CN111872953A - Epidemic prevention robot based on infrared temperature measurement and sound screening and detection method - Google Patents
Epidemic prevention robot based on infrared temperature measurement and sound screening and detection method Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 40
- 238000012216 screening Methods 0.000 title claims abstract description 32
- 238000007689 inspection Methods 0.000 claims abstract description 80
- 238000004891 communication Methods 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 4
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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
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
An epidemic prevention robot based on infrared temperature measurement and sound screening and a detection method thereof comprise an inspection robot, a wireless charging station and a monitoring center server, wherein the inspection robot comprises a chassis box body, a lithium battery, a wireless charging module, a communication module, a GPS (global positioning system) and inertial navigation module, a motor and drive control module, a core processing module, an ultrasonic obstacle avoidance sensor, an emergency stop button, a wired charging interface and a power receiving panel are arranged on the chassis box body, a middle box body is arranged at the top of the chassis box body, and a lifting mechanism, a lifting mechanism drive motor, two mechanical arms with 6 degrees of freedom and a display are arranged on the middle box body; the wireless charging station comprises a charging parameter detection module, a charging management module, a wireless communication module, a power supply conversion module, a power supply panel and an environment monitoring and positioning navigation unit. The invention combines the inspection robot technology and the temperature measurement epidemic prevention technology, and applies the deep learning technology to detect and screen the body temperature and the sound, thereby realizing the intelligent epidemic prevention screening.
Description
Technical Field
The invention relates to the technical field of automation, in particular to an epidemic prevention robot based on infrared temperature measurement and sound screening and a detection method.
Background
Most diseases are accompanied by symptoms such as body temperature rise and cough, so that the screening of symptoms such as body temperature measurement on potential infection sources is beneficial to controlling the spread of infection. Traditional temperature measurement rifle needs the operation of measurement personnel closely just can accomplish the temperature measurement, has the hidden danger of being infected, and the temperature measurement door does not need the manual operation, but the monitoring place is fixed, and monitoring range is limited, and some dedicated infrared imaging monitoring facilities realize the temperature measurement screening remote and based on portrait discernment, but most all fixed position installation, are not fit for the quick portable screening on a large scale in market, station, airport that the flow of people is big. The invention provides a mobile inspection robot and a detection method by combining an inspection robot technology and a temperature measurement epidemic prevention technology.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned deficiencies of the prior art, the present invention aims to provide an epidemic prevention robot and a detection method based on infrared temperature measurement and sound screening, which combine the inspection robot technology and the temperature measurement epidemic prevention technology, and apply the deep learning technology to perform body temperature and sound detection and screening, so as to realize intelligent epidemic prevention and screening.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an epidemic prevention robot based on infrared temperature measurement and sound screening comprises an inspection robot, a wireless charging station and a monitoring center server, wherein the inspection robot comprises a chassis box body, a lithium battery, a wireless charging module, a wireless communication module I, a GPS, an inertial navigation module, a motor, a drive control module and a core processing module are arranged in the chassis box body, ultrasonic obstacle avoidance sensors and an emergency stop button are arranged on front and rear panels of the chassis box body, a wired charging interface for charging by using an adapter of the battery and a power receiving panel for carrying out non-contact charging by using the wireless charging module are also arranged on a rear panel, four first driving wheels are arranged at the bottom of the chassis box body, a horn and a middle box body are arranged at the top of the chassis box body, a lifting mechanism and a lifting mechanism driving motor for supporting detection equipment are arranged in the middle box body, two mechanical arms and a display with 6 degrees of freedom are fixed at the front end of the exterior, the rear end of the outer part is provided with a cover body;
the wireless charging station comprises a charging box, wherein a charging parameter detection module, a charging management module, a wireless communication module II and a power conversion module are arranged in the charging box, a first inertial navigation module and a power supply panel matched with the power receiving panel are arranged at the front end of the charging box, an environment monitoring and positioning navigation unit is arranged at the top of the charging box, and four second driving wheels are arranged at the bottom of the charging box.
