CN114459610A

CN114459610A - Temperature measurement and disinfection integration robot

Info

Publication number: CN114459610A
Application number: CN202011142454.4A
Authority: CN
Inventors: 崔锦; 胡斌; 杨东伟; 林东; 吉东旭; 谈华斌; 彭志; 谭杨; 李红涛; 张清; 凌忠奇; 金雷泽; 耿韵玖; 陈萌
Original assignee: Nuctech Co Ltd
Current assignee: Nuctech Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2022-05-10

Abstract

The invention relates to a temperature measurement and disinfection integrated robot, which comprises a moving module, a temperature measurement module, a disinfection module and a remote interaction module, wherein the moving module is used for driving the whole robot to move; the temperature measuring module is used for measuring the body temperature of people and/or animals in a non-contact mode; the disinfection module is used for disinfecting and sterilizing personnel, animals, articles and/or designated areas; the remote interaction module is used for enabling personnel on the robot working site to perform real-time voice and/or video interaction with personnel at a remote operation terminal of the robot.

Description

Temperature measurement and disinfection integration robot

Technical Field

The invention relates to the field of robots, in particular to a temperature measurement and disinfection integrated robot.

Background

At present, in the field of epidemic disease prevention and control, a manual handheld type sprayer, a shoulder-back type sprayer and a hand-push type sprayer are generally needed to disinfect areas, and the disinfection mode is greatly damaged to human health. In addition, in the case of implementing disease control, the body temperature of a measurement person is required to screen an infected person, but contact between the measurement person and the person to be measured easily causes cross-infection.

Disclosure of Invention

Along with the occurrence of epidemic situations, other disinfection modes are needed to avoid damage to human health. In addition, other means of body temperature measurement are needed to avoid cross-contamination.

In order to solve the problems, the invention provides a temperature measurement and disinfection integrated robot which can measure body temperature in a non-contact mode and avoid cross infection caused by contact of people. In addition, the robot can replace manual work to carry out disinfection work, so that the harm to human health caused by the disinfection work is avoided. In addition, the robot provided by the invention also has a remote interaction function, and can replace workers to enter a disease pollution area, so that the workers can perform work such as epidemiological investigation and the like without entering the pollution area, and the safety guarantee of the workers is improved.

According to an aspect of an embodiment of the present invention, a temperature measurement and sterilization integrated robot includes a moving module, a temperature measurement module, a sterilization module, and a remote interaction module, wherein: the moving module is used for driving the whole robot to move; the temperature measuring module is used for measuring the body temperature of people and/or animals in a non-contact mode; the disinfection module is used for disinfecting and sterilizing personnel, animals, articles and/or designated areas; and the remote interaction module is used for enabling the robot working site personnel to perform real-time voice and/or video interaction with personnel at the remote operation terminal of the robot.

According to one aspect of the embodiments of the present invention, the temperature measuring module includes a first visible light camera and an infrared camera, and the temperature measuring module is configured to recognize a face position of a person using an image photographed by the first visible light camera, and recognize a head temperature of a human body based on the recognized face position of the person and using a temperature image photographed by the infrared camera.

According to an aspect of an embodiment of the present invention, the thermometry module is configured to be height adjustable to adjust a height of the first visible light camera and the infrared camera relative to the photographic subject.

According to an aspect of an embodiment of the present invention, the position of the first visible light camera and the position of the infrared camera are close to each other.

According to one aspect of an embodiment of the present invention, the disinfection module comprises a disinfection tank and a disinfection liquid pump, a liquid level meter is arranged in the disinfection tank, and the disinfection module is configured to automatically control the disinfection liquid pump to deliver disinfection liquid to the disinfection tank according to the measurement result of the liquid level meter.

According to an aspect of an embodiment of the present invention, the disinfection module further comprises a relay and a power supply for supplying power to the disinfection liquid pump, the relay is configured to be electrically connected with the liquid level meter and the power supply, and is configured to cut off the power supply from the power supply to the disinfection liquid pump when the liquid level height measured by the liquid level meter is greater than or equal to a predetermined value, and to turn on the power supply from the power supply to the disinfection liquid pump when the liquid level height measured by the liquid level meter is less than the predetermined value.

