CN114770547B - Epidemic prevention mechanical arm and path planning and epidemic prevention detection method - Google Patents
Epidemic prevention mechanical arm and path planning and epidemic prevention detection method Download PDFInfo
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- CN114770547B CN114770547B CN202210520615.1A CN202210520615A CN114770547B CN 114770547 B CN114770547 B CN 114770547B CN 202210520615 A CN202210520615 A CN 202210520615A CN 114770547 B CN114770547 B CN 114770547B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses an epidemic prevention mechanical arm and a path planning and epidemic prevention detection method, wherein the epidemic prevention mechanical arm comprises the following components: an extension device; a plurality of ultrasonic devices located on the stretching device; a detection device located on one side of the extension device and allowing the detection device to adjust position on the extension device; and the control device is positioned on one side of the stretching device and is in communication connection with the stretching device, the detection device and the ultrasonic devices. Through the epidemic prevention mechanical arm and the path planning and epidemic prevention detection method disclosed by the invention, high-automation unmanned epidemic prevention in a logistics park can be realized, the epidemic risk of artificial epidemic prevention is solved, and meanwhile, the problem of traffic jam caused by inconvenience in code scanning of a driver is solved.
Description
Technical Field
The invention relates to the technical field of automatic control and monitoring, in particular to an epidemic prevention mechanical arm and a path planning and epidemic prevention detection method.
Background
In areas without professional equipment and professionals, quarantine is performed when vehicles enter and exit at the same time, full automation cannot be achieved, particularly in situations with large traffic flow and personnel mixing in a logistics park, the risk of manual quarantine is extremely high, and the vehicle passing efficiency is not seriously affected by high automation degree.
In the prior art, the invention patent with the application publication number of CN113870471A discloses a vehicle epidemic prevention passing management system based on a cloud platform, which comprises a cloud server, a passing management end, a vehicle end and a manual background management end. The vehicle end logs in a cloud server and submits epidemic prevention passing information, the cloud server applies for the vehicle epidemic prevention passing information, the cloud server generates and stores the epidemic prevention passing information corresponding to the vehicle end, the cloud server issues the vehicle epidemic prevention passing information according to the security level of the epidemic prevention passing information, and a passing management end judges whether to pass the vehicle end according to the vehicle epidemic prevention passing information and informs a manager to carry out security check on the vehicle end; after receiving the prompt information of the dangerous traffic information, the manual background management end timely gives warning and reports, and improves the accuracy of 'checking completely'. Through the mode, epidemic prevention inspection of vehicles by manpower can be greatly reduced, the passing efficiency is improved, information of all passing vehicles is effectively recorded, and follow-up tracing is facilitated.
However, in the prior art, the following problems mainly exist:
1. the commodity circulation garden adopts artifical quarantine risk big, and is a waste to human resource, under personnel and equipment non-professional's circumstances, can't guarantee quarantine personnel's absolute safety, and commodity circulation garden traffic is big, and driver oneself scans the healthy sign indicating number and need get off, inefficiency influences vehicle passing efficiency.
2. The vision recognition system that various park gate access control systems adopted at present only can discern the license plate, perhaps plays the effect of control, can't discern the model of vehicle, and different drivers are different to the assurance of distance when the vehicle is berthhed simultaneously, can not carry out accurate route planning to the arm when carrying out the distance detection, can't reach the purpose that provides convenience to the maximum extent.
3. At present, most of the methods adopted in epidemic prevention are to scan health codes and compare the health codes so as to judge whether the health codes meet the requirements, and the method has certain delay, and for some drivers with complex journey, the health codes can not reflect accurate conditions in time, and have no prospective, so that more serious consequences can be caused.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the automatic unmanned epidemic prevention of the logistics park is realized, the epidemic risk of artificial epidemic prevention is solved, the problem of traffic jam caused by inconvenience in code scanning of a driver is solved, the high-precision vehicle type recognition is realized, and the high automation and the intellectualization of the mechanical arm movement are realized by matching with an ultrasonic ranging technology.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention provides an epidemic prevention mechanical arm, which comprises:
an extension device;
a plurality of ultrasonic devices located on the stretching device;
a detection device located on one side of the extension device and allowing the detection device to adjust position on the extension device;
and the control device is positioned on one side of the stretching device and is in communication connection with the stretching device, the detection device and the ultrasonic devices.
