CN113776668A - Self-adaptive posture temperature measurement inquiry intelligent robot - Google Patents

Self-adaptive posture temperature measurement inquiry intelligent robot Download PDF

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Publication number
CN113776668A
CN113776668A CN202010521788.6A CN202010521788A CN113776668A CN 113776668 A CN113776668 A CN 113776668A CN 202010521788 A CN202010521788 A CN 202010521788A CN 113776668 A CN113776668 A CN 113776668A
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temperature measurement
telescopic
intelligent robot
inquiry
main body
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邵立伟
黄德皇
赖志林
黄毅
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Zhongshan Research Institute Beijing Institute Of Technology
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Zhongshan Research Institute Beijing Institute Of Technology
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
    • A61L2/08—Radiation
    • A61L2/10—Ultraviolet radiation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • G01J5/02—Constructional details
    • G01J5/0205—Mechanical elements; Supports for optical elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Health & Medical Sciences (AREA)
  • Spectroscopy & Molecular Physics (AREA)
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  • Animal Behavior & Ethology (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Acoustics & Sound (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
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Abstract

The application provides an intelligent robot for self-adaptive posture temperature measurement inquiry. The intelligent robot for self-adaptive posture temperature measurement inquiry comprises: a main body support; the telescopic bracket is connected to the main body bracket in a telescopic manner along the vertical direction and is provided with a sliding track; the telescopic cantilever is movably connected to the telescopic bracket through the sliding track; the operation display screen is provided with an infrared temperature measuring sensor, and the back of the display operation screen is rotationally connected to the end part of the telescopic cantilever around the central axis of the telescopic cantilever. The self-adaptive posture temperature measurement inquiry intelligent robot can realize flexible posture adjustment of the robot in a working interval by stretching the telescopic bracket in the vertical direction, stretching the telescopic cantilever in the horizontal direction and hanging the operation display screen in a controllable rotary mode at the end part of the telescopic cantilever, so that the infrared temperature measurement sensor faces the direction of a patient to measure the body temperature of the patient, and the optimal temperature measurement/inquiry effect is achieved.

