CN113084776B - Intelligent epidemic prevention robot and system based on vision and multi-sensor fusion - Google Patents
Intelligent epidemic prevention robot and system based on vision and multi-sensor fusion Download PDFInfo
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- CN113084776B CN113084776B CN202110295994.4A CN202110295994A CN113084776B CN 113084776 B CN113084776 B CN 113084776B CN 202110295994 A CN202110295994 A CN 202110295994A CN 113084776 B CN113084776 B CN 113084776B
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- 230000004927 fusion Effects 0.000 title claims abstract description 8
- 206010037660 Pyrexia Diseases 0.000 claims abstract description 20
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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
- 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
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
- G01J5/0025—Living bodies
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Abstract
The invention relates to a vision-based multi-sensor fusion intelligent epidemic prevention robot and a system, which comprises a robot upper cover and a robot main body, wherein the robot upper cover and the robot main body are arranged up and down; the robot upper cover is provided with a depth camera, a monocular camera and a loudspeaker, and two driving wheels and two universal wheels are arranged below the robot main body; the robot is characterized in that a control system is arranged in the robot main body, and the infrared camera, the high-definition camera, the depth camera, the monocular camera, the loudspeaker and the driving wheel are all connected with the control system. Compared with the prior art, the method has the advantages of stronger identification and tracking capability for the fever patients and the like.
Description
Technical Field
The invention relates to an epidemic prevention robot, in particular to an intelligent epidemic prevention robot and system based on vision and multi-sensor fusion.
Background
The epidemic prevention robot is applied to the epidemic prevention work in the public places such as shopping malls, airports, stations, medical institutions, schools and the like, can greatly save manpower and material resources and effectively block the spread of epidemic situations. The development of the epidemic prevention robot not only accords with the times, but also can meet the requirements of people on the period of the epidemic situation and provide safety guarantee. The application of the epidemic prevention robot is to do epidemic prevention and control work, and the reduction of human-to-human contact is an effective measure for reducing epidemic spread risk.
In the prior art, some epidemic prevention robots are provided, the body temperature detection, the mask identification, the tracking and the like can be realized, but the existing epidemic prevention robots usually adopt the same set of visual hardware to achieve the purpose of saving materials by adopting the mask identification and the walking guide, but the motion of the robots is higher in requirement on the environment and narrower in application range due to the lack of depth information in the scheme.
Disclosure of Invention
The invention aims to provide a vision-based multi-sensor fusion intelligent epidemic prevention robot and system
The purpose of the invention can be realized by the following technical scheme:
a vision-based multi-sensor fusion intelligent epidemic prevention robot comprises a robot upper cover and a robot main body which are arranged up and down, wherein a rotating shaft and a rotating motor for driving the rotating shaft are arranged in the robot main body;
the robot is characterized in that a depth camera, a monocular camera and a loudspeaker are arranged on the upper cover of the robot, and two driving wheels and two universal wheels are arranged below the robot main body;
the robot is characterized in that a control system is arranged in the robot main body, the infrared camera, the high-definition camera, the depth camera, the monocular camera, the loudspeaker and the driving wheel are all connected with the control system, and the control system is configured to execute the following steps:
acquiring image information acquired by a high-definition camera, identifying people, and detecting whether the mask is worn;
acquiring data acquired by an infrared camera, obtaining the body temperature of each characteristic point of each person according to the person identification result, comparing the body temperature with preset conditions, determining whether each person has fever according to the comparison result, and judging the person with fever as a target person;
and acquiring data of the depth camera and the monocular camera, positioning the target person, and controlling the driving wheel to follow the target person.
The robot further comprises an ultrasonic sensor, and the ultrasonic sensor is arranged on the robot main body and connected with the control system.
The ultrasonic sensors are provided with two ultrasonic sensors.
The robot further comprises a display screen, and the display screen is arranged on the robot main body and connected with the control system.
The robot further comprises an accelerometer and a gyroscope, wherein the accelerometer and the gyroscope are arranged in the robot main body.
The robot main body is also provided with a battery bin.
The battery compartment is located the bottom of robot main part, and one end opening.
