as follows:
x(t)＝x(t-1)+v(t)Δtcos(θ(t-1))
y(t)＝y(t-1)+v(t)Δtsin(θ(t-1))
θ(t)＝θ(t-1)+ω(t)Δt
wherein, X (t), X (t-1) are X-axis coordinates of the building inspection robot at the time t and t-1, Y (t), Y (t-1) are Y-axis coordinates of the building inspection robot at the time t and t-1, theta (t) and theta (t-1) are included angles between the building inspection robot at the time t and t-1 and the X-axis, v (t) and omega (t) are linear speed and angular speed of the building inspection robot at the time t, and delta t is a time interval of two adjacent actions of the building inspection robot, namely a sampling period;
step S210: sampling the motion speed of the intelligent building inspection robot, calculating the motion trail of the intelligent building inspection robot according to the motion speed of the intelligent building inspection robot, calculating the motion trail according to a certain number of sampled speeds, and then evaluating whether the motion trails are proper or not;
wherein, the speed of sampling needs to satisfy in certain sampling space, and the definite following three factor influence of receiving of this sampling space's determination specifically includes the restriction of intelligent building patrols and examines robot self maximum speed minimum speed, intelligent building patrols and examines the motor performance of robot, the intelligent building patrols and examines the obstacle that robot removal in-process met, according to formula (1), formula (2) and formula (3) can be followedTo obtain three speed sets Vs、Vd、VaThe sampling space V can be calculatedrAs the intersection V of the three velocity setsr＝Vs∩Vd∩Va；
Vs＝{(v,ω)|v∈[vmin,vmax]∧ω∈[ωmin,ωmax]} (1)
Vd＝{(v,ω)|v∈[vc-vbΔt,vc+vaΔt]∧ω∈[ωc-ωbΔt,ωc+ωaΔt]} (2)
Wherein V and omega are linear velocity and angular velocity ranges of the building inspection robot within one sampling period, and in the formula (1), V issIs a speed set obtained by limiting the building inspection robot by the maximum speed and the minimum speed per se, vmax、vminMaximum and minimum linear speed omega of building inspection robotmax、ωminMaximum and minimum angular velocities of the building inspection robot are obtained; in the formula (2), VdSpeed set v obtained by inspection robot for building under influence of motor performancec、ωcLinear velocity, angular velocity, v, of the robot for inspecting buildings at the current momenta、vbAdding and reducing speed omega for maximum line of building inspection robota、ωbAdding and reducing speed for the maximum angle of the building inspection robot, wherein delta t is the sampling period of the building inspection robot; in the formula (3), VaFor the building inspection robot is the speed set v that is obtained by the influence of the obstacle that meets in the removal processbMaximum line deceleration omega of building inspection robotbFor the maximum angular deceleration of the building inspection robot, dist (v, omega) is the distance from the obstacle on the track corresponding to the speed (v, omega);
step S220: evaluating the optimal motion track, evaluating the calculated motion track according to an evaluation function formula (4), and further selecting the optimal motion track in the current state;
G(v,ω)＝σ(αheading(v,ω)+βdistance(v,ω)+γvelocity(v,ω)) (4)
the intelligent building inspection robot comprises a building inspection robot, a heading (v, omega) evaluation subfunction, a distance (V, omega) evaluation subfunction) and a distance (S) between the building inspection robot and an obstacle, wherein the heading (v, omega) evaluation subfunction mainly promotes the intelligent building inspection robot to rapidly reach a target position, the distance (V, omega) evaluation subfunction is a subfunction which mainly promotes the intelligent building inspection robot to rapidly reach the target position, the meaning is that the distance between the intelligent building inspection robot and the nearest obstacle on a map is obtained when the intelligent building inspection robot is located at the position of the predicted track end point, an algorithm punishs sampling points close to the obstacle, the autonomous obstacle avoidance capability of the intelligent building inspection robot is ensured, the probability of collision between the intelligent building inspection robot and the obstacle is reduced, and the velocity (v, omega) evaluation subfunction is a subfunction which mainly promotes the intelligent building inspection robot to rapidly reach the target position by a formula (5), Formula (6) and formula (7);
heading(v,ω)＝180°-θ (5)
velocity(v,ω)＝|vg| (7)
wherein theta is an included angle between the orientation of the tail end point of the track to be evaluated of the building inspection robot and a connecting line between the building inspection robot and a target point, d is a distance between the building inspection robot and a nearest barrier on a map when the building inspection robot is positioned at the tail end point of the track, L is a threshold value which is set in advance and is far away from the barrier, | vgAnd | is the linear velocity of the track to be evaluated.