Advantageously, by providing a plurality of ultrasonic devices on the extension device, the distance between the vehicle and the extension device can be detected. The position of the detection device on the extension device is adjusted, so that the detection device can be adjusted to be at the height of vehicles with different heights, and the detection device is positioned at the position of the vehicle window of a driver. The control device acquires distance information between the vehicle and the stretching device detected by the ultrasonic devices and position information acquired by the detection device, and controls the stretching device to move according to a specified path and action, so that the detection device is positioned at the window position of the driver, and the subsequent driver can conveniently scan codes and measure temperature.
In one embodiment of the present invention, the control device includes:
a ground sensing module in communication with the stretching device and the ultrasonic device;
the visual detection module is used for detecting vehicle information and is in communication connection with the ground sensing module;
the vehicle information comprises a vehicle model and a cab window position, and the database module is in communication connection with the visual detection module.
In one embodiment of the invention, the detection device comprises:
the signal device is positioned at the top of the detection device;
the vision detection and temperature measurement device is positioned at the bottom of the detection device and is used for acquiring the body temperature information of a driver;
the code scanning device is positioned between the signal device and the vision detection and temperature measurement device and is used for acquiring the driver health code information and the journey code information of the driver.
In one embodiment of the present invention, the detection apparatus further includes:
the body temperature comparison module is in communication connection with the vision detection and temperature measurement device and is used for judging whether the body temperature of the driver is normal or not
The health code comparison module is in communication connection with the code scanning device and is used for judging whether the health code information of the driver is normal or not;
the journey code analysis module is in communication connection with the code scanning device and is used for carrying out overall analysis according to the current epidemic situation of each region and the journey information of the driver;
and the epidemic risk assessment module is in communication connection with the body temperature comparison module, the health code comparison module and the journey code analysis module.
In one embodiment of the present invention, the detection device further includes a face recognition module, the face recognition module is communicatively connected to the stretching device, and the detection device is positioned by the face recognition module.
In one embodiment of the present invention, the control device further includes:
the vehicle type identification module is in communication connection with the visual detection module and the database module, compares the vehicle information acquired by the visual detection module with the vehicle information stored by the database module, and acquires the size information of the vehicle and the position information of the window of the cab;
the vehicle distance identification module is in communication connection with the ultrasonic device and is used for acquiring the real-time distance between the vehicle and the stretching device;
and the path planning module is in communication connection with the vehicle distance recognition module, the visual detection module and the face recognition module, and is used for controlling the stretching device to stretch according to the planning action and the path, so that the detection device is positioned at the vehicle window position of the cab, and the face recognition is carried out on the driver and the health information is acquired.
In one embodiment of the invention, the stretching device further comprises:
an extension arm;
the base is fixedly connected with one end of the stretching arm;
one side of the first connecting piece is movably connected with the extending arm;
one side of the second connecting piece is fixedly connected with the detection device;
the first power device is positioned on one side of the extension arm, one side of the first power device is fixedly connected with the other side of the first connecting piece, the other side of the first power device is fixedly connected with the other side of the second connecting piece, and the first power device is also in communication connection with the face recognition module;
the second power device is positioned on one side of the stretching arm, one side of the second power device is fixedly connected with one side of the second connecting piece, and the other side of the second power device is fixedly connected with the detecting device.
The invention also provides a path planning method of the epidemic prevention mechanical arm, which comprises the following steps:
the vehicle enters a logistics park;
judging whether the vehicle enters a region to be detected or not through the ground sensing module;
if the device does not enter, the stretching device is in a non-working state;
if the vehicle is in the working state, the stretching device is in the working state, meanwhile, the visual detection module detects vehicle information, and the ultrasonic device measures the distance between the vehicle and the stretching device;
comparing the vehicle type recognition module with the vehicle information stored in the database module to obtain the size information of the vehicle and the vehicle window position information of the cab;
acquiring distance information between the vehicle and the stretching device through the vehicle distance identification module;
the acquired size information of the vehicle, the cab window position information and the distance information between the vehicle and the stretching device are subjected to information integration analysis through the path planning module, and the stretching device is controlled to act according to a specified path according to the result of the information integration analysis, so that the detection device moves to the cab window position;
and confirming the face position of the driver through a face recognition module, and adjusting the position of the detection device according to the face position so as to facilitate subsequent epidemic prevention detection.