The characteristic points comprise forehead, eyelid, neck and hand back.
The obtaining of the body temperature of each feature point of each person according to the person identification result, comparing the body temperature with a preset condition, and determining whether each person has a fever according to the comparison result specifically includes:
step S1: obtaining the body temperature of each characteristic point of each person according to the person identification result;
step S2: judging whether the forehead temperature exceeds a set first threshold value, if so, executing a step S3, otherwise, selecting the next person;
and step S3: judging whether the forehead temperature exceeds a second set threshold, if so, judging that the person has fever, otherwise, executing the step S4;
and step S4: judging whether the temperature of the back of the hand of the person is obtained, if so, executing the step S5, otherwise, executing the step S6;
step S5: judging whether the temperature of the back of the hand exceeds a third set threshold value, if so, judging that the character has fever, otherwise, selecting the next character;
step S6: and judging whether the eyelid temperature exceeds a fourth set threshold value, if so, judging that the person has fever, and otherwise, selecting the next person.
A robot system comprises a power exchanging station and the robot.
Compared with the prior art, the invention has the following beneficial effects:
1) The obstacle avoidance scheme combining vision and ultrasonic waves is adopted, barrier information on a robot travelling route is detected in real time through ultrasonic sensors arranged in the front and at the back of the robot, and point cloud data of a visual image is combined, so that the robot can judge the passability of the current planned route more clearly, and the obstacle avoidance and route planning capabilities of the robot are greatly improved.
2) Wider infrared thermal imaging temperature measurement and data sharing can be accomplished 360 degrees rotations through the rotation axis, for video sequence's capture, wider search range is provided, connect infrared thermal imaging camera on, accomplish the human body temperature data monitoring of current field of vision scope, and data analysis through control system, can realize the monitoring work of a plurality of human body temperatures in the single picture, when showing on external display screen, upload remote computer realization data sharing with data information.
3) The high-definition camera has multiple functions, the high-definition camera at the head of the robot can be used for security monitoring while the mask detection is completed, the robot can be used for mobile security detection at the moment, security patrol without dead angles is realized for map areas, and resources at all places are effectively utilized.
4) Through the designed body temperature detection logic, the high-efficiency body temperature detection can be kept, and the accuracy of fever detection is improved.
5) The power supply scheme of intelligent battery replacement is adopted, the automatic battery replacement station is matched, the robot automatically goes to the battery replacement station to replace the battery when the power supply is insufficient, full load of the power supply can be completed in a short time, and then the robot continues to work, so that all-weather working requirements are met.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a chassis according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an automatic power conversion station used for matching in the embodiment of the invention;
FIG. 5 is a flow chart of chassis motion control according to an embodiment of the present invention;
wherein: 1. high definition digtal camera, 2, infrared camera, 3, information meet biography unit, 4, rotation axis, 5, monocular camera, 6, degree of depth camera, 7, speaker, 8, display screen, 9, ultrasonic sensor, 10, left universal wheel, 11, ultrasonic sensor, 12, right universal wheel, 13, right action wheel, 14, rotating electrical machines, 15, IMU, 16, control system, 17, left action wheel, 18, battery compartment, 19, ramp, 20, trade electric workspace.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
An intelligent epidemic prevention robot based on vision and multi-sensor fusion is disclosed, as shown in fig. 1 to fig. 3 and fig. 5, and comprises a robot upper cover and a robot main body which are arranged up and down, wherein a rotating shaft 4 and a rotating motor 14 for driving the rotating shaft 4 are arranged in the robot main body, a through hole for the rotating shaft 4 to pass through is arranged in the center of the robot upper cover, a sensor box is fixed at one end of the rotating shaft 4 which passes through the through hole, and an infrared camera 2 and a high-definition camera 1 are arranged on the sensor box;
the robot upper cover is provided with a depth camera 6, a monocular camera 5 and a loudspeaker 7, and two driving wheels and two universal wheels are arranged below the robot main body;
be equipped with control system 16 in the robot main part, infrared camera 2, high definition digtal camera 1, degree of depth camera 6, monocular camera 5, speaker 7 and action wheel all are connected with control system 16, and control system 16 includes industrial computer and drive circuit board, and through serial ports connection between the two for issue the instruction, realize the activity control to intelligent epidemic prevention robot, control system 16 is configured to carry out following step:
acquiring image information acquired by the high-definition camera 1, identifying people, and detecting whether the mask is worn;
acquiring data acquired by the infrared camera 2, obtaining the body temperature of each characteristic point of each person according to the person identification result, comparing the body temperature with a preset condition, determining whether each person has fever according to the comparison result, and judging the person with fever as a target person;
and acquiring data of the depth camera 6 and the monocular camera 5, positioning the target person, and controlling the driving wheel to follow the target person.