According to an aspect of the embodiment of the present invention, the robot further comprises a control device configured to receive an instruction specifying the sterilization area and plan a moving path of the robot according to the instruction, the robot moves according to the moving path to perform the all-round coverage sterilization on the specified sterilization area.

According to an aspect of an embodiment of the invention, the control means plans the movement path based on at least one or more of the following factors or parameters: the robot comprises a disinfection radius of the robot, robot performance, a traversable area in a specified disinfection area, a starting position and an end position of the robot, a barrier position in the specified disinfection area, the number of times of repeated walking and the number of unreachable positions of each position in the specified disinfection area, a barrier expansion coefficient and a map rotation angle.

According to an aspect of an embodiment of the present invention, the remote interaction module includes a sound receiving device for receiving voice information of a person on a robot work site, a sound output device for transmitting the voice information to and receiving the voice information from the remote operation terminal of the robot, and an information transmitting device for playing the voice information from the remote operation terminal.

According to an aspect of an embodiment of the present invention, the remote interaction module further includes a second visible light camera for photographing the robot job site scene, the information transmission device is configured to transmit the robot job site scene to the remote operation terminal and receive image or video information from the remote operation terminal, and the display is used to display the image or video information.

According to an aspect of an embodiment of the present invention, the remote interaction module is further configured to play an audio file or a video file, which is previously stored or is from a remote operation terminal, to implement a broadcasting function.

The invention also provides a temperature measuring and sterilizing system, which comprises: a robot of any of the embodiments described above; and a temperature correction black body which is set to have a predetermined constant temperature and is disposed in a fixed manner within a field of view of an infrared camera of the robot, wherein the robot corrects the collected temperature data of the human and/or animal using the measured temperature data of the temperature correction black body and the predetermined constant temperature.

The present invention also provides a movement path planning method of a robot, which moves in a work site area according to a planned movement path to disinfect a designated disinfection area in the work site area, the method including the steps of: a user designating a disinfection area on a map of a field area; and rasterizing the site area or the designated disinfection area on the map and determining a walkable position of the robot, wherein, when rasterizing is performed, the map of the site area is rotated by a certain angle so that the edge of the designated disinfection area or the site area on the map matches the direction of the coordinate axis of the reference coordinate system when rasterizing is performed.

According to an aspect of an embodiment of the invention, the method further comprises the steps of: after rasterization is carried out, calculating the number of grids needed from each walkable position to the terminal position of the robot, and marking the weight of each walkable position according to the number of the needed grids; and determining a moving path of the robot from the starting point position of the robot according to the weight of each walkable position.

According to an aspect of the embodiments of the present invention, wherein the number of grids required for each walkable position to the robot end position is calculated considering whether an obstacle exists between the walkable position and the robot end position.

According to an aspect of an embodiment of the invention, wherein the designated disinfection area or the site area is rasterized on the map according to one or more of a disinfection radius of the robot, a robot performance, a traversable area within the designated disinfection area.

According to an aspect of embodiments of the invention, the method further comprises adjusting one or more of the following parameters to adjust the planned movement path: the map rotation angle, the disinfection radius of the robot, the size of the grid, the number of repeatable walking times and unreachable positions of each walkable position in the designated disinfection area, and the barrier expansion coefficient.

Drawings

Fig. 1 shows a schematic view of a robot according to an embodiment of the invention.

FIG. 2 shows a priming control flow diagram for a sterilization module according to an embodiment of the present invention.

Fig. 3 shows a diagram of a fixed point mode of operation of a robot according to an embodiment of the invention.

Fig. 4 shows a mobile operation mode diagram of a robot according to an embodiment of the present invention.

Fig. 5 is a schematic diagram showing a robot movement path planned without adjusting the map orientation by the map rotation angle.

Fig. 6 is a schematic diagram showing a robot movement path planned by adjusting the map orientation by the map rotation angle.

Detailed Description

The invention relates to a temperature measurement and disinfection integrated robot which has the functions of disinfection and human body temperature measurement, can replace manual work to carry out disinfection work and can provide non-contact body temperature measurement. In addition, the robot disclosed by the invention has a remote interaction function, and can be used for replacing workers to enter a disease pollution area, so that the workers can perform work such as epidemiological investigation (flow regulation) and the like without entering the pollution area.

