CN114536360A - Multifunctional epidemic prevention robot system - Google Patents
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- CN114536360A CN114536360A CN202210156513.6A CN202210156513A CN114536360A CN 114536360 A CN114536360 A CN 114536360A CN 202210156513 A CN202210156513 A CN 202210156513A CN 114536360 A CN114536360 A CN 114536360A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J11/00—Manipulators not otherwise provided for
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- 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
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
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- 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
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- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
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- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides a multifunctional epidemic prevention robot system which comprises an unmanned aerial vehicle, a mobile robot, a cooperative mechanical arm, a sensing module, a disinfection module, a temperature measurement module, a 5G communication module and a remote intelligent monitoring system, wherein the unmanned aerial vehicle is connected with the mobile robot through the cooperative mechanical arm; the unmanned aerial vehicle can spray high-altitude disinfectant to realize large-range disinfection; the mobile robot can work movably, and the carried cooperative mechanical arm can carry out temperature measurement and object contour traversal sterilization by utilizing flexibility; the sensing module comprises a laser radar and a depth camera and is used for acquiring environmental information; the 5G communication module can establish communication between the robot system and the remote intelligent monitoring system; the remote intelligent monitoring system can realize remote control of the robot system and analysis of epidemic prevention data. The multifunctional epidemic prevention robot system provided by the invention has the characteristics of cooperation of the air-ground robots, can enter different working modes at different time intervals, mainly measures temperature in the daytime with a large number of people, efficiently sterilizes at night without people, and improves the working efficiency.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a multifunctional epidemic prevention robot system.
Background
In recent years, epidemic situations often occur around the world, and in order to cope with the epidemic situations, a large amount of manpower and material resources are put into each country for epidemic prevention work, and a large amount of workers are arranged to complete works such as crossing post setting temperature measurement, regional disinfection, material delivery and the like by taking risk of infection. Not only is such work heavy and burdensome, but there is also a significant risk of infection. At present, a plurality of robots are put into epidemic prevention work, but the robots are mostly special machine products, only have specific temperature measurement and disinfection single functions, and mainly research is carried out aiming at temperature measurement and disinfection equipment; the adopted disinfection modes are mainly ultraviolet lamp disinfection, steam disinfection and the like, the disinfection mode is mainly range disinfection, the pertinence is low, disinfection dead corners can be generated when objects with complex structures such as tables, chairs and the like are faced, and the disinfection efficiency is not high; in addition, most of the existing epidemic prevention robots only store data in an equipment end, and statistical analysis and monitoring early warning of epidemic prevention data are difficult to realize. Therefore, a multifunctional epidemic prevention robot system needs to be designed, which not only can realize different epidemic prevention functions of temperature measurement and disinfection, but also has flexible and easily-expandable working modules, and can perform statistical analysis and monitoring early warning on epidemic prevention data, thereby improving the working efficiency.
The traditional document is searched, and the Chinese patent No. CN111283652B is named as an intelligent disinfection and epidemic prevention robot, can realize autonomous navigation and automatic medicine spraying in the environment, and can also detect the temperature of a human body, a crawler-type mobile robot is adopted to carry a disinfection liquid medicine box, a spraying system is arranged on the outer side of a box body, a disinfection dead angle is generated when a shielded object faces, an infrared thermal imaging all-in-one machine is adopted for temperature measurement, the cost is higher, the height of the infrared thermal imaging all-in-one machine is fixed, the visual field is limited, and the visual field can be lost when the infrared thermal imaging all-in-one machine faces an adult or a child with larger height difference; chinese patent No. CN111558068B, entitled epidemic prevention robot, includes a mobile robot and a mechanical arm, is provided with a disinfectant tank and a booster pump, and a wiping head is arranged at the tail end of the mechanical arm, and can be used for wiping and disinfecting through the wiping head, the speed of the disinfection mode is slow, and only the disinfection function can be realized, and the function is single; chinese patent publication No. CN113467442A discloses an intelligent multifunctional epidemic prevention robot, which can be disinfected by a mist gun injection system, measure temperature by an infrared thermal imager, and carry a bionic mechanical arm to realize vehicle monitoring, sampling detection and other works, and can be remotely controlled by a 5G communication module, so that the cost of the disinfection and temperature measurement tools is high, data is not analyzed, and the intelligent degree of the working mode is low; chinese patent publication No. CN112318515A discloses an intelligent air disinfection and epidemic prevention robot system, which is mainly a mobile robot, can measure temperature by a human body infrared sensor, and sterilize by chlorine dioxide and ultraviolet rays, and further comprises a remote epidemic prevention management information system, but the remote epidemic prevention management information system can only receive data and simply control the movement of the robot, and cannot set different times to allow the epidemic prevention robot to automatically work. Chinese utility model patent publication No. CN20710121037U discloses an unmanned aerial vehicle degassing unit, and this disinfection method has only adopted the unmanned aerial vehicle disinfection, and although the disinfection scope is very big, still can produce the disinfection dead angle when sheltering from as the object profile.