Furthermore, the detection equipment comprises a laser radar, an audio detection module, a depth camera, a visible light camera, a second inertial navigation module and a thermal infrared imager, and a rotating device for enabling the detection equipment to rotate for 360 degrees and a pitching device for enabling the detection equipment to rotate up and down are arranged between the detection equipment and the middle box body.
Further, the front end setting of arm is in the side of middle box to first festival that drives the arm through first rotating electrical machines rotates, be equipped with second rotating electrical machines on the first festival end of arm and the second festival front end, and drive the second festival of arm rotates the second festival end and the third festival front end of arm are equipped with the drive the third section of arm pivoted third rotating electrical machines from top to bottom and drive the third section level pivoted fourth rotating electrical machines of arm, the end of the third section of arm is equipped with the pitching electrical machines that drives 360 pivoted fifth rotating electrical machines of fixture and drive fixture pitching from top to bottom, install infrared point temperature measurement module, audio acquisition module or disinfection in the fixture and spray the module.
Further, the power receiving panel and the power supply panel both comprise a wireless charging panel made of a non-electromagnetic shielding material and a coil adhered to the wireless charging panel.
Further, still including the remote control unit who is used for epidemic prevention to patrol and examine robot system, remote control unit includes remote controller main part and back lid, be equipped with function control key, trouble warning fluorescent tube, image display screen on the panel of remote controller main part, the inside vibrator that is equipped with of remote controller main part, it holds the ring to cover to be equipped with after.
Further, be equipped with the alarm device who sets up with motor housing is integrative on the second rotating electrical machines of arm, alarm device includes LED alarm lamp and bee calling organ, the second rotating electrical machines including have flange mounting disc mechanical casing, casing back lid, paste the outer LED alarm lamp of mechanical casing, inlay bee calling organ and drive control circuit board in the casing back lid, the power supply line, the motor control line and the encoder signal line of LED alarm lamp and bee calling organ all connect to through the lead wire groove outward on the drive control circuit board.
Further, the LED alarm lamp is a red, green and blue LED lamp strip.
Further, the top of remote controller main part is equipped with the pilot lamp, the bottom of remote controller main part is equipped with the hole of charging.
A detection method of an epidemic prevention robot based on infrared temperature measurement and sound screening comprises the following steps:
(1) the epidemic prevention inspection robot system comprises an inspection robot, a wireless charging station and a monitoring center server, wherein the inspection robot, the wireless charging station and the monitoring center server are connected, send and receive messages through network communication to finish the inspection process of the epidemic prevention inspection robot;
(2) the monitoring center server sends a command to the inspection robot, the epidemic prevention inspection robot receives the command, and the epidemic prevention inspection robot performs epidemic prevention inspection in a specified environment according to the command to measure information in the environment;
(3) the robot collects information in a required environment through the combination of a laser radar, a depth camera, a GPS (global positioning system), an inertial navigation module and a robot core processing module, such as audio collection, map construction, temperature information storage, face information collection and mask information collection, returns the collected information to a monitoring center server through network communication for information storage, and stores the information in a storage module of the inspection robot to provide information comparison for inspection of the inspection robot;
(4) through information storage, the inspection robot starts to inspect in the environment according to a planned path, a depth camera and a laser radar are combined to detect the environment, a core processing module of the robot detects acquired environment information, an object and the distance to the object are identified, a GPS (global positioning system), an inertial navigation module and an ultrasonic obstacle avoidance module are combined to position and avoid the obstacle of the robot, an infrared point temperature measuring module, a visible light camera, a sound detecting module and the like are used for carrying out temperature measurement, sound induction, mask detection and other operations on the identified person, the obtained information is compared with the stored information, and if the abnormality occurs, a warning device located in the robot sends out an alarm; returning the abnormal condition and the position of the abnormality to the monitoring center to track the target;
(5) in the inspection process of the robot, the energy is supplied by a battery, when the energy supply of the robot is insufficient, the robot sends a message of insufficient electric energy and the remaining electric energy to a monitoring center server through a communication network, and simultaneously sends the position of the robot and a path to be inspected to a monitoring service center, the monitoring service center judges whether a charging station exists nearby according to the obtained position information and can enable the robot to reach the charging station under the condition that the remaining electric energy can support, if yes, the monitoring center sends an instruction to the charging station to the robot, and charging is completed; if the robot can not arrive at the monitoring center, the monitoring center is connected with the mobile charging station through the communication network, the position information and the path of the robot are sent to the mobile charging station, the mobile charging station is controlled to drive the robot according to the obtained information, meanwhile, the monitoring center sends the information of the charging station to the robot, and meeting and charging of the robot and the charging station are completed.