The robot provided by the invention can be applied to indoor and outdoor public places such as airports, stations, customs, docks, hospitals, schools, entry and exit ports, markets, office buildings and the like, and can replace manpower to carry out epidemic prevention work such as human body temperature measurement, disinfection and sterilization, non-contact epidemiological investigation and the like.

Fig. 1 shows a thermometry and disinfection integrated robot according to one embodiment of the present invention, which includes a mobile module, a thermometry module, a disinfection module, a remote interaction module, and the like. Furthermore, the robot according to the present invention may further comprise an alarm module or the like. The configuration and function of each module of the robot will be explained in detail below.

The moving module is used for driving the whole robot to move. The movement module may include components (not shown) such as a power source, motors, wheels, a chassis for carrying other modules and/or devices of the robot, etc. The moving module may further include a controller (not shown in the drawings), and the controller may receive an instruction from, for example, a remote operation terminal of the robot, a remote controller, an operation panel of the robot itself, or the like, so that the robot moves in a path, a direction, a moving distance, and/or the like corresponding to the instruction. The controller can be a special controller of the mobile module or a general control device of the robot. In addition, the controller may also acquire data from sensors disposed on the robot for effecting movement of the robot, which sensors may include a camera (such as a visible light camera 11 in fig. 1), a radar (located at 12 in fig. 1, which may be a lidar), an ultrasonic sensor (located at 13 in fig. 2), and a GPS positioning device (not shown), among others.

The mobile module may be formed as an intelligent mobile robot chassis (shown as 10 in fig. 1) that integrates various components of the mobile module as described above, such as a power supply, a motor, wheels, a chassis, a controller, and the like, and is capable of implementing functions of remote control movement, autonomous patrol, autonomous obstacle avoidance, map construction, automatic charging, and the like, based on pre-stored data, programs, and sensor real-time detection data, and the like.

The thermometry module is used for measuring the body temperature of a person and/or an animal in a non-contact manner. The temperature measurement module can include binocular human temperature measuring device 21, and this binocular human temperature measuring device 21 includes first visible light camera and infrared camera, and first visible light camera can shoot in order to obtain personnel's visible light image to the personnel that pass through, and infrared camera can shoot in order to obtain its infrared image/temperature image to the personnel that pass through. The thermometry module may include a computing device configured to identify a person's head on the visible light image via face recognition techniques, fuse the visible light image with the temperature image, and derive a temperature of the person's head, e.g., a forehead temperature, on the fused image as the person's body temperature. The calculating device can be a special processor of the temperature measuring module, and can also be realized by a master controller of the robot. Wherein the first visible light camera and the infrared camera are positioned sufficiently close together.

According to one embodiment, a temperature correction black body (see 22 in fig. 3) is also provided, which is arranged in a fixed manner within the field of view of the infrared camera of the robot. The temperature correcting black body may be formed, for example, as a black box whose surface is not reflective. The temperature correction black body is set to have a predetermined constant temperature, for example, 30 ℃ or 40 ℃ or the like. The temperature measuring module of the robot can use the measured temperature of the temperature correcting black body and the preset constant temperature thereof to correct the collected temperature of the human and/or animal, thereby achieving the precision of 0.3 ℃. Of course, the temperature measuring module of the present invention can also measure the body temperature of people and/or animals without providing a temperature correction black body, and in such a case, the temperature measuring module including the first visible light camera and the infrared camera can achieve a measurement accuracy of 0.5 ℃.

According to another embodiment, the temperature measuring module further comprises a lifting device, so that the heights of the first visible light camera and the infrared camera can be adjusted according to the height of the shooting object. Therefore, the temperature measuring module can measure the body temperature of people with different heights. Specifically, as shown in fig. 1, the binocular body temperature measuring device 21 may be connected to an end of a liftable support bar 23, and the liftable support bar 23 may be configured to be adjusted manually or electrically. In the case of adjustment in an electric manner, automatic lifting can be achieved by means of, for example, an electric push rod.

According to the temperature measurement module of the robot, the temperature of people in the camera field of view can be measured in the moving process of the robot, and the temperature of the people passing through the camera can also be measured under the condition that the robot is fixed. In addition, the temperature measuring module of the robot can also continuously measure the temperature of the passing personnel.