It is still mostly the product of function singleness to see present epidemic prevention robot, and the temperature measurement mode that partial multifunctional product adopted all is fixed mounting and with high costs infrared radiation thermometer, can not solve the personnel height difference problem that awaits measuring, and the disinfection mode is mostly ultraviolet ray disinfection or fixed mounting's sprinkler, hardly shelters from the region to the profile and disinfects, also does not carry out the analysis to the data of temperature measurement and disinfection work, and the intelligent degree of mode is low, needs the manual work to intervene control. The multifunctional epidemic prevention robot with low cost, good expansibility, flexible and intelligent working mode is lacking.
Disclosure of Invention
Aiming at the defects of single function, temperature measurement and disinfection scheme of the existing epidemic prevention robot and the improvement requirement that epidemic prevention data is stored at the robot end and cannot be analyzed and displayed in time. The invention provides a multifunctional epidemic prevention robot system which comprises the following components:
the utility model provides a multi-functional epidemic prevention robot system, includes unmanned aerial vehicle, mobile robot, cooperation arm, sensing module, disinfection module, temperature measurement module, 5G communication module and remote intelligent monitoring system.
The cooperative mechanical arm is arranged on the mobile robot, and based on the operation requirement of the robot, the cooperative mechanical arm can be used for grabbing the temperature measurement module to perform temperature measurement work or grabbing a disinfection spray can in the disinfection module to perform disinfection work;
the sensing module comprises a laser radar, a first depth camera and a second depth camera; the laser radar is fixedly arranged at the front end of the mobile robot and used for image construction and navigation; the first depth camera is installed at the tail end of the cooperative mechanical arm and used for acquiring face information during temperature measurement and information of an object to be disinfected during disinfection, and the second depth camera is installed on the unmanned aerial vehicle and used for acquiring depth information of an obstacle;
the 5G communication module is arranged on the mobile robot and is used for data communication;
the remote intelligent monitoring system is used for setting the working mode of the epidemic prevention robot, sending temperature measurement and disinfection instructions, receiving and displaying the working data and the working state of the epidemic prevention robot.
Further, the disinfection module comprises a disinfection spraying device and a disinfection sprinkling can, and disinfection tasks are completed together in a cooperation mode of an unmanned aerial vehicle, the mobile robot and an air-ground robot combined with a cooperation mechanical arm; the disinfection spraying device is installed on the unmanned aerial vehicle and can be used for spraying a large-range disinfectant for quick disinfection, the disinfection spraying pot is placed on the mobile robot, and the disinfection spraying pot is grabbed by the mechanical arm in cooperation to disinfect an object to be disinfected in a traversing mode;
furthermore, the temperature measuring module comprises a forehead temperature measuring gun and an industrial camera, the forehead temperature measuring gun is used for measuring the temperature of a human body, and the industrial camera is fixedly placed behind the forehead temperature measuring gun and used for reading data of the forehead temperature measuring gun;
furthermore, a support is further arranged on the mobile robot, a temperature measuring module and a disinfection sprinkling can of the epidemic prevention robot are placed on the support, the cooperative mechanical arm can respectively grab the temperature measuring module and the disinfection sprinkling can through electric quick change to work, and an electric quick change A head at the tail end of the cooperative mechanical arm is sucked with an electric quick change B head respectively installed on the temperature measuring module and the disinfection sprinkling can during grabbing; furthermore, the temperature measuring module and the disinfecting sprinkling can are fixed by a clamp, the clamp of the temperature measuring module firstly fixes the forehead temperature measuring gun and the industrial camera, so that the industrial camera can clearly acquire data of the forehead temperature measuring gun, meanwhile, a head B of the electric quick-change device is fixed at one end of the clamp, screws for supporting are designed at two sides of the clamp, and the clamp can be supported and placed on the bracket; one end of a clamp of the disinfection sprinkling can is fixed with the disinfection sprinkling can, the other end of the clamp is fixed with a head B of the electric quick-change device, screws for supporting are designed on two sides of the clamp, and the clamp can be supported and placed on the bracket;
furthermore, a second depth camera carried by the unmanned aerial vehicle can reconstruct an obstacle model of a working area, and the mobile robot combines the model of visual reconstruction and the laser radar data to build a map and realize accurate positioning and track planning navigation of the mobile robot.