The robot also includes an ultrasonic sensor that is located on the robot body and is connected to the control system 16. The ultrasonic sensors are provided with two ultrasonic sensors, 9 and 11 respectively. The two driving wheels are directly driven by the stepping hub motor, so that the epidemic prevention robot can move forwards and backwards in any direction. And the two ultrasonic sensors 9 at the front and the back of the robot are used for collecting the information of the obstacles on the motion path and avoiding the obstacles when necessary.
The robot further comprises a display screen 8, the display screen 8 being arranged on the robot body and connected to the control system 16.
The robot also comprises an accelerometer and a gyroscope, wherein the accelerometer and the gyroscope become IMUs and are arranged in the robot body to calculate attitude angles and accelerations in real time.
Still be equipped with battery compartment 18 in the robot main part, battery compartment 18 is located the bottom of robot main part, and one end opening, and as shown in fig. 4, a robot system, including trading the power station and as above-mentioned robot, when the robot electric quantity is low, the autonomous movement trades the power station to automatic, carries out full-automatic trade battery operation, trades the electric process, and the time spent is short. After the power is changed, the robot can immediately go out of the station to carry out inspection tasks, and therefore all-weather inspection of the robot is achieved.
The characteristic points comprise a forehead, eyelids, a neck and a hand back, the body temperature of each characteristic point of each figure is obtained according to the figure identification result, the body temperature is compared with a preset condition, and whether each figure has fever or not is determined according to the comparison result, and the method specifically comprises the following steps:
step S1: obtaining the body temperature of each characteristic point of each person according to the person identification result;
step S2: judging whether the forehead temperature exceeds a set first threshold value, if so, executing a step S3, otherwise, selecting the next person;
and step S3: judging whether the forehead temperature exceeds a second set threshold, if so, judging that the person has fever, otherwise, executing the step S4;
and step S4: judging whether the temperature of the back of the hand of the person is obtained, if so, executing the step S5, otherwise, executing the step S6;
step S5: judging whether the temperature of the back of the hand exceeds a third set threshold value, if so, judging that the character has fever, otherwise, selecting the next character;
step S6: and judging whether the eyelid temperature exceeds a fourth set threshold value, if so, judging that the person has fever, and otherwise, selecting the next person.
In some embodiments, machine learning and deep learning can be adopted, after the robot completes construction of a regional map, map data can be shared to a remote computer, detailed map information and position information of the robot can be mastered in real time, and after a plurality of robots are deployed in a matched mode, detailed information data of a plurality of places can be detected simultaneously, and cross-domain epidemic prevention information collection and control can be achieved better.
In some embodiments, the pedestrian detection and following are performed, a sample library is established by using the acquired depth image, and a classifier required for detection is obtained by training a sample through a CNN classifier. And (3) preprocessing the image by using a mean filtering method of the adaptive value to determine the region of interest where the moving target is located. And then, HOG characteristics of the target are extracted, the target characteristics are classified through a trained classifier, pedestrian detection is completed, and finally the target is followed by using a meanshift method.
In some embodiments, the mask recognition captures face information through the high definition camera 1, implements face recognition using a YOLO (young Only Look one) target detection algorithm in combination with a face detection model, and displays the recognition result on the display screen 8. The display screen displays the body temperature data of the human body and the wearing condition of the mask, wherein the body temperature data is shot by the robot.