Therefore, the robot can replace measuring personnel to measure the temperature of the personnel in a non-contact mode, and can screen the population for heating in the field of disease prevention and control, so that the cross infection caused by the contact of the measuring personnel and the measured personnel is avoided.

The sterilization module of the robot according to the invention is used for sterilization of persons, animals, objects and/or designated areas. In particular, the disinfection module may comprise an atomizing disinfection machine 31 and an atomizing disinfection spray head 32 to atomize and spray the disinfection liquid. The disinfectant may be hydrogen peroxide, peracetic acid, chlorine-containing disinfectant, etc. According to other embodiments, a mister may also be used instead of an atomizing sterilizer.

The atomizing sterilizer 31 according to the present invention may include a sterilizing tank for containing sterilizing liquid, and a sterilizing liquid pump for pumping the sterilizing liquid to the sterilizing tank. The antiseptic solution pump may be an internal pump or an external pump. The atomizing sterilizer 31 according to the present invention has a liquid adding control function. Specifically, the atomizing sterilizer 31 may also include a power source (e.g., a 24v power source) to power the sterilant pump, as well as a priming switch device. Under normal conditions, the liquid feeding switch device is opened to allow the disinfectant pump to work so as to pump disinfectant to the disinfectant tank. In order to avoid the disinfection liquid in the disinfection liquid tank from being overfilled, the atomization disinfection machine 31 according to the invention further comprises a liquid level meter arranged in the disinfection liquid tank and a relay electrically connected to the liquid level meter and a power supply of the disinfection liquid pump, wherein the liquid level meter can measure the liquid level height of the disinfection liquid in the disinfection liquid tank, the relay can obtain a liquid level measurement signal from the liquid level meter, and can control the power supply of the disinfection liquid pump based on the liquid level measurement signal so as to switch on or switch off the power supply of the disinfection liquid pump, thereby controlling the liquid adding action of the disinfection liquid pump.

Specifically, as shown in fig. 2, when the level gauge measures that the liquid level in the disinfectant tank is higher than or equal to a predetermined height, the level gauge sends a power-off signal to the relay, and the relay cuts off power supply to the disinfectant pump based on the signal. Therefore, even if the liquid adding switch is turned on, the disinfectant pump does not work, and liquid cannot be added into the disinfectant cabin.

When the liquid level height in the disinfectant tank measured by the liquid level meter is smaller than the preset value, the liquid level meter sends a power-on signal to the relay, and the relay switches on the power supply to supply power to the disinfectant pump based on the signal. Thus, under the state that the liquid adding switch is turned on, the disinfectant pump works to add liquid into the disinfectant cabin; when the liquid level in the cabin reaches a preset value, the relay receives a power-off signal sent by the liquid level meter again, so that the power supply to the disinfectant pump is cut off again, and the liquid feeding is automatically stopped.

According to the robot disinfection module, the environment can be disinfected and sprayed in the moving process of the robot, and the surrounding environment, passing personnel or articles can also be disinfected and sprayed under the condition that the robot is fixed. In addition, the disinfection module of the robot can also perform disinfection work while the temperature measurement module measures the temperature of the personnel. In addition, the disinfection module according to the present invention is not limited to the disinfection method using the disinfection solution, and may use an ultraviolet disinfection method or other suitable methods.

Therefore, the robot can replace manual work to carry out disinfection work, and health damage to disinfection workers is avoided.

The remote interaction module of the robot according to the present invention may be used to enable real-time remote voice and/or video interaction of a person at a robot work site with a person at a robot teleoperation terminal.

Specifically, the remote interaction module may include a sound receiving device that may receive voice information of the robot work site person, a sound output device that may transmit the voice information received by the sound receiving device to the remote operation terminal of the robot and may also receive the voice information from the remote operation terminal of the robot, and an information transmission device that may play the voice information from the remote operation terminal. The sound receiving means may be a microphone (at 41 in fig. 1) or the like. The sound output device may be a speaker (also arranged at 41 in fig. 1) or the like. The information transmission means may be a transceiver which can transmit and receive information, such as voice information, image and video information, etc., by means of wireless transmission, etc., and the robot is correspondingly provided with a wireless communication antenna (shown as 42 in fig. 1).