The invention also provides an epidemic prevention detection method of the epidemic prevention mechanical arm, which comprises the following steps:
according to the vision inspection and temperature measurement device, acquiring body temperature information of a driver;
judging whether the body temperature of the driver is normal or not through a body temperature judging and comparing module;
according to the code scanning device, health code information and journey code information of a driver are obtained;
judging whether the health code information of the driver is normal or not through the health code comparison module;
judging whether the journey code information of the driver is normal or not through a journey code analysis module;
if the body temperature information, the health code information and the journey code information are all normal, releasing the vehicle;
and if any one of the body temperature information, the health code information and the journey code information is abnormal, commanding the vehicle to move to an isolation position, and performing further epidemic prevention measures on the driver.
In one embodiment of the invention, the journey code analysis module is used for carrying out overall analysis on the epidemic situation of each area and the journey information of the driver according to the current epidemic situation;
performing risk assessment on overall analysis results according to the epidemic risk assessment module and combining health code information and body temperature information, and performing risk classification according to the risk assessment results, wherein the risk classification comprises low level, medium level and high level;
if the risk level is low, releasing the vehicle;
and if the risk level is medium or high, commanding the vehicle to move to an isolation position, and performing further epidemic prevention measures on the driver.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the epidemic prevention mechanical arm and the path planning and epidemic prevention detection method provided by the invention, the part which originally belongs to manual quarantine is replaced by the full automation of the epidemic prevention mechanical arm, meanwhile, the actions of the epidemic prevention mechanical arm are all planned automatically by the control device, so that the high automation from epidemic prevention and quarantine to release is completed, the epidemic risk in the manual quarantine process is reduced, meanwhile, the full-automatic epidemic prevention mechanical arm is convenient for a driver to scan health codes, journey codes and identity cards on a vehicle, and is convenient for the driver to measure the temperature, the unmanned epidemic prevention of the high automation of a logistics park is realized, meanwhile, the problem of traffic jam caused by the inconvenience of code scanning or temperature measurement of the driver is solved, and the quarantine efficiency is improved.
2. By providing a plurality of ultrasonic devices on the stretching device, the distance between vehicles with different heights and the stretching device is detected. The ground sensing module is in communication connection with the stretching device, so that whether the vehicle enters the to-be-detected area or not is judged, and the visual detection module is in communication connection with the ground sensing module so as to identify vehicle information. The vehicle type information acquisition device comprises a vehicle type recognition module, a visual detection module, a database module, a vehicle window position information acquisition device, a vehicle distance recognition module, an ultrasonic device, a path planning module, a vehicle distance recognition module, a visual detection module and a human face recognition module, wherein the vehicle type recognition module is in communication connection with the visual detection module and the database module, the visual detection module acquires vehicle information and vehicle information stored in the database module is compared, the vehicle size information and the vehicle window position information of a vehicle are acquired, the vehicle distance recognition module is in communication connection with the ultrasonic device, the real-time distance between the vehicle and the stretching device is acquired, the path planning module is in communication connection with the vehicle distance recognition module, the visual detection module and the human face recognition module, the stretching device is controlled to stretch, adjust and move according to the planning actions and paths, the detection device is positioned at the vehicle window position of the vehicle, the human face recognition device is carried out on a driver, and the health information is acquired. The high-precision high-automation movement of the epidemic prevention mechanical arm is completed, the problems of complex model of vehicles entering and exiting and different vehicle parking distances are solved from the root, convenience is provided for drivers to the greatest extent, and the integral quarantine efficiency is improved.