Further, the multifunctional epidemic prevention robot system is provided with an integrated control system; the integrated control system can uniformly control the mobile robot, the cooperative mechanical arm and the unmanned aerial vehicle;
the integrated control system comprises a temperature measurement action module, a disinfection action module, an image acquisition module, an image processing module, an image building module, a navigation function module, a data acquisition module and a mobile robot motion control module;
the temperature measuring action module is used for realizing the temperature measuring action of the cooperative mechanical arm;
the disinfection action module is used for realizing the disinfection action of the cooperative mechanical arm;
the image acquisition module is used for acquiring color images and depth information of two depth cameras in the sensing module;
the image processing module is used for processing images acquired by the depth camera at the tail end of the cooperative mechanical arm, identifying a human body and objects to be disinfected such as tables and chairs, reconstructing an environment three-dimensional model according to depth point cloud, and planning the action of the cooperative mechanical arm;
the mapping module is mainly used for carrying out environment mapping by utilizing depth camera data and laser radar data of the unmanned aerial vehicle; the navigation function module receives the laser radar in the sensing module and the map data in the map building module and is used for the mobile robot to perform autonomous navigation indoors;
the navigation function module receives the laser radar in the sensing module and the map data of the map building module and is used for the mobile robot to perform autonomous navigation indoors;
the data acquisition module is used for storing relevant data generated in temperature measurement disinfection work;
the mobile robot motion control module is used for directly controlling the mobile robot to move forward and backward and turn;
furthermore, the remote intelligent monitoring system is communicated with the integrated control system through the 5G communication module, and comprises a control module and a display module;
further, the control module comprises a temperature measurement control module, a disinfection control module, a time setting module, a car lamp control module and a motion control module;
the temperature measurement control module can send temperature measurement function opening and closing instructions to the control system;
the disinfection control module can send disinfection function opening and closing instructions to the control system;
the time setting module can set the specific time of temperature measurement and disinfection;
the car light control module can send car light opening and closing instructions to the control system;
the motion control module can send a motion control command of the mobile robot;
further, the display module comprises a robot state module, a temperature measurement display module and a disinfection display module;
the robot state module can display information such as the connection state and the electric quantity of the current remote intelligent monitoring system and the working mode of the multifunctional epidemic prevention robot system, and the working mode comprises an idle mode, a temperature measurement mode and a disinfection mode;
the temperature measurement display module can receive image data of a depth camera at the tail end of a cooperative mechanical arm in an image acquisition module of the integrated control system and temperature measurement data stored in the data acquisition module, display face pictures acquired by the multifunctional epidemic prevention robot system during working in real time, perform early warning when body temperature data is abnormal, perform statistics on the temperature measurement data acquired every day, and display the general trend of the body temperature change of people;
the disinfection display module can receive image data of the unmanned aerial vehicle depth camera in the image acquisition module of the integrated control system and disinfection data in the image construction module, the navigation function module and the data acquisition module, displays the indoor environment, the map and the real-time position of the robot in which the robot works in real time, and displays the current disinfection progress in real time.
Furthermore, the temperature measurement and disinfection functions of the epidemic prevention robot system have two starting modes of manual starting and automatic starting, and the temperature measurement and disinfection functions can be started manually through a temperature measurement control module and a disinfection control module in a remote intelligent monitoring system or can be started automatically at specific time through a time setting module of the remote control system.