It should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the present invention, but do not indicate or imply that the referred devices or elements must have a specific orientation, and thus, should not be construed as limiting the present invention.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. The utility model provides an intelligent building robot of patrolling and examining which characterized in that includes: the radar navigation system comprises a main body frame, a control module, an image acquisition module (401), a radar navigation module (501), a voice broadcast module (304), a motor driving module, a voltage reduction module (305) and a power supply module (306);
the main body frame comprises a main body cabin (101) and a six-wheel moving mechanism of a rocker arm bogie; a chassis (301) is arranged in the main body bin (101) and is used for arranging the control module, the voice broadcasting module (304), the motor driving module, the voltage reduction module (305) and the power supply module (306); the six-wheel moving mechanism of the rocker arm bogie is mainly used for moving, obstacle crossing and changing the moving direction of the intelligent building inspection robot;
the control module comprises a master controller (3031) and a slave controller (3032); the main controller (3031) is respectively connected with the image acquisition module (401), the radar navigation module (501) and the slave controller (3032) through a first serial port, a second serial port and a third serial port on the periphery of the main controller;
the voice broadcasting module (304) comprises a voice synthesis module and a micro broadcasting loudspeaker; a terminal wire of the micro broadcast loudspeaker is connected to an audio output port of the voice synthesis module and is used for playing synthesized voice, a pin of the voice synthesis module for data transmission is connected with a pin of the main controller (3031) for data reception, and a pin of the voice synthesis module for data reception is connected with a pin of the main controller (3031) for data transmission;
the intelligent building inspection robot comprises a power supply module (306), a power supply switch (307) and an image acquisition module (401), wherein the power supply module (306) is a 12V direct-current stabilized power supply, the power supply switch (307) is arranged at the position of a power bus and used for switching on and off of a power supply of the intelligent building inspection robot, the power supply module (306) is directly used for supplying power to the motor driving module, the positive pole and the negative pole of the power supply module (306) are connected to an input-stage wiring terminal of a voltage reduction module (305), the power supply voltage is reduced to 5V, the positive pole and the negative pole are led out from an output-stage wiring terminal of the voltage reduction module (305) and are connected to input-stage positive and negative pole pins of a main controller (3031), a radar navigation module (501) and a voice broadcasting module (304) for supplying power, and the image acquisition module (401) and the slave controller (3032) are respectively supplied with power by a first serial port and a third serial port of the main controller (3031);
the motor driving module comprises three motor driving boards, output-stage positive and negative pole pins of the slave controller (3032) are connected with input-stage positive and negative pole pins of a first motor driving board (3021), output-stage positive and negative pole pins of the first motor driving board (3021) are connected with input-stage positive and negative pole pins of a second motor driving board (3022), output-stage positive and negative pole pins of the second motor driving board (3022) are connected with input-stage positive and negative pole pins of a third motor driving board (3023), each motor driving board is provided with a power supply terminal and two 6P XH2.54 ports for driving output and speed feedback, the positive and negative poles of the power supply module (306) are connected with the positive and negative poles of the power supply terminal of each motor driving board, the two 6P XH2.54 ports of each motor driving board are connected with the 6P XH2.54 ports of two coaxial driving motors (206) through 6P XH2.54 terminal lines, the pin of each motor driving board for PWM speed regulation is connected with the pin with the PWM speed regulation function of the slave controller (3032), the pin of the first motor driving board (3032) for Hall coding counting is connected with the pin with the interrupt function of the slave controller (3032), and the other signal pins of each motor driving board are connected to the common signal pin of the slave controller (3032);
the image acquisition module (401) and the radar navigation module (501) are arranged on a T-shaped frame (102) at the front end of the main body cabin (101); the image acquisition module (401) is arranged at the central position of the joint of the two connecting rods on the front surface of the T-shaped frame (102); the radar navigation module (501) is positioned right above the image acquisition module (401) and is mounted at the center of the connecting rod closest to the top of the main body cabin (101) and the center of the connecting rod at the top of the T-shaped frame (102) in a crossing manner;