In addition, the remote interaction module may further include a second visible light camera, which may be used to photograph the scene of the robot work site, and a display (not shown in the figure) for displaying images or video information, etc. The second visible light camera may be the camera 11 shown in fig. 1. The scene of the robot working site shot by the second visible light camera can be transmitted to the remote operation terminal through the information transmission device in the form of images, videos and the like, so that workers at the remote operation terminal can check the situation of the robot working site. The information transmission device may also receive an image or video from a remote operation terminal and display it through a display.

Based on the configuration, the remote interaction module can remotely interact with the remote operation terminal in real time, and the real-time voice and/or video communication between a worker at the remote operation terminal and a robot operation field worker is facilitated. Therefore, in practical application, the robot can go deep into a polluted area to replace manual work for dangerous work such as epidemiological investigation and the like, so that the safety of personnel is guaranteed.

According to some embodiments, the remote interactive module may play a pre-stored or pre-recorded audio file received from the remote operation terminal through a sound output device, such as a speaker, so as to perform a voice prompt or a promotion to the robot working site personnel, thereby implementing a broadcasting function. Of course, the remote interaction module may also play a pre-stored image or video file received from the remote operation terminal through the display, and may also prompt or promote the personnel at the robot site.

In addition, the robot according to the present invention may further include an alarm module, which may include a sound output device or a light emitting device to emit an alarm by voice or light. The sound output device is, for example, a speaker (e.g., speaker 41 shown in fig. 1), and the light emitting device may be an indicator lamp (e.g., 51 in fig. 1) capable of emitting lights of different colors. For example, when the temperature measurement module of the robot detects that the body temperature of a person is abnormal, the alarm module may receive a relevant signal from the temperature measurement module and send a sound prompt based on the signal, or make the indicator light send a light of a specific color to prompt. Here, the indicator lamp 51 may also be used to indicate the status of the robot, such as insufficient disinfection solution, insufficient battery power, etc., to remind the user to perform related operations in time.

A robot according to embodiments of the present invention may have different operation modes, such as a fixed point operation mode and a mobile operation mode. Under the fixed point mode of operation, the robot can be fixed, utilizes temperature measurement module to carry out the body temperature detection to the personnel that pass through, utilizes disinfection module to disinfect detection channel, the personnel or the article that pass through etc. as shown in fig. 3. In the mobile mode of operation, the robot may move within a designated area in the job site area to disinfect the entire designated area, or may also move within the designated area to perform body temperature detection of personnel within the area, as shown in fig. 4.

In particular, when disinfection is performed on a designated area in the operation site area, the robot can plan a moving path for the area designated by the user, and the robot moves according to the planned moving path to achieve comprehensive coverage disinfection on the designated area.

Specifically, the robot may include a control device, and the control device may receive an instruction to specify the sterilization area, and plan a movement path of the robot according to the instruction, and the robot moves according to the planned movement path to achieve sterilization of the specified sterilization area. The control device may plan the robot movement path in the following manner.

First, the control device may acquire a sterilization area designated by the user. The disinfection area can be specified by a user on a map of a working site area, the robot can acquire the map from a remote operation terminal through an information transmission device of a remote interaction module, the map can be stored in advance, and the map can also be established by utilizing a sensor to detect the site area; the user may designate the sterilization area on the remote operation terminal through a map, or may designate the sterilization area on the map through an operation panel of the robot itself, a touch screen, or the like.

The control device may then rasterize the designated disinfection area or field area on a map and determine the walkable position (grid) of the robot. In particular, the control device may rasterize the specified disinfection area or the field area on the map based on one or more of the disinfection radius of the robot, robot performance (e.g., robot computing performance, etc.), traversable area within the specified disinfection area, and the like. In addition, in the case of rasterizing only a designated sterilization area, by marking grids corresponding to the obstacle position, the robot start position, and the end position on the map, the remaining blank grids can be determined as the walkable position of the robot; in the case of rasterizing the field area, it is further necessary to set the grids outside the designated disinfection area to the unreachable positions accordingly, whereby the remaining blank grids can be determined as the walkable positions of the robot. Here, the sterilization radius refers to a radius of an effective sterilization range that can be covered by the robot when the robot is stationary at one point (for example, a radius of a circumference that is effectively covered by the sprayed atomized sterilizing liquid), and when the robot travels along a straight line to perform sterilization, the sterilization radius is a distance from the farthest point that can be effectively covered by sterilization to the straight line on both right and left sides of the straight line. The grid may be a rectangular or square grid.