In some embodiments, the intelligent epidemic prevention robot can customize an application environment, various sensor modules are carried according to different requirements, the application range is wide, the operation is simple, and a user can expand and develop the intelligent epidemic prevention robot by adding modules through an open SDK development kit.
The autonomous navigation and obstacle avoidance system obtains obstacle data of the environment in real time through the ultrasonic sensors 9 and 11 in the front and the back of the robot, integrates environment point cloud data of the depth camera 6 and the monocular camera 5, and combines the self motion data of the robot obtained by the IMU 15. And (3) creating an incremental environment map based on the SLAM algorithm of the extended Kalman filtering, and simultaneously realizing self positioning and navigation by using the map. The robot incremental composition and path optimization are realized based on an improved A-algorithm of global planning and local optimization, autonomous obstacle avoidance and path planning are completed, and free actions in complex environments such as supermarkets, markets, stations, schools and communities are realized.
According to the pedestrian detection and following function, a great number of pedestrian samples such as pedestrian body states, clothes characteristics and the like are obtained through the depth camera 6 and the monocular camera 5, the samples are trained through the control system 16, a target detection algorithm based on CNN is combined, the pedestrian is distinguished well, the intelligent epidemic prevention robot can accurately identify suspected diseases, and then the control system 16 controls the left universal wheel 10, the right universal wheel 12, the left driving wheel 17 and the right driving wheel 13, so that the epidemic prevention robot follows the movement of the suspected diseases.
When the epidemic prevention robot is deployed in automatic inspection, firstly, the epidemic prevention robot automatically runs in a current working area, captures map information and obstacle information of a current environment through the depth camera 6, the monocular camera 5 and the ultrasonic sensors 9 and 11, generates a specific grid map in the control system 16, and sends the map information to a far-end computer through the information receiving and transmitting equipment 3, so that far-end information sharing is realized, and meanwhile, the position information and the working state of the robot can be remotely checked. After the automatic inspection work is started, the robot autonomously moves in a set work area, meanwhile, the rotating motor 14 controls the rotating shaft 4 to rotate, a wider monitoring visual field range is provided for the infrared thermal imaging camera 2 above the robot, the thermal imaging camera transmits monitored image data to the control system, the control system performs numerical analysis on the obtained data to judge whether the body temperature is normal, the high-definition camera 1 transmits shot video images to the control system, the control system analyzes and obtains face data in the images, a YOLO target detection algorithm is combined with a face detection model to judge whether a mask is correctly worn by a person to be detected, the identification result is displayed on the display screen 8, and if the mask wearing mode is wrong, voice reminding is sent through the loudspeaker 7. Through the information receiving device 3, the remote computer end can also synchronously receive the display screen picture. The remote computer controls the robots through the remote control, cross-space cooperative epidemic prevention can be achieved, when the monitoring range is larger, a plurality of epidemic prevention robots can be configured to divide the area, the large-scale prevention and control work can be managed more carefully, and the robots in all positions can be mastered accurately through the grid map.
When the epidemic prevention robot detects that the temperature is abnormal, the person can be marked as a suspected person, the robot can follow the person, voice early warning is broadcasted through the loudspeaker 7, the body state and the clothes characteristics of the person obtained by the monocular camera 5 can be transmitted to the far-end computer through the information receiving and transmitting device 3, the grid map of the far-end computer can display marking signals of the suspected person at the moment, and the epidemic prevention person can rapidly find the suspected person to check the body temperature according to the guidance of the suspected person characteristics and the grid map.
When the epidemic prevention robot runs out of work and runs out of electric quantity, the robot at the place uploads own state and request information needing to replace the electricity to a remote computer through information receiving and transmitting equipment, the remote computer can allocate the robot at a short distance nearby to take over work, meanwhile, the robot with low electric quantity automatically goes to an automatic electricity replacing station to perform electricity replacing operation, the robot enters the automatic electricity replacing station through a ramp 19, an electricity replacing flow is started through a sensing device on the ramp, the robot enters a standby state after entering an electricity replacing working area 20, a door of a battery cabin 18 of the robot can be automatically opened to wait for electricity replacing, the whole electricity replacing work is completed through a mechanical arm of the automatic electricity replacing station, and then the robot goes out of the station to continue to complete the work of quarantine temperature measurement.