The multifunctional epidemic prevention robot system provided by the invention comprises three different types of robots including an unmanned aerial vehicle, a mobile robot and a cooperative mechanical arm, and has the beneficial effects that: 1) different work of temperature measurement and disinfection can be carried out in different time periods according to requirements, the temperature measurement work is mainly carried out in the daytime with large flow of people, and the disinfection work is carried out at night with small flow of people, so that the working efficiency of the epidemic prevention robot is improved; 2) the disinfection method provided by the invention integrates various robots, and can quickly cover and spray large-scale disinfection solution indoors by using the advantage of wide visual field of the unmanned aerial vehicle. Then, the advantage of high flexibility of the cooperative mechanical arm is utilized, the object can be disinfected by traversing the contour, and the problem of incomplete disinfection caused by contour shielding is solved; 3) the unmanned aerial vehicle can utilize a high visual angle to carry out rapid indoor obstacle model reconstruction and provide data for the mobile robot, and then combines a laser radar carried by the mobile robot to carry out mapping, positioning navigation and path planning, so that the convenience and the high efficiency of the cooperation of the air-ground robots are reflected; 4) the temperature measurement method provided by the invention fully utilizes the advantages of high flexibility and working space of the cooperative mechanical arm, can be self-adapted to the height of a person to be measured, and solves the problem of temperature measurement precision reduction caused by the height difference of a human body; 5) the remote intelligent monitoring system can remotely control the epidemic prevention robot system, uniformly control a plurality of robots, count and analyze epidemic prevention data in real time, and improve the intellectualization of epidemic prevention work.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle according to the present invention
FIG. 2 is a schematic view of the epidemic prevention robot system in the present invention
FIG. 3 is a schematic view of the structure of the clamp for the disinfection watering can of the present invention
FIG. 4 is a schematic view of the structure of the temperature measuring module clamp of the present invention
FIG. 5 is a schematic view of the end structure of the cooperative arm of the present invention
FIG. 6 is a schematic diagram of an integrated control system of the present invention
FIG. 7 is a schematic diagram of a remote intelligent monitoring system according to the present invention
FIG. 8 is an overall flow chart of the present invention
In the drawings: 1-unmanned aerial vehicle, 2-cooperative mechanical arm, 3-mobile robot, 4-sensing module, 5-disinfection module, 6-temperature measurement module, 7-5G communication module, 8-remote intelligent monitoring system, 41-laser radar, 42-first depth camera, 43-second depth camera, 51-disinfection spraying device, 52-disinfection spraying pot, 61-forehead temperature measurement gun, 62-industrial camera, 91-electric quick-change A head, 92-electric quick-change B head
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments, it being understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
The invention provides a multifunctional epidemic prevention robot system, which comprises an unmanned aerial vehicle 1, a cooperative mechanical arm 2, a mobile robot 3, a sensing module 4, a disinfection module 5, a temperature measurement module 6, a 5G communication module 7 and a remote intelligent monitoring system 8, wherein the unmanned aerial vehicle is connected with the remote intelligent monitoring system through a wireless network;
as shown in fig. 2, the cooperative mechanical arm 2 is fixedly mounted on the mobile robot 3;
the sensing module 4 comprises a laser radar 41 mounted at the front end of the mobile robot 3, a first depth camera 42 fixedly mounted at the end of a cooperative mechanical arm, and a second depth camera 43 mounted on the unmanned aerial vehicle as shown in fig. 1;
the 5G communication module 7 is placed on the mobile robot;
the disinfection module 5 comprises a disinfection spraying device 51 and a disinfection sprinkling can 52, the disinfection spraying device 51 is installed on the unmanned aerial vehicle 1 as shown in fig. 1, and the disinfection sprinkling can 52 is placed on the mobile robot 3;
as shown in fig. 4, the temperature measuring module 6 includes a forehead temperature measuring gun 61 and an industrial camera 62, the forehead temperature measuring gun 61 is used for measuring the temperature of the human body, and the industrial camera 62 is fixedly arranged behind the forehead temperature measuring gun 61 and is used for reading the data of the forehead temperature measuring gun 61;
as shown in fig. 5, an electric quick-change a head 91 is mounted at the tail end of the cooperative mechanical arm 2;
as shown in fig. 3 and 4, the same electric quick-change B head 92 is respectively mounted on the disinfection sprinkling can 52 and the temperature measuring module 6;
the electric quick-change head a 91 can be matched with the electric quick-change head B92, so that the cooperative mechanical arm 2 can selectively grab the sterilizing spray can 52 and the temperature measuring module 6.
The multifunctional epidemic prevention robot system comprises an integrated control system 10 which can uniformly control the unmanned aerial vehicle 1, the cooperative mechanical arm 2 and the mobile robot 3;
fig. 6 is a schematic diagram of an integrated control system 10 of a multifunctional epidemic prevention robot system according to an embodiment of the present invention, and the system shown in fig. 6 includes a temperature measurement module 101, a disinfection module 102, an image acquisition module 103, an image processing module 104, a mapping module 105, a navigation function module 106, a data acquisition module 107, and a mobile robot motion control module 108.