If the grid is rectangular, the short side of the grid can be made equal to the disinfection diameter (twice the disinfection radius) which is related to the characteristic parameters of the atomizing disinfector 31 and the disinfectant to be adapted (for example the power of the disinfectant pump, the effective diffusion radius of the disinfectant); as for the long side of each grid, the direction of the long side is desirably set as the direction in which the robot moves the most as much as possible, so that the length of the long side of the grid is set neither too large nor too small, and if the length of the long side of the grid is too large, so that the area of some grids except for the obstacle is large, the robot cannot traverse some places, and the traversable area in the designated disinfection area is reduced; if the length of the long edge of the grid is too small, the robot stops at the center of each grid for adjustment or calculation, and when the calculation performance of the robot is not high, the robot stops and stops due to the fact that the grid is too dense, and the traversal time is increased.

If the grid is square, the length of each side can be set directly to the disinfection diameter.

Thereafter, the control device may calculate the number of grids required for each walkable position (i.e., walkable grid) to the robot end point position, and indicate the weight of each walkable position according to the number of the required grids, where the greater the number of required grids, the higher the weight. Preferably, whether an obstacle exists between the current walkable position and the robot end position is considered when calculating the grid number from the current walkable position to the robot end position, and if the obstacle exists, the weight may be increased.

Subsequently, the control device may determine the robot movement path from the robot start position according to the weight of each walkable position. Specifically, the robot starts to move from a starting position, a grid with the highest weight is selected from surrounding grids as a first target point of the robot movement, and after the grid with the highest weight is reached, a grid with the highest weight is selected from the surrounding grids of the current grid as a next target point of the robot; by analogy, the selection of the following target points continues in the same manner until the robot can traverse all blank positions (blank grid) and reach the end position. Thus, the moving path of the robot can be determined, and the control device controls the robot to travel along the moving path, so that the specified area can be disinfected in a manner of covering the whole area. In this process, if the grid weights around the current grid of the robot are the same, the grid may be selected in a preset up-down-left-right order, or the grid may be selected in a preset left-down-right-up order (or other orders).

In the above manner, the user may adjust one or more of the following parameters to adjust the robot movement path according to the actual conditions of the work site area: map rotation angle, disinfection radius, grid size, obstacle expansion coefficient, number of repeatable walks per location within a specified disinfection area, and number of unreachable locations within a specified disinfection area, among others. The map rotation angle refers to an angle of a rotation map, and the map azimuth of the robot view angle can be adjusted by rotating the map at the angle, and the angle and/or direction of the movement path planned by the robot relative to the actual operation field area can be adjusted. In practice, rotating the map by the map rotation angle (i.e., rotating the map by a certain angle) is only performed when the designated disinfection area or field area is being gridded, the purpose is to match the edges of the designated disinfection area or the site area on the map with the directions of the coordinate axes of the reference coordinate system when the grid is divided as much as possible (for example, in the case that the site area/the disinfection area is close to a regular rectangle, two sides of the site area/the disinfection area are respectively basically parallel to two coordinate axes of the reference coordinate system when the grid is divided, in the case that the site area/the disinfection area is in an irregular shape, the longitudinal direction of the site area/the disinfection area can be basically parallel to one of the coordinate axes of the reference coordinate system when the grid is divided), and the relative direction of the robot and the designated disinfection area is not changed by rotating the map. Wherein the coordinate axis direction of the reference coordinate system may be embodied, for example, to be parallel to two adjacent sides of the screen area presented to the user, respectively. In one embodiment, when the grid is divided, the map is rotated by the map rotation angle so as to match the edge of the designated disinfection area with the coordinate axis direction of the reference coordinate system when the grid is divided as much as possible (if the designated disinfection area is a small rectangle, the long side and the short side of the small rectangle can be respectively parallel to the two coordinate axes of the reference coordinate system), so that the planned moving path is more regular (basically along the horizontal and vertical direction, and rarely along the inclined direction), the robot can be prevented from traveling along a disordered route, the power of the robot can be saved, and the time required by the robot to traverse the designated disinfection area can be shortened. In another embodiment, if the designated disinfection area is an irregular shape (e.g. a curved shape close to an ellipse or a circle), the edge of the site area can be matched with the directions of the coordinate axes of the reference coordinate system if the site area is a regular shape, for example, the site area can be rectangular, and the long side and the short side of the rectangle of the site area are respectively parallel to the two coordinate axes of the reference coordinate system, so that the planned moving path can be mostly along the long side or the short side or the longitudinal direction of the site area, the robot can not give a messy feeling to personnel on site when walking, and the pedestrian can better judge the moving direction of the robot next step, thereby reducing the probability of collision; if the field area is irregular, the longitudinal direction of the designated disinfection area or the field area can be matched with the direction of one coordinate axis of the reference coordinate system during grid division, most of the movement paths obtained through planning are basically along the longitudinal direction of the field area or the designated disinfection area, the messy feeling of personnel on the field can be avoided when the robot walks, pedestrians can better judge the next movement direction of the robot, and the probability of collision is reduced. Fig. 5 shows a schematic diagram of a robot movement path planned without rotating the map by the map rotation angle. Fig. 6 shows a schematic diagram of a robot movement path planned by rotating the map by the map rotation angle. In fig. 5, the edge of the designated sterile area in the map is not matched with the coordinate axis direction of the reference coordinate system when the grid is divided, and the map is not rotated when the grid is divided, and the planned movement path of the robot is disordered in the whole sterile area; in fig. 6, the edge of the designated sterile area in the map is not matched with the coordinate axis direction of the reference coordinate system when the grid is divided, but the map is rotated by a certain angle when the grid is divided, so that the edge of the designated sterile area in the map is matched with the coordinate axis direction of the reference coordinate system when the grid is divided, and most of the planned movement paths of the robot are parallel to the edge of the sterile area, so that the movement paths are more regular and orderly, the total length of the movement paths can be shortened, the power of the robot is saved, and the sterilization using time is shortened.