The invention has the beneficial effects that:
(1) the invention designs an environment sensing and epidemic prevention detection integrated detection unit capable of working independently and fusing multiple information, wherein detection equipment comprises a 3-dimensional laser radar, a depth camera, a thermal infrared imager, a visible light camera, a second inertial navigation module, an audio acquisition module and the like, a view field angle can be adjusted in the horizontal and vertical directions by utilizing a pitching device and a rotating device, the orientation of a sensing and monitoring area is changed, surrounding environment information can be sensed through the laser radar and the depth camera, meanwhile, the temperature of a human body of the thermal infrared imager is measured, non-contact rapid temperature measurement is realized, sound monitoring is adopted, sound and temperature information can be fused, and the screening accuracy is improved; the invention adopts the deep learning technology to carry out the intelligent processing of information, can realize the functions of environment perception, space distance measurement, motion obstacle avoidance, track planning, portrait identification, target detection, identity verification, sound screening, abnormal alarm and the like, can be used for the non-contact temperature measurement screening and epidemic prevention inspection of mobile large-flow crowds, and can also be used in the fields of security monitoring and the like;
(2) the invention designs a wheel type walking device as a moving part of an epidemic prevention inspection robot, and modules such as wireless charging and the like are arranged in a box structure, so that non-contact wireless charging can be realized, 2 mechanical arms and the integrated detection unit can be carried, and indoor and outdoor quick moving and deployment of a monitoring device can be realized; different devices such as an infrared point temperature measuring module, an audio acquisition module or a disinfection spraying module can be mounted at the tail end of the mechanical arm to carry out auxiliary inspection, such as operations of accurate temperature measurement, dynamic video recording, disinfectant spraying, personnel guiding indication and the like;
(3) the invention designs a special wireless charging station for the robot, which can be managed through network communication to realize non-contact charging of the robot, and designs a motion charging function to realize tracking and polling the robot to perform wireless charging, thereby ensuring long-time field work of the robot;
(4) the multifunctional alarm device is designed on the second rotating motor at the mechanical arm, can be used for protecting a motor shell, can also be used for alarming and prompting the working state of the motor and a robot, and can also be independently used as a columnar acousto-optic warning lamp;
(5) the invention designs a handheld remote control terminal matched with a robot system, which not only can realize remote control of robot operation, but also can conveniently observe images and other inspection information in the inspection process of the robot in real time by arranging an image display screen on the remote controller.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a general structure diagram of an epidemic prevention inspection robot system;
FIG. 2 is a schematic structural diagram of the inspection robot;
FIG. 3 is a schematic structural diagram of a chassis box of the inspection robot;
FIG. 4 is a schematic structural diagram of a middle box of the inspection robot;
FIG. 5 is a schematic view of a 6 degree-of-freedom robotic arm;
FIG. 6 is a schematic structural diagram of the detecting apparatus;
FIG. 7 is a schematic view of the charging station;
FIG. 8 is a schematic diagram of a remote control device;
FIG. 9 is a schematic structural diagram of a remote controller main body of the remote control device;
fig. 10 is a schematic structural view of a second rotating electric machine;
FIG. 11 is an overall block diagram of an epidemic prevention inspection robot system;
FIG. 12 is a block diagram of an environmental information awareness and intelligence process;
FIG. 13 is a system control block diagram of an epidemic prevention inspection robot based on infrared temperature measurement and sound anomaly screening;
FIG. 14 is a block diagram of an intelligent diagnosis process based on a deep learning fusion method of voice and body temperature;
reference numerals: 1. an inspection robot, 2, a chassis box body, 201, an ultrasonic obstacle avoidance sensor, 202, an emergency stop button, 203, a wired charging interface, 204, a power receiving panel, 205, a first driving wheel, 3, a middle box body, 4, a mechanical arm, 401, a first rotating motor, 402, a first section, 403, a second section, 404, a second rotating motor, 405, a third section, 406, a third rotating motor, 407, a fourth rotating motor, 408, a clamping mechanism, 409, a fifth rotating motor, 410, a pitching motor, 5, a display, 6, a loudspeaker, 7, a wireless charging station, 701, a power supply panel, 702, a second driving wheel, a first inertial navigation module, 8, a detection device, 703, a laser radar, 802, an audio detection module, 803, a thermal image camera, 804, a visible light camera, 805, a second inertial navigation module, 806, an infrared thermal imager, 9, a rotating device, 10, and a pitching device, 11. LED alarm lamp, 12, bee calling organ, 13, flange mounting dish, 14, mechanical housing, 15, casing back cover, 16, drive control circuit board, 18, remote controller main part, 1801, function control key, 1802, trouble warning fluorescent tube, 17, lead wire groove, 1803, trouble warning fluorescent tube, 1804, pilot lamp, 1805, the hole of charging, 19, back cover, 1901, gripping ring, 20, lid.