Under some application scenes, the epidemic prevention robot only needs to operate in daytime, and therefore the high-definition camera 1 matched with the robot at night can meet the security and protection needs of an appointed area, and the original monitoring camera in the area is matched to meet the video monitoring security and protection needs of no dead angle in the area. In addition, the on-board battery can continuously provide continuous power output for the robot in some emergency power-off situations.
Claims (8)
1. The intelligent epidemic prevention robot based on vision multi-sensor fusion is characterized by comprising a robot upper cover and a robot main body which are arranged up and down, wherein a rotating shaft and a rotating motor for driving the rotating shaft are arranged in the robot main body;
the robot is characterized in that a depth camera, a monocular camera and a loudspeaker are arranged on the upper cover of the robot, and two driving wheels and two universal wheels are arranged below the robot main body;
the robot is characterized in that a control system is arranged in the robot main body, the infrared camera, the high-definition camera, the depth camera, the monocular camera, the loudspeaker and the driving wheel are all connected with the control system, and the control system is configured to execute the following steps:
acquiring image information acquired by a high-definition camera, identifying people, and detecting whether the mask is worn;
acquiring data acquired by an infrared camera, obtaining the body temperature of each characteristic point of each person according to the person identification result, comparing the body temperature with preset conditions, determining whether each person has fever according to the comparison result, and judging the person with fever as a target person;
acquiring data of a depth camera and a monocular camera, positioning a target person, and controlling a driving wheel to follow the target person;
the characteristic points comprise forehead, eyelid, neck and hand back;
the obtaining of the body temperature of each feature point of each person according to the person identification result, comparing the body temperature with a preset condition, and determining whether each person has a fever according to the comparison result specifically includes:
step S1: obtaining the body temperature of each characteristic point of each person according to the person identification result;
step S2: judging whether the forehead temperature exceeds a set first threshold value, if so, executing a step S3, otherwise, selecting the next person;
and step S3: judging whether the forehead temperature exceeds a second set threshold, if so, judging that the person has fever, otherwise, executing a step S4;
and step S4: judging whether the temperature of the back of the hand of the person is obtained or not, if so, executing a step S5, otherwise, executing a step S6;
step S5: judging whether the temperature of the back of the hand exceeds a third set threshold value, if so, judging that the character has fever, otherwise, selecting the next character;
step S6: and judging whether the eyelid temperature exceeds a fourth set threshold value, if so, judging that the person has fever, and otherwise, selecting the next person.
2. The vision-based multi-sensor-fused intelligent epidemic prevention robot is characterized by further comprising an ultrasonic sensor, wherein the ultrasonic sensor is arranged on the robot body and connected with the control system.
3. The vision-based multi-sensor-fused intelligent epidemic prevention robot of claim 2, wherein there are two ultrasonic sensors.
4. The vision-based multi-sensor-fused intelligent epidemic prevention robot of claim 1, further comprising a display screen, wherein the display screen is arranged on the robot main body and connected with the control system.
5. The vision-based multi-sensor-fused intelligent epidemic prevention robot of claim 1, wherein the robot further comprises an accelerometer and a gyroscope, and the accelerometer and the gyroscope are arranged in the robot body.
6. The vision-based multi-sensor-fused intelligent epidemic prevention robot according to claim 1, wherein a battery compartment is further arranged on the robot body.
7. The vision-based multi-sensor-fused intelligent epidemic prevention robot of claim 6, wherein the battery compartment is located at the bottom of the robot body, and one end of the battery compartment is open.
8. A robotic system comprising a swap station and a robot as claimed in any one of claims 1 to 7.
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| CN115431266A (en) * | 2022-08-24 | 2022-12-06 | 阿里巴巴达摩院(杭州)科技有限公司 | Inspection method, inspection device and inspection robot |
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| CN105182983A (en) * | 2015-10-22 | 2015-12-23 | 深圳创想未来机器人有限公司 | Face real-time tracking method and face real-time tracking system based on mobile robot |
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