The obstacle expansion coefficient refers to the degree of amplifying the position actually occupied by the obstacle, the obstacle expansion coefficient is adjusted, the representation of the position occupied by the obstacle in the grid can be adjusted, the position occupied by the obstacle is appropriately amplified relative to the position actually occupied, a space is reserved between the robot and the obstacle, and therefore the calculation amount of the robot when the robot avoids the obstacle can be reduced. The size and the number of the grids can influence the finally determined moving path, the number of times of repeatedly walking of each position in the designated area and the number of the positions which cannot be reached in the designated area can be set according to the actual condition of the operation field area, the adjustment of the parameters is beneficial to the robot to quickly calculate the moving path, and the moving path of the robot can be more consistent with the expectation of a user.

Therefore, the robot according to the present invention can automatically plan the moving path after the user designates the sterilization area, and move according to the planned moving path under the control of the control device to perform the full coverage sterilization on the designated area.

The control device can be the overall controller of the robot, and can also be the controller in the intelligent mobile chassis of the robot.

In addition, the robot according to the present invention also has an automatic charging function. For example, the robot may be provided with a power detection device, and when the power detection device detects that the battery is low, the power detection device may send a signal to a control device of the robot, and the control device may start a corresponding program to enable the robot to autonomously move to an external charging device for charging. A charging port is shown at 61 in fig. 1, which may be electrically connected to an external charging device to charge the battery.

The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications or variations are possible without departing from the spirit of the invention. The described embodiments are intended to best explain the principles of the invention and its practical application. The above description is presented to enable others skilled in the art to best utilize and practice various embodiments and various modifications of the invention. The scope of the invention is defined by the appended claims.

Claims

1. The utility model provides a temperature measurement and disinfection integration robot, its includes mobile module, temperature measurement module, disinfection module and remote interaction module, wherein:

the moving module is used for driving the whole robot to move;

the temperature measuring module is used for measuring the body temperature of people and/or animals in a non-contact mode;

the disinfection module is used for disinfecting and sterilizing personnel, animals, articles and/or designated areas; and

the remote interaction module is used for enabling personnel on the robot working site to perform real-time voice and/or video interaction with personnel at a remote operation terminal of the robot.

2. The robot of claim 1,

the temperature measurement module comprises a first visible light camera and an infrared camera, and is configured to identify the face position of a person by using an image shot by the first visible light camera, and identify the head temperature of a human body based on the identified face position of the person and by using a temperature image shot by the infrared camera.