The temperature measurement action module 101 is used for controlling the cooperative mechanical arm to realize the action of temperature measurement, and mainly comprises the actions of grabbing and putting back the temperature measurement module and approaching the human face; the disinfection action module 102 is used for controlling the cooperative mechanical arms to realize disinfection actions, and mainly comprises grabbing and putting back a disinfection spray can and executing a disinfection track of an object to be disinfected; the image acquisition module 103 is used for acquiring image information and color information of the depth camera 42 in the sensing module and the depth camera 43 on the unmanned aerial vehicle; the image processing module 104 mainly processes the image information of the depth camera 42, and can acquire the information of a human body and the information of objects to be disinfected, such as tables and chairs; the mapping module 105 mainly maps the information acquired by the depth camera 43 on the unmanned aerial vehicle and the data acquired by the laser radar 41; the navigation function module 106 utilizes the map established by the mapping module and the data of the laser radar 41, so that the mobile robot can carry out obstacle avoidance navigation indoors; the data acquisition module 107 is used for acquiring and storing data generated in temperature measurement and disinfection work; the mobile robot motion control module 108 is used for controlling the mobile robot to perform forward and backward movement and turning movement.
The multifunctional epidemic prevention robot system comprises a remote intelligent monitoring system 8, and as shown in fig. 7, the remote intelligent monitoring system 8 is a schematic diagram, and comprises a control module 81 and a display module 82; the control module 81 comprises a temperature measurement control module 811, a disinfection control module 812, a time setting module 813, a car light control module 814 and a motion control module 815; the display module 82 comprises a robot state module 821, a temperature measurement display module 822 and a disinfection display module 823;
the control module 81 is mainly used for sending a control command; the temperature measurement control module 811 sends temperature measurement function opening and closing instructions; the sterilization control module 812 sends sterilization function on and off instructions; the time setting module 813 can set the specific temperature measurement and disinfection working time, and automatically send the temperature measurement and disinfection instructions within the set time; the lamp control module 814 sends a lamp turn-on and turn-off command; the motion control module 815 sends the commands of the mobile robot for advancing and retreating and turning;
the display module 82 is mainly used for displaying the state and working data of the robot; the robot status module 821 can display the connection status of the current remote intelligent monitoring system, the respective electric quantity information of the unmanned aerial vehicle 1, the cooperative mechanical arm 2 and the mobile robot 3, and the working mode of the current epidemic prevention robot system, wherein the working mode includes idle mode, temperature measurement and disinfection; the temperature measurement display module 822 can receive and display the image data of the depth camera 42 in the image acquisition module 103, so as to display the image video of the current measured personnel, perform warning display when the body temperature of the measured personnel is abnormal, perform statistics on the temperature measurement data acquired every day in the data acquisition module 107, and display the recent change trend of the body temperature every day; the disinfection display module 823 can receive and display the image data of the depth camera 42 in the image acquisition module 103, so as to display a disinfection environment during work, receive and display map data of the map building module 105, display the position of the mobile robot in the map in real time by combining with data of the navigation function module 106, receive disinfection data in the data acquisition module 108, and calculate the current disinfection progress.
In one embodiment, the temperature measurement control module 811 in the remote intelligent monitoring system 8 sends a temperature measurement start instruction, the integrated control system 10 establishes communication with the remote intelligent monitoring system 8 through the 5G communication module 7, receives the temperature measurement start instruction, the temperature measurement action module 101 executes the temperature measurement, the cooperative mechanical arm 2 captures the temperature measurement module 6 through the electric quick change 9, the depth camera 42 is started, the image acquisition module 103 starts to work, the image processing module 104 performs real-time analysis and detection on an image, calculates the distance between the face and the cooperative mechanical arm 2 when face information is detected, when the distance is short, the temperature measurement action module 101 works, the cooperative mechanical arm 2 captures the temperature measurement module 6 close to the face, the forehead temperature measurement gun 61 is started, the industrial camera 62 reads data and transmits the data to the data acquisition module 107, and the temperature measurement display module 822 displays the image data and the measured temperature of the depth camera 42 in real time during the temperature measurement process, if the human body height difference is abnormal, an alarm is given, recent personnel temperature statistics can be updated and displayed, the cooperative mechanical arm 2 returns to the initial position after primary temperature measurement is finished, the current measured personnel continue to wait for detecting the human face target after exiting the visual field range of the depth camera 42, after all temperature measurement work is finished, the temperature measurement control module 811 sends a temperature measurement closing instruction, the cooperative mechanical arm 2 puts the temperature measurement module 6 back to the support, the temperature measurement display module 822 stops working, the whole cooperative mechanical arm automatically captures the human face, temperature measurement is carried out according to the position of the human face, and the height difference is efficiently made up.