the six-wheel moving mechanism of the rocker arm bogie is in left-right mirror symmetry relative to the main body cabin (101), two sides of the main body cabin (101) respectively comprise a first inverted V-shaped frame (201), a second inverted V-shaped frame (202), a connecting mechanism (203) for connecting two connecting rods of the first inverted V-shaped frame (201) and a first connecting rod (2021) for connecting the second inverted V-shaped frame (202), three mounting bases (204), three mounting frames (205), three driving motors (206) and three driving wheels, wherein a first driving wheel (2071) and a second driving wheel (2072) on one side of the main body cabin (101) are mounted at the bottom ends of the two connecting rods of the first inverted V-shaped frame (201) on the side, and a third driving wheel (2073) on the side is mounted at the bottom end of the second connecting rod (2022) of the second inverted V-shaped frame (202) on the side;
the connecting mechanism (203) is a group of connecting pieces which are connected and closed tightly, wherein an upper connecting piece (2031) and a lower connecting piece (2032) are fixed through bolt connection, the connecting mechanism (203) is embedded with a bolt-type bearing (2033) at the axis position of an internal circular groove and fixed by screws at the top of the mechanism, acts on the first inverted V-shaped frame (201) to do a rotary motion of not less than ninety degrees relative to the second inverted V-shaped frame (202) so as to facilitate the intelligent building inspection robot to cross a certain height of obstacle, the connecting mechanism (203) is connected through two connecting rods which are embedded in the first inverted V-shaped frame (201) and is connected with a first connecting rod (2021) of the second inverted V-shaped frame (202) through a bolt-type bearing (2033) which is embedded in the connecting mechanism (203), the first connecting rod (2021) and the second connecting rod (2022) of the second inverted 'V' -shaped frame (202) are fixed on the side surface of the main body bin (101) through bolts by using nuts for fixation, wherein the first connecting rod (2021) is tightly mounted on the side surface of the main body bin (101), the second connecting rod (2022) is fixedly mounted on a first lateral column (1011) and a second lateral column (1012) on the side surface of the main body bin (101) and keeps a certain distance from the first connecting rod (2021), so that the wheel edges of a first driving wheel (2071), a second driving wheel (2072) and a third driving wheel (2073) on the two sides of the main body bin (101) are superposed on a straight line;
the mounting base (204) is connected with the first inverted V-shaped frame (201) and the second inverted V-shaped frame (202) through connecting rods which are nested, fixed by bolts, and then attached and fixed with the mounting frame (205) through bolts and the bottom of the first inverted V-shaped frame, the mounting frame (205) is attached and fixed with the driving motor (206) through screws, a nut column is nested and fixed outside an output shaft of the driving motor (206) through jackscrews and embedded in a groove position of the axle center of the driving wheel, and the driving wheel is fixed on the nut column nested outside the output shaft of the driving motor (206) through the axle center screws, so that the output shaft of the driving motor (206) can drive the driving wheel to rotate.
2. The intelligent building inspection robot according to claim 1, wherein the working method of the intelligent building inspection robot specifically comprises the following steps:
step S100: starting a power switch (307) on the chassis (301), supplying power to the main controller (3031), the radar navigation module (501), the voice broadcasting module (304) and the motor driving module, and supplying power to the image acquisition module (401) and the slave controller (3032) by the main controller (3031) so as to complete power supply of the intelligent building inspection robot;
step S110: the radar navigation module (501) performs laser scanning on the surrounding environment, the obtained environment two-dimensional coordinate data is transferred to a monitoring center upper computer for processing through the main controller (3031), building managers remotely control the intelligent building inspection robot to a target position in a manner of pressing a keyboard or a mouse to drag the intelligent building inspection robot in a point-to-point manner according to an environment two-dimensional map obtained after the processing of the monitoring center upper computer, and 6 driving wheels on the left side and the right side of the main cabin (101) change the moving direction in a differential steering manner, so that the 6 driving wheels drive the intelligent building inspection robot to move along a route preset by the building managers;
step S120: the intelligent building inspection robot comprises an image acquisition module (401), a main controller (3031), a monitoring center upper computer and a monitoring center, wherein the image acquisition module (401) acquires and records surrounding environment images when the intelligent building inspection robot moves, and transmits the obtained environment image data to the monitoring center upper computer through the main controller (3031), and the monitoring center upper computer processes the received environment image data, so that the functions of image monitoring, marker identification, danger early warning and the like are realized, and building managers are assisted to carry out intelligent inspection on buildings;
step S130: when building managers follow discover that there is the potential safety hazard in the building environment in the image that intelligent building patrols and examines the robot and gathers, can pass through the central host computer of control to intelligent building patrols and examines the content that the robot sent voice broadcast, voice broadcast module (304) carry out voice broadcast after receiving, in time remind personnel around to notice to send the potential safety hazard to the personnel of security.