3. The robot of claim 2,

the temperature measurement module is arranged to be height-adjustable so as to adjust the height of the first visible light camera and the infrared camera relative to a shooting object.

4. The robot of claim 2,

the position of the first visible light camera and the position of the infrared camera are close to each other.

5. The robot of any of claims 1-4,

the disinfection module comprises a disinfection liquid cabin and a disinfection liquid pump, a liquid level meter is arranged in the disinfection liquid cabin, and the disinfection module is configured to automatically control the disinfection liquid pump to convey disinfection liquid of the disinfection liquid cabin according to the measurement result of the liquid level meter.

6. The robot of claim 5,

the disinfection module further comprises a relay and a power supply for supplying power to the disinfection liquid pump, wherein the relay is configured to be electrically connected with the liquid level meter and the power supply, and is configured to cut off the power supply for supplying power to the disinfection liquid pump when the liquid level height measured by the liquid level meter is greater than or equal to a preset value, and to switch on the power supply for supplying power to the disinfection liquid pump when the liquid level height measured by the liquid level meter is less than the preset value.

7. The robot of any of claims 1-4 and 6,

the robot further comprises a control device configured to receive an instruction specifying a sterilization zone and plan a movement path of the robot according to the instruction, the robot moving according to the movement path to perform full coverage sterilization on the specified sterilization zone.

8. The robot of claim 7,

the control means plans the movement path based on at least one or more of the following factors or parameters: the robot comprises a disinfection radius of the robot, robot performance, a traversable area in the specified disinfection area, a starting point position and an ending point position of the robot, an obstacle position in the specified disinfection area, the number of times of repeated walking and the number of inaccessible positions of each position in the specified disinfection area, an obstacle expansion coefficient and a map rotation angle.

9. The robot of any of claims 1-4, 6, and 8,

the remote interaction module includes a sound receiving device for receiving voice information of a person at a robot work site, a sound output device for transmitting the voice information to and receiving the voice information from a remote operation terminal of the robot, and an information transmission device for playing the voice information from the remote operation terminal.

10. The robot of claim 9, wherein,

the remote interaction module further comprises a second visible light camera for shooting a robot working site scene, the information transmission device is configured to send the robot working site scene to the remote operation terminal and receive image or video information from the remote operation terminal, and the display is used for displaying the image or video information.

11. The robot of claim 10,

the remote interaction module is further configured to play audio files or video files pre-stored or from the remote operation terminal to implement a broadcasting function.

12. A thermometry and disinfection system comprising:

the robot of any one of claims 2-4;

a temperature correction black body, which is provided to have a predetermined constant temperature, in a fixed manner within a field of view of the infrared camera of the robot,

wherein the robot corrects the collected temperature data of the human and/or animal using the measured temperature data of the temperature correction black body and the predetermined constant temperature.

13. A movement path planning method of a robot that moves in accordance with a planned movement path in a work site area to disinfect a designated disinfection area in the work site area, the method comprising the steps of:

a user designating a disinfection area on a map of a field area; and

rasterizing the on-site area or designated disinfection area on the map, and determining walkable positions of the robot,

wherein, during rasterization, the map of the site area is rotated by a certain angle so that the edge of the specified disinfection area or the site area on the map matches the direction of the coordinate axis of the reference coordinate system during rasterization.

14. The method of claim 13, further comprising the steps of:

after rasterization is carried out, calculating the number of grids needed by each walkable position to the robot terminal position, and marking the weight of each walkable position according to the number of the needed grids; and

and determining the moving path of the robot from the starting point position of the robot according to the weight of each walkable position.

15. The method of claim 14, wherein,

and calculating the number of grids needed by each walkable position to the robot terminal position, and considering whether an obstacle exists between the walkable position and the robot terminal position.

16. The method of any one of claims 13-15,

rasterizing the designated disinfection area or the field area on the map according to one or more factors of a disinfection radius of a robot, robot performance, traversable area within the designated disinfection area.

17. The method according to any one of claims 13-15, further comprising the step of:

adjusting one or more of the following parameters to adjust the planned movement path: a map rotation angle, a disinfection radius of the robot, a size of a grid, a number of repeatable walking times and a number of unreachable locations for each walkable location within the designated disinfection area, and an obstacle expansion coefficient.