Detailed Description
The following specific examples are given to further clarify, complete and detailed the technical solution of the present invention. The present embodiment is a preferred embodiment based on the technical solution of the present invention, but the scope of the present invention is not limited to the following embodiments.
An epidemic prevention robot based on infrared temperature measurement and sound screening is shown in figure 1 and comprises an inspection robot 1, a wireless charging station 2 and a monitoring center server, wherein the inspection robot 1 comprises a chassis box body 2, and a lithium battery, a wireless charging module, a wireless communication module I, a GPS and inertial navigation module, a motor and driving control module and a core processing module are arranged in the chassis box body 2; as shown in fig. 11 to 14, the system and the method adopt a deep learning technology to perform intelligent processing of information, can realize functions of environment perception, spatial distance measurement, motion obstacle avoidance, trajectory planning, portrait identification, target detection, identity verification, sound screening, abnormal alarm and the like, can be used for mobile large-flow crowd non-contact temperature measurement screening and epidemic prevention inspection, and can also be used in the fields of security monitoring and the like.
The invention designs a wheel type walking device as a moving part of an epidemic prevention inspection robot, and modules such as wireless charging and the like are arranged in a box structure, so that non-contact wireless charging can be realized, 2 mechanical arms and the integrated detection unit can be carried, and indoor and outdoor quick moving and deployment of a monitoring device can be realized:
as shown in fig. 2 and 3, the front and rear panels of the chassis box 2 are provided with an ultrasonic obstacle avoidance sensor 201 and an emergency stop button 202, the rear panel is further provided with a wired charging interface 203 for charging by using a self-contained adapter of a battery and a power receiving panel 204 for performing non-contact charging by using a wireless charging module, the power receiving panel 204 comprises a wireless charging panel made of a non-electromagnetic shielding material and a coil adhered to the wireless charging panel, the bottom of the chassis box 2 is provided with four first driving wheels 205, and the top is provided with a horn 6 and a middle box 3;
as shown in fig. 2 and 4, a lifting mechanism and a lifting mechanism driving motor for supporting the detection device 8 are arranged inside the middle box 3, two mechanical arms 4 with 6 degrees of freedom and a display 5 are fixed at the front end of the outside, and a cover body 20 is arranged at the rear end of the outside; as shown in fig. 5, the front end of the mechanical arm 4 is disposed at the side of the middle box 3, and drives the first section 402 of the mechanical arm 4 to rotate through the first rotating motor 401, the end of the first section 402 and the front end of the second section 403 of the mechanical arm 4 are provided with the second rotating motor 404 and drive the second section 403 of the mechanical arm 4 to rotate, the end of the second section 403 and the front end of the third section 405 of the mechanical arm 4 are provided with the third rotating motor 406 and the fourth rotating motor 407, which drive the third section 405 of the mechanical arm 4 to rotate up and down, the end of the third section 405 of the mechanical arm 4 is provided with the fifth rotating motor 409 and the pitching motor 410, which drive the clamping mechanism 408360 to rotate and drive the clamping mechanism 408 to pitch up and down, the clamping mechanism 408 is internally provided with an infrared point temperature measuring module, an audio collecting module or a disinfection spraying module, performing auxiliary inspection, such as accurate temperature measurement, dynamic video recording, disinfectant spraying, personnel guiding and indicating and the like;