Description

Self-adaptive posture temperature measurement inquiry intelligent robot
Technical Field
The invention belongs to the field of medical equipment, and particularly relates to an intelligent robot for self-adaptive posture temperature measurement inquiry.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Most of the existing hospital remote temperature measuring devices are carried on an intelligent mobile robot for function integration, the problems of fixed layout position, limited temperature measurement vision and the like of the temperature measuring devices generally exist, and in order to achieve a good temperature measurement effect, a patient is often required to sit and face the robot temperature measuring devices, so that the temperature measurement result error can be guaranteed to be within a reasonable range; the robot does not have the capability of automatically adjusting the temperature measurement pose according to the lying and sitting state of the patient, and the remote inquiry function also has the problem. Therefore, the application limitation of the intelligent robot in the aspects of remote inquiry, temperature measurement and the like is very large. For example, it is very poor for patients with inconvenient actions.
Disclosure of Invention
In view of the above, there is a need for an intelligent robot for posture-adaptive temperature measurement and inquiry, which can adjust the temperature measurement angle according to the physical state of the patient.
An intelligent robot for adaptive posture temperature measurement inquiry, comprising:
a main body support;
the telescopic bracket is connected to the main body bracket in a telescopic manner along the vertical direction and is provided with a sliding rail extending along the length direction;
the telescopic cantilever is movably connected to the telescopic bracket through the sliding track, and the telescopic direction of the telescopic cantilever extends along the horizontal direction;
the back of the display operation screen is rotatably connected to the end part of the telescopic cantilever around the central axis of the telescopic cantilever, so that the infrared temperature measuring sensor faces the direction of the patient to measure the body temperature of the patient.
Preferably, the bottom of the main body support is provided with a motion chassis, the motion chassis comprises a driving mechanism and a traveling wheel, and the driving mechanism is connected to the traveling wheel to drive the traveling wheel to rotate differentially.
Preferably, still include lidar, lidar locates the side of main part support.
Preferably, a top head is arranged at the top of the telescopic support, the top head is provided with an ultrasonic sensor, a temperature and humidity sensor and a hydrogen peroxide concentration sensor, and the ultrasonic sensor is used for upwards identifying and detecting when the telescopic support extends along the vertical direction; the temperature and humidity sensor is used for detecting temperature and humidity information; the hydrogen peroxide concentration sensor is used for detecting the hydrogen peroxide concentration.
Preferably, the top head is further provided with a dry mist spraying module for dry mist disinfection or spraying disinfection.
Preferably, the intelligent control device further comprises a human-computer interaction module, wherein the human-computer interaction module comprises an indicator light, a steering light and a loudspeaker which are arranged on the main body support and used for sending out prompt messages for response.
Preferably, the mobile phone further comprises a wireless communication module, wherein the wireless communication module is arranged on the main body bracket and used for performing wireless communication with the outside.
Preferably, the display screen is further provided with a monocular camera for taking images of the patient when the display screen is oriented towards the patient to realize remote diagnosis.
Preferably, the main body support is further provided with an ultrasonic sensor for identifying obstacles.
Preferably, the body support is further provided with an ultraviolet device for emitting ultraviolet rays to the outside for sterilization.
Compared with the prior art, the self-adaptive posture temperature measurement inquiry intelligent robot can stretch out and draw back along the vertical direction through the telescopic bracket, the telescopic cantilever stretches out and draws back along the horizontal direction, and the operation display screen is hung on the end of the telescopic cantilever in a controllable rotary mode, so that the flexible posture adjustment operation display screen of the robot in a working range can be realized, the infrared temperature measurement sensor faces towards the direction of a patient to measure the body temperature of the patient, and the optimal temperature measurement/inquiry effect is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the front side of an intelligent robot for adaptive posture temperature measurement and inquiry.
Fig. 2 is a schematic structural diagram of the back of the intelligent robot for adaptive posture temperature measurement and inquiry.
Fig. 3 is a schematic structural diagram of the intelligent robot for adaptive posture temperature measurement and inquiry in a standby state.
Fig. 4 is a schematic structural diagram of a control system of the intelligent robot for adaptive posture temperature measurement and inquiry.
Fig. 5 is a schematic view of the measurement of body temperature with a patient in a recumbent position.
Fig. 6 is a schematic view of a patient in a semi-seated position for measuring body temperature.
Description of the main elements
Figure BDA0002532404870000031
Figure BDA0002532404870000041
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In various embodiments of the present invention, for convenience in description and not in limitation, the term "coupled" as used in the specification and claims of the present application is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Fig. 1 is a schematic structural diagram of the front side of an intelligent robot for adaptive posture temperature measurement and inquiry, fig. 2 is a schematic structural diagram of the back side of the intelligent robot for adaptive posture temperature measurement and inquiry, and fig. 3 is a schematic structural diagram of the intelligent robot for adaptive posture temperature measurement and inquiry in a standby state. As shown in fig. 1-3, the intelligent robot for adaptive posture-based temperature measurement and diagnosis comprises a main body support 10, a telescopic support 20, a telescopic cantilever 30 and an operation display screen 724.
The main body support 10 is substantially in a square column shape, the bottom of the main body support is provided with a motion chassis 40, the motion chassis 40 comprises a driving mechanism and a walking wheel 50, and the driving mechanism is connected to the walking wheel 50 to drive the walking wheel 50 to rotate differentially. The side of the main body support 10 is also provided with a laser radar 731. The telescopic bracket 20 is telescopically connected to the main body bracket 10 in a vertical direction, and the telescopic bracket 20 is provided with a sliding rail extending in a length direction. The telescopic boom 30 is movably connected to the telescopic bracket 20 through the sliding rail, and a telescopic direction of the telescopic boom 30 extends in a horizontal direction. The bottom is provided with an ultrasonic module 11 for assisting the robot to sense the environment and recognize obstacles.