In other embodiments, the specific time of the temperature measurement operation may be set by the time setting module 813, and the temperature measurement operation is automatically turned on and off within the set time.
In one embodiment, the disinfection control module 812 in the remote intelligent monitoring system 8 sends a disinfection start instruction, the integrated control system 10 establishes communication with the remote intelligent monitoring system 8 through the 5G communication module 7, receives the disinfection start instruction, the disinfection action module 102 executes the disinfection action, the cooperative mechanical arm 2 grabs the disinfection spray can 52 through the electric quick change 9, the unmanned aerial vehicle 1 starts working, the depth camera 43 is started, the map building module 105 works, the built map is transmitted to the navigation function module 106, the laser radar 41 works, the mobile robot 3 starts autonomous navigation and feeds back position data to the data acquisition module 107, the depth camera 42 is started, the disinfection spray can 52 is started, the disinfection spray can starts spraying disinfectant, the disinfection spraying device 51 carried by the unmanned aerial vehicle 1 starts spraying disinfectant, the image acquisition module 103 starts to acquire data of the depth camera 42 and the unmanned aerial vehicle 1 carries the depth camera 43, the image processing module 104 processes the image fed back by the depth camera 42, when detecting that the contour of the table, chair, cabinet, etc. is complex and the human body contacts more objects to be disinfected and the distance between the objects is small, the image processing module 104 feeds back the object to the navigation function module 106, the speed of the mobile robot 3 is reduced, the cooperative mechanical arm 2 automatically plans the track covering the surface of the object to be disinfected in combination with the depth information of the image processing module 104, the disinfection action module 102 executes the disinfection track, the disinfection display module 823 displays the image data in the image acquisition module 103 and the map in the map building module 105 and the real-time position of the mobile robot 3 fed back by the navigation function module 106 in real time in the disinfection process, the disinfection progress is calculated according to the data in the data acquisition module 107, after the disinfection is finished, the remote intelligent monitoring disinfection control module 813 sends a disinfection finishing instruction, the cooperative mechanical arm 2 puts the disinfection sprinkling can 52 back to the bracket, disinfection display module 823 stop work, and 3 unmanned aerial vehicle 1 stop work of mobile robot, the whole manual work that need not of disinfection work is participated in, and the whole indoor space of unmanned aerial vehicle disinfection can be covered fast, and cooperation arm then can be to the disinfection of specific disinfection object traversal profile.
In other embodiments, the lamps can be turned on by the lamp control module 814, so as to improve the working environment of the multifunctional epidemic prevention robot system.
In other embodiments, the specific time of the disinfection work may be set by the time setting module 813, the disinfection work is automatically turned on and off during the set time, and if the time is in the night time period, the lamp control module 814 may send a command for turning on the lamp, so that the mobile robot lamp is turned on, so that the depth camera 42 may work normally.
In one embodiment, the motion control module 815 may send a mobile robot control command, the integrated control system 10 and the remote intelligent monitoring system 8 establish communication through the 5G communication module 7, and the mobile robot control module 108 may control the mobile robot to perform forward and backward movements or turning movements.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (10)
1. A multifunctional epidemic prevention robot system is characterized by comprising an unmanned aerial vehicle (1), a cooperative mechanical arm (2), a mobile robot (3), a sensing module (4), a disinfection module (5), a temperature measurement module (6), a 5G communication module (7) and a remote intelligent monitoring system (8); the cooperative mechanical arm (2) is mounted on the mobile robot (3), and based on the operation requirement of the robot, the cooperative mechanical arm (2) can be used for grabbing the temperature measuring module (6) for temperature measuring work or grabbing the disinfection spray can (52) in the disinfection module (5) for disinfection work;
the sensing module (4) comprises a lidar (41), a first depth camera (42) and a second depth camera (43); the laser radar (41) is fixedly arranged at the front end of the mobile robot (3) and is used for map building and navigation; the first depth camera (42) is installed at the tail end of the cooperative mechanical arm (2) and used for acquiring face information during temperature measurement and information of an object to be disinfected during disinfection; the second depth camera (43) is installed on the unmanned aerial vehicle (1) and used for acquiring the depth information of the obstacle;
the 5G communication module (7) is arranged on the mobile robot (3) and is used for data communication;
the remote intelligent monitoring system (8) is used for setting the working mode of the epidemic prevention robot, sending temperature measurement and disinfection instructions, receiving and displaying the working data and the working state of the epidemic prevention robot.