as shown in fig. 6, the detection device 8 includes a laser radar 801, an audio detection module 802, a depth camera 803, a visible light camera 804, a second inertial navigation module 805 and a thermal infrared imager 806, and can be used as an independent sensing unit to integrate the laser radar 801, the audio detection module 802, the depth camera 803, the visible light camera 804, the second inertial navigation module 805 and the thermal infrared imager 806 for environment sensing, epidemic prevention infrared temperature measurement and sound collection:
the laser radar 801 and the depth camera 803 are combined to detect the surrounding environment, the core processing module utilizes the depth map of the depth camera and combines the point cloud of the laser radar to perform refined measurement on the distance of the surrounding target object, the robot can be ensured to sense the existence of the surrounding object and determine the distance of the object, the GPS and inertial navigation module and the ultrasonic wave-based obstacle avoidance module are combined to realize self-positioning and sensing of the surrounding environment target for the robot, the core processing module plans the routing of the robot for inspection, and collision between the robot and foreign matters in the inspection process is avoided;
by utilizing the visible light camera 804, the core processing module performs target detection based on depth identification, judges whether people and other creatures exist in the surrounding environment, and identifies the key temperature measurement positions of the face, the wrist and the like of the portrait; designing an image coordinate matching algorithm by using the result of visible light image recognition and combining an infrared image collected by the thermal infrared imager 806, fusing the images, detecting the temperature of the face, the wrist and the like of the human body, realizing human body temperature screening, and alarming when the body temperature is higher than a set temperature;
the audio detection module 802 is used for collecting near-field sound, the core processing module is used for separating audio from background noise, whether the person to be screened in a short distance coughs or not is detected, and the sound can be collected on site and used for remote talkback;
a rotating device 9 for rotating the detection equipment by 360 degrees and a pitching device 10 for rotating the detection equipment up and down are arranged between the detection equipment 8 and the middle box body 3; the field angle can be adjusted in the horizontal and vertical directions by utilizing the pitching device 10 and the rotating device 9, the orientation of a sensing and monitoring area is changed, the surrounding environment information can be sensed through the laser radar and the depth camera, meanwhile, the human body temperature measurement of the thermal infrared imager is carried out, the non-contact rapid temperature measurement is realized, the sound and temperature information can be fused through sound monitoring, and the screening accuracy is improved.
The invention designs a special wireless charging station for the robot, which can be managed through network communication to realize non-contact charging of the robot, and designs a motion charging function to realize tracking and inspection of the robot for wireless charging, thereby ensuring long-time field work of the robot:
as shown in fig. 7, the wireless charging station 2 includes a charging box 7, and a charging parameter detection module, a charging management module, a wireless communication module ii, and a power conversion module are arranged in the charging box 7, and the invention can be managed through network communication, so as to realize non-contact charging of the inspection robot: the front end of the charging box 7 is provided with a first inertial navigation module 703 and a power supply panel 701 matched with the power receiving panel 204 for use, and the power supply panel 701 comprises a wireless charging panel made of a non-electromagnetic shielding material and a coil adhered to the wireless charging panel; the invention designs a motion charging function by matching with the inspection robot, realizes tracking of the inspection robot for wireless charging, and ensures long-time field work of the robot: an environment monitoring and positioning navigation unit is arranged at the top of the charging box 7, and four second driving wheels 702 are arranged at the bottom.