Fig. 4 is a schematic structural diagram of a control system of the intelligent robot for adaptive posture temperature measurement and inquiry. As shown in fig. 4, the control system includes a main control unit 70, a wireless communication module 71, a temperature measurement inquiry module 72, a sensor module 73, a disinfection system 74, a motion chassis module 75 and a human-computer interaction module.
The wireless communication module 71 is disposed on the main body frame 10 and is configured to perform wireless communication with the outside. A plurality of communication capabilities are integrated, including a WiFi module 711, a 4G module 712, a 433 module 713, etc., to enable the robot to communicate with external devices such as a power door, an elevator, or a dispatching system.
The temperature measurement inquiry module 72 includes a vertical slide rail driver 721, a horizontal telescopic arm driver 722, a back hanging driver 723 and an operation display screen 724. The flexible pose adjustment of the operation display screen 724 of the robot in a working interval can be realized by the combined control and drive of the vertical slide rail driver 721, the horizontal telescopic arm driver 722 and the back hanging driver 723, so that the optimal temperature measurement/inquiry effect is achieved.
The sensor module 73 includes a laser radar 731, a binocular camera 732, a monocular camera 733, an infrared temperature measurement sensor 734, an ultrasonic sensor 735, a hydrogen peroxide concentration sensor 736, and a temperature and humidity sensor 737. The laser radar 731 is mainly used for assisting the robot to create an alarm map, locate and identify obstacles.
The binocular camera 732 is used for assisting map creation, positioning, obstacle identification and patient lying state identification and distance identification during temperature measurement, and provides support for pose adjustment of the adaptive temperature measuring device. The monocular camera 733 is integrated into the operator display 724 for live video of a patient, and images of the patient are taken while the display is oriented toward the patient for remote diagnosis. An infrared thermometry sensor 734 is used for patient temperature detection. The ultrasonic sensor 735 is used to identify near-distance obstacles around the robot. The hydrogen peroxide concentration sensor 736 is used for identifying the concentration of hydrogen peroxide in the air, thereby judging the disinfection effect. The temperature and humidity sensor 737 is used to detect the humidity in the air and provide data support for the robot disinfection spray rate.
The disinfection system 74 comprises an atomization device 741, a spraying device 742 and an ultraviolet device 743, disinfection is achieved through multiple modes of dry mist disinfection, spraying disinfection and ultraviolet disinfection, disinfection requirements of users in various scenes can be met, and corresponding disinfection modes can be flexibly used according to user requirements.
The motion chassis module 75 comprises a driving motor 751 and a brake system 752, the robot chassis adopts a double-wheel differential driving structure, and the steering, turning around, in-situ rotation, straight movement and the like of the robot are realized through the speed difference of two independent driving wheels; the walking stability of the robot is improved by additionally arranging the driven wheel so as to solve the walking problems of different ground environments; in addition, besides the two-wheel differential driving system, the driving safety device also comprises a braking system 752, so that the driving safety is ensured.
The human-computer interaction module comprises a state indicator light, a steering light and a voice module, is used for interacting with a user in real time, and shows the running state of the robot through the state indicator light and the steering light, whether a fault exists or not and the like; the voice module is used for voice reminding, and informing pedestrians of avoiding or informing users of task states and the like in real time.
In this embodiment, a plug 60 is provided on the top of the telescopic bracket 20, and the plug 60 is provided with the ultrasonic sensor 735, the temperature and humidity sensor 737, the hydrogen peroxide concentration sensor 736, and the atomizing device 741.
Fig. 5 is a schematic view of measuring the body temperature of a patient in a lying posture state, and fig. 6 is a schematic view of measuring the body temperature of the patient in a semi-sitting posture state. As shown in fig. 5 and 6, in the temperature measurement pose self-adaptive state, the robot controls the combined control drive of the vertical slide rail driver 721, the horizontal telescopic arm driver 722 and the back hanging driver 723 in a rectangular coordinate mode, so that the spatial full pose adjustability of the temperature measurement/interrogation device is realized, the pose of the robot can be adjusted according to the identified lying and sitting state of the patient to be measured, the temperature measurement of the optimal pose and angle is realized, the patient does not need to move or sit and face the robot according to the position of the robot, and the user experience of the robot is greatly improved.
During working, under the self-adaptive posture flow, the robot carries out autonomous path planning according to order tasks, enters a target ward and reaches the front of a patient bed.
The binocular camera 732 of the main body bracket 10 recognizes the distance between the robot and the patient, the binocular camera 732 of the top 60 recognizes the lying state of the patient, then calculates the optimal pose and direction of the adaptive temperature measuring device, controls the temperature measuring module and the related telescopic device, performs pose adjustment of the temperature measuring device,
then, temperature measurement and remote inquiry are carried out. After the task is completed, the temperature measuring device shrinks to return to the zero point.
In the state of the temperature measurement module being rested and stored, the task is to disinfect or inspect the environment without requiring an inquiry or temperature measurement, so that the main control unit 70 can adjust the operation display screen 724 to return to the zero point, thereby protecting the temperature measurement device from being damaged.
When the robot is in a rest state, the rest state of the robot is a standby state of the robot, and at the moment, the robot is in a full-shrinkage state.
The self-adaptive posture-measuring temperature-measuring inquiry intelligent robot can extend and retract along the vertical direction through the telescopic bracket 20, the telescopic cantilever 30 extends and retracts along the horizontal direction, and the operation display screen 724 is hung on the end part of the telescopic cantilever 30 in a controllable and rotary mode, so that the operation display screen 724 can be adjusted flexibly in posture of the robot in a working range, the infrared temperature-measuring sensor 734 faces the direction of a patient to measure the body temperature of the patient, and the optimal temperature-measuring/inquiry effect is achieved.
In the several embodiments provided in the present invention, it should be understood that it is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.