2. The multifunctional epidemic prevention robot system according to claim 1, wherein the disinfection module (5) comprises a disinfection spraying device (51) and a disinfection sprinkling can (52), and the disinfection task is completed jointly by the cooperation mode of the unmanned aerial vehicle (1), the mobile robot (3) and the air-ground robot combined by the cooperative mechanical arm (2); the disinfection spraying device (51) is installed on the unmanned aerial vehicle (1), the high-altitude advantage of the unmanned aerial vehicle can be utilized to spray large-scale disinfection liquid indoors, and the disinfection spraying pot (52) is placed on the mobile robot (3); the object to be disinfected is disinfected by the traversal contour of the grabbing disinfection sprinkling can (52) through the cooperation of the mechanical arm (2).
3. The multifunctional epidemic prevention robot system of claim 1 wherein the thermometry module (6) comprises a forehead temperature thermometry gun (61) and an industrial camera (62);
the forehead temperature measuring gun (61) is used for measuring the temperature of a human body, and the industrial camera (62) is fixedly placed behind the forehead temperature measuring gun (61) and used for reading data of the forehead temperature measuring gun (61).
4. The multifunctional epidemic prevention robot system according to claim (1), wherein a support is further provided on the mobile robot (3), the temperature measurement module (6) and the disinfection spray can (52) of the epidemic prevention robot are placed on the support, the cooperative mechanical arm (2) can respectively grab the temperature measurement module and the disinfection spray can for work through an electric quick change (9), and an electric quick change A head (91) at the tail end of the cooperative mechanical arm (2) and an electric quick change B head (92) respectively mounted on the temperature measurement module (6) and the disinfection spray can (52) are attracted during grabbing;
the temperature measuring module (6) is fixed by a clamp, the clamp firstly fixes the forehead temperature measuring gun (61) and the industrial camera (62), so that the industrial camera (62) can clearly acquire data of the forehead temperature measuring gun (61), meanwhile, the electric quick-change B head (92) is fixed at one end of the clamp, screws for supporting are designed at two sides of the clamp, and the clamp can be supported and placed on the bracket;
the disinfection watering can (522) is fixed by anchor clamps, and disinfection watering can (522) is fixed to anchor clamps one end, and electronic quick change device B head (92) are fixed to one end, and the design of anchor clamps both sides has the screw that is used for supporting, can support anchor clamps and place on above-mentioned support.
5. The multifunctional epidemic prevention robot system according to claim, characterized in that the second depth camera (43) carried by the unmanned aerial vehicle (1) can reconstruct an obstacle model of a work area, and the mobile robot (3) combines the model of visual reconstruction and the lidar (41) data to construct a map and realize accurate positioning and trajectory planning navigation of the mobile robot (3).
6. The multifunctional epidemic prevention robot system according to claim 1, wherein the multifunctional epidemic prevention robot system comprises an integrated control system (10) which can uniformly control the unmanned aerial vehicle (1), the cooperative mechanical arm (2) and the mobile robot (3);
the integrated control system (10) comprises a temperature measurement action module (101), a disinfection action module (102), an image acquisition module (103), an image processing module (104), a map building module (105), a navigation function module (106), a data acquisition module (107) and a mobile robot motion control module (108).
7. The multifunctional epidemic prevention robot system of claim 1, wherein the remote intelligent monitoring system (8) communicates with the integrated control system (10) through the 5G communication module (7), and wherein the remote intelligent monitoring system (8) comprises a control module (81) and a display module (82);
the control module (81) comprises a temperature measurement control module (811), a disinfection control module (812), a time setting module (813), a car lamp control module (814) and a motion control module (815);
the display module (82) comprises a robot state module (821), a temperature measurement display module (822) and a disinfection display module (823).
8. The multifunctional epidemic prevention robot system of claim 1, wherein the temperature measurement and disinfection functions of the epidemic prevention robot system have two start modes, namely manual start and automatic start;
the temperature measurement function and the disinfection function can be started manually through a temperature measurement control module (811) and a disinfection control module (812) in a remote intelligent monitoring system (8), and can also be started automatically at specific time through a time setting module (813) of the remote control system.