The invention designs a hand-held remote control terminal matched with a robot system, which not only can realize remote control of robot operation, but also can conveniently observe images and other inspection information in the inspection process of the robot in real time by arranging an image display screen on the remote controller; the back sets up the gripping ring and makes things convenient for us to operate, is difficult for dropping:
as shown in fig. 8 and 9, the remote control device for the epidemic prevention inspection robot system comprises a remote controller main body 18 and a rear cover 19, a panel of the remote controller main body 18 is provided with a function control key 1801, a fault warning lamp 1802 and an image display screen 1803, a vibration device is arranged inside the remote controller main body 18, the fault warning lamp 1802 flickers and gives a warning when the machine is in fault, and meanwhile, the vibration device inside the remote controller gives a response, and the remote controller vibrates; the rear cover 19 is provided with a gripping ring 1901, which facilitates the gripping of the remote controller in the operation process and avoids falling; the top of the remote controller main body 18 is provided with an indicator light 1804, and the bottom of the remote controller main body 18 is provided with a charging hole 1805 which is a remote controller charging device and is convenient for the normal work of the remote controller;
specifically, a first row of circular keys in the function control keys 1801 respectively perform on-off control to start and stop the robot, a next row of circular keys are respectively control keys of the image display screen, and the image display screen is pressed to be opened to display the acquired image, and a return key can be used for returning to the previous operation; the middle circular key is a menu selection key, the menu key is pressed for the first time to carry out the operation of moving the robot, the four sector keys positioned at the periphery of the menu selection key respectively control the four moving operations of the robot, namely the front, the rear, the left and the right, the menu selection key is pressed for the second time to switch to the control of view angle pitching and horizontal rotation, and at the moment, the four sector keys respectively rotate anticlockwise and clockwise and control the view angle pitching.
The invention designs a multipurpose alarm device on the second rotating motor 404 at the mechanical arm, which can be used for protecting the motor shell, alarming and prompting the working state of the motor and the robot, and can be independently used as a columnar acousto-optic warning lamp, the alarm device and the motor of the robot are integrated into a whole, the occupied volume space can be reduced, and the LED and the audible prompt are convenient for finding problems:
as shown in fig. 10, an alarm device integrally arranged with a motor housing is arranged on a second rotating electrical machine 404 of the mechanical arm 4, the alarm device includes an LED alarm lamp 11 and a buzzer 12, the second rotating electrical machine 404 includes a mechanical housing 14 with a flange mounting plate 13, a housing rear cover 15, an LED alarm lamp 11 adhered to the outside of the mechanical housing 14, a buzzer 12 embedded in the housing rear cover 15, and a drive control circuit board 16, the LED alarm lamp 11 is a red, green and blue three-color LED lamp strip, and a power supply line, a motor control line, and an encoder signal line of the LED alarm lamp 11 and the buzzer 12 are all externally connected to the drive control circuit board 16 through a lead slot 17; when the second rotating electrical machines 404 and the epidemic prevention inspection robot are in different working states, if the detected body temperature is too high or the detected person coughs, the display colors of the red, green and blue LED lamp strips can be controlled by driving the control circuit board 16, and the buzzer 12 is controlled to make a sound or not, so as to indicate different working states, and the observation and the disposal of the operator are facilitated.