3. The intelligent building inspection robot according to claims 1-2, wherein when the monitoring center upper computer remotely controls the intelligent building inspection robot for inspection in a mouse point dragging manner, the intelligent building inspection robot adopts an intelligent path planning algorithm for calculating an optimal motion track so that the intelligent building inspection robot can move along the optimal track, and the path planning algorithm specifically comprises the following steps:
step S200: determining the motion track of the building inspection robot, wherein the coordinates of the building inspection robot at the time t are as follows:
x(t)＝x(t-1)+v(t)Δtcos(θ(t-1))
y(t)＝y(t-1)+v(t)Δtsin(θ(t-1))
θ(t)＝θ(t-1)+ω(t)Δt
wherein, X (t), X (t-1) are X-axis coordinates of the building inspection robot at the time t and t-1, Y (t), Y (t-1) are Y-axis coordinates of the building inspection robot at the time t and t-1, theta (t) and theta (t-1) are included angles between the building inspection robot at the time t and t-1 and the X-axis, v (t) and omega (t) are linear speed and angular speed of the building inspection robot at the time t, and delta t is a time interval of two adjacent actions of the building inspection robot, namely a sampling period;
step S210: sampling the motion speed of the intelligent building inspection robot, calculating the motion trail of the intelligent building inspection robot according to the motion speed of the intelligent building inspection robot, calculating the motion trail according to a certain number of sampled speeds, and then evaluating whether the motion trails are proper or not;
the sampling speed needs to meet the requirement that in a certain sampling space, the determination of the sampling space is influenced by the following three factors, specifically including the limitation of the maximum speed and the minimum speed of the intelligent building inspection robot, the motor performance of the intelligent building inspection robot, and the obstacles encountered in the moving process of the intelligent building inspection robot, and three speed sets V can be obtained according to the formula (1), the formula (2) and the formula (3)s、Vd、VaThe sampling space V can be calculatedrAs the intersection V of the three velocity setsr＝Vs∩Vd∩Va；
Vs＝{(v,ω)|v∈[vmin,vmax]∧ω∈[ωmin,ωmax]} (1)
Vd＝{(v,ω)|v∈[vc-vbΔt,vc+vaΔt]∧ω∈[ωc-ωbΔt,ωc+ωaΔt]} (2)
Wherein V and omega are linear velocity and angular velocity ranges of the building inspection robot within one sampling period, and in the formula (1), V issIs a speed set obtained by limiting the building inspection robot by the maximum speed and the minimum speed per se, vmax、vminMaximum and minimum linear speed omega of building inspection robotmax、ωminMaximum and minimum angular velocities of the building inspection robot are obtained; in the formula (2), VdFor building inspection robots, a set of speeds, v, influenced by the performance of the motorsc、ωcLinear velocity, angular velocity, v, of the robot for inspecting buildings at the current momenta、vbAdding and reducing speed omega for maximum line of building inspection robota、ωbAdding and reducing speed for the maximum angle of the building inspection robot, wherein delta t is the sampling period of the building inspection robot; in the formula (3), VaFor the building inspection robot is the speed set v that is obtained by the influence of the obstacle that meets in the removal processbMaximum line deceleration of the building inspection robot, omegabFor the maximum angular deceleration of the building inspection robot, dist (v, omega) is the distance from the obstacle on the track corresponding to the speed (v, omega);
step S220: evaluating the optimal motion track, evaluating the calculated motion track according to an evaluation function formula (4), and further selecting the optimal motion track in the current state;
G(v,ω)＝σ(αheading(v,ω)+βdistance(v,ω)+γvelocity(v,ω)) (4)
the intelligent building inspection robot comprises a building inspection robot, a heading (v, omega) evaluation subfunction, a distance (V, omega) evaluation subfunction) and a distance (S) between the building inspection robot and an obstacle, wherein the heading (v, omega) evaluation subfunction mainly promotes the intelligent building inspection robot to rapidly reach a target position, the distance (V, omega) evaluation subfunction is a subfunction which mainly promotes the intelligent building inspection robot to rapidly reach the target position, the meaning is that the distance between the intelligent building inspection robot and the nearest obstacle on a map is obtained when the intelligent building inspection robot is located at the position of the predicted track end point, an algorithm punishs sampling points close to the obstacle, the autonomous obstacle avoidance capability of the intelligent building inspection robot is ensured, the probability of collision between the intelligent building inspection robot and the obstacle is reduced, and the velocity (v, omega) evaluation subfunction is a subfunction which mainly promotes the intelligent building inspection robot to rapidly reach the target position by a formula (5), Formula (6) and formula (7);
heading(v,ω)＝180°-θ (5)
velocity(v,ω)＝|vg| (7)
wherein theta is a rail to be evaluated of the building inspection robotThe tail end point of the track faces an included angle between the building inspection robot and a connecting line of the target point, d is the distance between the building inspection robot and the nearest barrier on the map when the building inspection robot is at the tail end point position of the track, L is a threshold value which is set in advance and is far away from the barrier, | vgAnd | is the linear velocity of the track to be evaluated.
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