9. The multifunctional epidemic prevention robot system of any one of claims 1-8, wherein the epidemic prevention robot has the following temperature measurement steps:
step 1, firstly, manually or automatically starting a temperature measurement function;
step 2, the integrated control system (10) receives a temperature measurement starting command through the 5G communication module (7);
step 3, the cooperative mechanical arm (2) grabs the temperature measuring module (6) from the support through electric quick change (9);
step 4, starting a depth camera (42) at the tail end of the cooperative mechanical arm (2), enabling an image acquisition module (103) to start working, carrying out real-time analysis and detection on an image acquired by the image acquisition module (103) through an image processing module (104), calculating the position of a human face based on parameters of the first depth camera (42) when human face information is detected, and determining that the human body enters a temperature area to be measured when the human body approaches;
step 5, the navigation function module (106) is started, and the mobile robot (3) approaches to the human body; the temperature measuring action module (101) is started, the cooperative mechanical arm (2) moves according to the fed back face position, and the pose is further adjusted, so that the forehead temperature measuring gun (61) reaches a position close to the face in a vertical distance and is close to the forehead of the person to be measured in a horizontal distance;
step 6, the forehead temperature measuring gun (61) is started to measure the temperature, the industrial camera (62) is started to read the data of the temperature measuring gun and transmit the data to the data acquisition module (107);
step 7, temperature measurement display and analysis, wherein the remote intelligent monitoring system (8) accesses the data acquisition module (107) and the image acquisition module (103) in real time, displays the currently shot face information and the body temperature data of the person to be detected, and carries out early warning and reminding when the body temperature is abnormal; the data acquisition module (107) can statistically store the recent measured body temperature data of the person; the temperature measurement display module (822) of the remote intelligent monitoring system (8) can display the total number of people measured on the day and the abnormal number of people, and can also display a recent body temperature change trend graph;
step 8, repeating the work, returning the cooperative mechanical arm (2) and the mobile robot (3) to the initial position after the primary temperature measurement is finished, and continuing to wait for the detection of the human face target after the current person to be detected exits the visual field range of the depth camera (42);
and step 10, finishing temperature measurement, after all temperature measurement work is finished, sending a temperature measurement closing instruction to the integrated control system (10) in the remote intelligent monitoring system (8), returning the temperature measurement module (6) to the support by the cooperation mechanical arm (2), and stopping the temperature measurement display module (822).
10. The multifunctional epidemic prevention robot system of any one of claims 1-8, wherein the disinfection of the epidemic prevention robot system comprises the following steps:
step 1, manually or automatically starting a disinfection function, manually starting a vehicle lamp in a remote intelligent monitoring system (8) through a vehicle lamp control module (814) if the light is dark, automatically starting the disinfection if the time is set, and automatically starting the vehicle lamp when the working time is within a night time period;
step 2, the integrated control system (10) receives a disinfection starting command through the 5G communication module (7);
step 3, the cooperation mechanical arm (2) grabs the disinfection watering can from the bracket through the electric quick change (9);
step 4, establishing a diagram, wherein a second depth camera (43) carried by the unmanned aerial vehicle (1) is started, the integrated control system (10) is operated by a diagram establishing module (105), and the diagram is established by combining data of the second depth camera (43) and data of the laser radar (41);
step 5, starting a navigation function module (106), starting autonomous navigation by the mobile robot (3) according to data of the laser radar (41), starting a depth camera (42) at the tail end of the cooperation mechanical arm (2), starting a disinfection spray can (52) to spray disinfectant, and starting a disinfection spray device (51) to spray disinfectant at the same time;
step 6, an image acquisition module (103) is started, an image processing module (104) processes information acquired by a first depth camera (42) in real time, when an object to be disinfected is detected and the distance between the objects is short, the speed of a mobile robot (3) is reduced, a disinfection action module (102) is started, a cooperative mechanical arm (2) autonomously plans and traverses a track on the surface of an object to be disinfected by combining environmental depth information acquired by the first depth camera (42) in the image processing module in real time, and the cooperative mechanical arm (2) executes the track, so that a disinfectant can traverse the object to be disinfected;
step 7, disinfection display, wherein the remote intelligent monitoring system (8) reads information data of the image acquisition module (103), the image building module (105) and the navigation function module (106), displays an image of the second depth camera (43), an indoor map and position information of the current mobile robot (3) in the disinfection display module (823), and calculates and displays the current disinfection progress according to the position of the mobile robot (3);
step 8, the disinfection is finished, after the disinfection work is finished, a disinfection closing instruction is sent to the integrated control system (10) in the remote intelligent monitoring system (8), the support is put back to the disinfection sprinkling can (52) through the cooperation mechanical arm (2), and the mobile robot (3) and the unmanned aerial vehicle (1) stop moving.
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