A detection method of an epidemic prevention robot based on infrared temperature measurement and sound screening comprises the following steps:
(1) the epidemic prevention inspection robot system comprises an inspection robot, a wireless charging station and a monitoring center server, wherein the inspection robot, the wireless charging station and the monitoring center server are connected, send and receive messages through network communication to finish the inspection process of the epidemic prevention inspection robot;
(2) the monitoring center server sends a command to the inspection robot, the epidemic prevention inspection robot receives the command, and the epidemic prevention inspection robot performs epidemic prevention inspection in a specified environment according to the command to measure information in the environment;
(3) the robot collects information in a required environment through the combination of a laser radar, a depth camera, a GPS (global positioning system), an inertial navigation module and a robot core processing module, such as audio collection, map construction, temperature information storage, face information collection and mask information collection, returns the collected information to a monitoring center server through network communication for information storage, and stores the information in a storage module of the inspection robot to provide information comparison for inspection of the inspection robot;
(4) through information storage, the inspection robot starts to inspect in the environment according to a planned path, a depth camera and a laser radar are combined to detect the environment, a core processing module of the robot detects acquired environment information, an object and the distance to the object are identified, a GPS (global positioning system), an inertial navigation module and an ultrasonic obstacle avoidance module are combined to position and avoid the obstacle of the robot, an infrared point temperature measuring module, a visible light camera, a sound detecting module and the like are used for carrying out temperature measurement, sound induction, mask detection and other operations on the identified person, the obtained information is compared with the stored information, and if the abnormality occurs, a warning device located in the robot sends out an alarm; returning the abnormal condition and the position of the abnormality to the monitoring center to track the target;
(5) in the inspection process of the robot, the energy is supplied by a battery, when the energy supply of the robot is insufficient, the robot sends a message of insufficient electric energy and the remaining electric energy to a monitoring center server through a communication network, and simultaneously sends the position of the robot and a path to be inspected to a monitoring service center, the monitoring service center judges whether a charging station exists nearby according to the obtained position information and can enable the robot to reach the charging station under the condition that the remaining electric energy can support, if yes, the monitoring center sends an instruction to the charging station to the robot, and charging is completed; if the robot can not arrive at the monitoring center, the monitoring center is connected with the mobile charging station through the communication network, the position information and the path of the robot are sent to the mobile charging station, the mobile charging station is controlled to drive the robot according to the obtained information, meanwhile, the monitoring center sends the information of the charging station to the robot, and meeting and charging of the robot and the charging station are completed.
The principal features, principles and advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to explain the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as expressed in the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An epidemic prevention robot based on infrared temperature measurement and sound screening is characterized by comprising an inspection robot, a wireless charging station and a monitoring center server, wherein the inspection robot comprises a chassis box body, a lithium battery, a wireless charging module, a wireless communication module I, a GPS, an inertial navigation module, a motor, a drive control module and a core processing module are arranged in the chassis box body, ultrasonic obstacle avoidance sensors and emergency stop buttons are arranged on front and rear panels of the chassis box body, a wired charging interface for charging by using an adapter of the battery and a power receiving panel for carrying out non-contact charging by using the wireless charging module are also arranged on the rear panel, four first driving wheels are arranged at the bottom of the chassis box body, a horn and a middle box body are arranged at the top of the chassis box body, a lifting mechanism and a lifting mechanism driving motor for supporting detection equipment are arranged in the middle box body, two mechanical arms with 6 degrees of freedom and a display are fixed at the front end of the outer part, and a cover body is arranged at the rear end of the outer part;
the wireless charging station comprises a charging box, wherein a charging parameter detection module, a charging management module, a wireless communication module II and a power conversion module are arranged in the charging box, a first inertial navigation module and a power supply panel matched with the power receiving panel are arranged at the front end of the charging box, an environment monitoring and positioning navigation unit is arranged at the top of the charging box, and four second driving wheels are arranged at the bottom of the charging box.
2. The epidemic prevention robot based on infrared temperature measurement and sound screening of claim 1, wherein the detection equipment comprises a laser radar, an audio detection module, a depth camera, a visible light camera, a second inertial navigation module and a thermal infrared imager, and a rotating device for rotating the detection equipment by 360 degrees and a pitching device for rotating the detection equipment up and down are arranged between the detection equipment and the middle box body.
3. The epidemic prevention robot based on infrared temperature measurement and sound screening according to claim 1, it is characterized in that the front end of the mechanical arm is arranged on the side surface of the middle box body and drives the first section of the mechanical arm to rotate through the first rotating motor, the tail end of the first section and the front end of the second section of the mechanical arm are provided with second rotating motors which drive the second section of the mechanical arm to rotate, a third rotating motor for driving the third section of the mechanical arm to rotate up and down and a fourth rotating motor for driving the third section of the mechanical arm to rotate horizontally are arranged at the tail end of the second section and the front end of the third section of the mechanical arm, the end of the third section of the mechanical arm is provided with a fifth rotating motor which drives the clamping mechanism to rotate for 360 degrees and a pitching motor which drives the clamping mechanism to pitch up and down, an infrared point temperature measuring module, an audio acquisition module or a disinfection spraying module are installed in the clamping mechanism.