Claims (10)

1. The utility model provides an intelligent robot of inquiry of self-adaptation position appearance temperature measurement which characterized in that includes:
a main body support;
the telescopic bracket is connected to the main body bracket in a telescopic manner along the vertical direction and is provided with a sliding rail extending along the length direction;
the telescopic cantilever is movably connected to the telescopic bracket through the sliding track, and the telescopic direction of the telescopic cantilever extends along the horizontal direction;
the back of the display operation screen is rotatably connected to the end part of the telescopic cantilever around the central axis of the telescopic cantilever, so that the infrared temperature measuring sensor faces the direction of the patient to measure the body temperature of the patient.
2. The intelligent robot for adaptive posture temperature measurement and inquiry according to claim 1, wherein a motion chassis is arranged at the bottom of the main body bracket, the motion chassis comprises a driving mechanism and traveling wheels, and the driving mechanism is connected to the traveling wheels to drive the traveling wheels to rotate differentially.
3. The intelligent robot for adaptive posture temperature measurement and inquiry according to claim 2, further comprising a laser radar disposed on a side surface of the main body support.
4. The intelligent robot for adaptive posture temperature measurement and inquiry according to claim 3, wherein a top head is arranged at the top of the telescopic bracket, and is provided with an ultrasonic sensor, a temperature and humidity sensor and a hydrogen peroxide concentration sensor, wherein the ultrasonic sensor is used for upward identification and detection when the telescopic bracket is extended in the vertical direction; the temperature and humidity sensor is used for detecting temperature and humidity information; the hydrogen peroxide concentration sensor is used for detecting the hydrogen peroxide concentration.
5. The intelligent robot for adaptive posture temperature measurement inquiry and diagnosis as claimed in claim 4, wherein the top head is further provided with a dry mist spraying module for dry mist disinfection or spraying disinfection.
6. The intelligent robot for adaptive posture temperature measurement inquiry diagnosis as claimed in claim 5, further comprising a human-computer interaction module, wherein the human-computer interaction module comprises an indicator light, a turn light and a loudspeaker which are arranged on the main body bracket and used for sending out prompt messages for response.
7. The intelligent robot for adaptive posture-temperature measurement and inquiry according to claim 6, further comprising a wireless communication module, wherein the wireless communication module is arranged on the main body bracket and is used for wireless communication with the outside.
8. The intelligent robot for adaptive posture temperature measurement inquiry and diagnosis as claimed in claim 7, wherein said display screen is further provided with a monocular camera for taking images of the patient when the display screen is oriented towards the patient to realize remote diagnosis.
9. The intelligent robot for adaptive posture temperature measurement and inquiry according to claim 8, wherein the main body bracket is further provided with an ultrasonic sensor for identifying obstacles.
10. The intelligent robot for adaptive posture-temperature-measurement interrogation according to claim 9, wherein the main body bracket is further provided with an ultraviolet device for emitting ultraviolet rays to the outside for disinfection.
CN202010521788.6A 2020-06-10 2020-06-10 Self-adaptive posture temperature measurement inquiry intelligent robot Pending CN113776668A (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108168708A (en) * 2017-12-19 2018-06-15 安徽天重工股份有限公司 A kind of steel-making tundish temperature tube, temperature-measuring gun and thermometric robot and its temp measuring method
CN208806070U (en) * 2018-05-31 2019-04-30 武汉知人科技有限公司 A kind of long-range detection interrogation all-in-one machine
CN111110896A (en) * 2020-03-31 2020-05-08 华南智能机器人创新研究院 Intelligent disinfection epidemic prevention robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108168708A (en) * 2017-12-19 2018-06-15 安徽天重工股份有限公司 A kind of steel-making tundish temperature tube, temperature-measuring gun and thermometric robot and its temp measuring method
CN208806070U (en) * 2018-05-31 2019-04-30 武汉知人科技有限公司 A kind of long-range detection interrogation all-in-one machine
CN111110896A (en) * 2020-03-31 2020-05-08 华南智能机器人创新研究院 Intelligent disinfection epidemic prevention robot

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