4. The epidemic prevention robot based on infrared temperature measurement and sound screening of claim 1, wherein the power receiving panel and the power supply panel each comprise a wireless charging panel made of a non-electromagnetic shielding material and a coil adhered to the wireless charging panel.
5. The epidemic prevention robot based on infrared temperature measurement and sound screening is characterized by further comprising a remote control device for an epidemic prevention inspection robot system, wherein the remote control device comprises a remote controller main body and a rear cover, a panel of the remote controller main body is provided with a function control key, a fault warning lamp tube and an image display screen, a vibration device is arranged inside the remote controller main body, and a gripping ring is arranged on the rear cover.
6. The epidemic prevention robot based on infrared temperature measurement and sound screening is characterized in that an alarm device integrally arranged with a motor shell is arranged on a second rotating motor of the mechanical arm, the alarm device comprises an LED alarm lamp and a buzzer, the second rotating motor comprises a mechanical shell with a flange mounting disc, a shell rear cover, an LED alarm lamp pasted outside the mechanical shell, the buzzer embedded in the shell rear cover and a drive control circuit board, and power supply lines, motor control lines and encoder signal lines of the LED alarm lamp and the buzzer are all externally connected to the drive control circuit board through lead grooves.
7. The epidemic prevention robot based on infrared temperature measurement and sound screening of claim 5, wherein the LED alarm lamp is a red, green and blue LED lamp strip.
8. The epidemic prevention robot based on infrared temperature measurement and sound screening of claim 6, wherein an indicator lamp is arranged at the top of the remote controller main body, and a charging hole is arranged at the bottom of the remote controller main body.
9. The method for screening epidemic prevention robot based on infrared temperature measurement and sound according to claim 8, wherein the method comprises the following steps:
(1) the epidemic prevention inspection robot system comprises an inspection robot, a wireless charging station and a monitoring center server, wherein the inspection robot, the wireless charging station and the monitoring center server are connected, send and receive messages through network communication to finish the inspection process of the epidemic prevention inspection robot;
(2) the monitoring center server sends a command to the inspection robot, the epidemic prevention inspection robot receives the command, and the epidemic prevention inspection robot performs epidemic prevention inspection in a specified environment according to the command to measure information in the environment;
(3) the robot collects information in a required environment through the combination of a laser radar, a depth camera, a GPS (global positioning system), an inertial navigation module and a robot core processing module, such as audio collection, map construction, temperature information storage, face information collection and mask information collection, returns the collected information to a monitoring center server through network communication for information storage, and stores the information in a storage module of the inspection robot to provide information comparison for inspection of the inspection robot;
(4) through information storage, the inspection robot starts to inspect in the environment according to a planned path, a depth camera and a laser radar are combined to detect the environment, a core processing module of the robot detects acquired environment information, an object and the distance to the object are identified, a GPS (global positioning system), an inertial navigation module and an ultrasonic obstacle avoidance module are combined to position and avoid the obstacle of the robot, an infrared point temperature measuring module, a visible light camera, a sound detecting module and the like are used for carrying out temperature measurement, sound induction, mask detection and other operations on the identified person, the obtained information is compared with the stored information, and if the abnormality occurs, a warning device located in the robot sends out an alarm; returning the abnormal condition and the position of the abnormality to the monitoring center to track the target;
(5) in the inspection process of the robot, the energy is supplied by a battery, when the energy supply of the robot is insufficient, the robot sends a message of insufficient electric energy and the remaining electric energy to a monitoring center server through a communication network, and simultaneously sends the position of the robot and a path to be inspected to a monitoring service center, the monitoring service center judges whether a charging station exists nearby according to the obtained position information and can enable the robot to reach the charging station under the condition that the remaining electric energy can support, if yes, the monitoring center sends an instruction to the charging station to the robot, and charging is completed; if the robot can not arrive at the monitoring center, the monitoring center is connected with the mobile charging station through the communication network, the position information and the path of the robot are sent to the mobile charging station, the mobile charging station is controlled to drive the robot according to the obtained information, meanwhile, the monitoring center sends the information of the charging station to the robot, and meeting and charging of the robot and the charging station are completed.
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