3. The method comprises the steps of acquiring health codes and journey code information of a driver through a scanning device, acquiring body temperature information of the driver through a vision inspection and temperature measurement device, judging whether the body temperature of the driver is normal through a body temperature comparison module, judging whether the health code information of the driver is normal through a health code comparison module, carrying out overall analysis and judging whether the journey code information of the driver is normal through a journey code analysis module according to the current epidemic situation of each region by combining the journey information of the driver, carrying out risk assessment on overall analysis results and combining the health code information and the body temperature information through a epidemic risk assessment module and communication connection of the health code comparison module and the journey code analysis module, carrying out risk grade division according to the risk assessment results, judging whether the vehicle is released or commanded to move to an isolation position according to the risk grade division, and carrying out further epidemic prevention measures on the driver. By combining the real-time epidemic situation prevention and control information of each region, the epidemic risk on the whole route of the driver is evaluated, and prompt is timely made, so that the effect of early warning in advance is achieved, and the problems of epidemic prevention delay caused by separately comparing health codes and incapability of early warning in advance are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an epidemic prevention mechanical arm according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of communication connection of an epidemic prevention mechanical arm according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a path planning method of an epidemic prevention mechanical arm according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart of an epidemic prevention detection method of an epidemic prevention mechanical arm according to an embodiment of the present invention.
Fig. 5 is a schematic flow chart of another epidemic prevention detection method of an epidemic prevention mechanical arm according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, in one embodiment of the present invention, an epidemic prevention mechanical arm includes an extension device 100, a plurality of ultrasonic devices 200, a detection device 300, and a control device 400, where the plurality of ultrasonic devices 200 are located on the extension device 100. The detection device 300 is located on one side of the extension device 100 and the detection device 300 can be adjusted in position on the extension device 100. The control device 400 is located on one side of the extension device 100, and the control device 400 is communicatively coupled to the extension device 100, the plurality of ultrasound devices 200, and the detection device 300.
Referring to fig. 1, in one embodiment of the present invention, the stretching device 100 includes a stretching arm 110, a base 120, a first connecting rod 130, a second connecting rod 140, a first power device 150 and a second power device 160. The base 120 is fixedly connected with one end of the extension arm 110, and the extension arm 110 is fixed on the ground through the base 120. The first power device 150 is located at one side of the extension arm 110, and the first power device 150 is connected to the extension arm 110 through the first connecting rod 130, that is, one side of the first connecting rod 130 is movably connected to the extension arm 110, specifically, the extension arm 110 further has a clamping piece (not shown in the figure), so that the first connecting rod 130 can be clamped on the extension arm 110, and the first connecting rod 130 can be ensured to move along the extension arm 110. The other side of the first connecting rod 130 is fixedly connected with a first power device 150, and the first connecting rod 130 can be adjusted in position on the extension arm 110 by the first power device 150 to provide power for the movement of the first connecting rod 130. Specifically, the first power device 150 is, for example, an electric motor. The second power device 160 is located on one side of the extension arm 110, and in particular, on one side of the first power device 150. The second power device 160 is fixedly connected with the first power device 150 through the second connecting rod 140, namely, one side of the second connecting rod 140 is fixedly connected with the first power device 150, and the other side of the second connecting rod 140 is fixedly connected with one side of the second power device 160. The other side of the second power device 160 is fixedly connected with the detecting device 300, and the detecting device 300 can be rotated by the rotation of the second power device 160, so that the detecting device 300 can perform face recognition conveniently. Specifically, the second power device 160 is, for example, an electric motor. Wherein the first power device 150 and the second power device 160 are also communicatively coupled to the control device 400.
Referring to fig. 1, in one embodiment of the present invention, a plurality of ultrasonic devices 200 are disposed on the extension arm 110, and the plurality of ultrasonic devices 200 determine the distance between the vehicle and the extension arm 110 mainly by emitting ultrasonic waves and receiving reflected ultrasonic waves, and specifically, the ultrasonic emission angle of the plurality of ultrasonic devices 200 is 120 °, for example, so as to achieve full coverage of vehicles with different heights. In this embodiment, the plurality of ultrasonic devices 200 is, for example, 3 ultrasonic devices, and specifically includes a first ultrasonic device 210, a second ultrasonic device 220, and a third ultrasonic device 230. The first ultrasonic device 210 is located at the other end of the extension arm 100, the second ultrasonic device 220 is located between the first ultrasonic device 210 and the third ultrasonic device 230, and the third ultrasonic device 230 is located at a side near the base 120. Because vehicles in the logistics park are complex, various types from small vehicles to large vehicles are provided, and the heights of the vehicles are not uniform, in order to measure ranging of different vehicle heights, the stretching arm 110 is divided into three different height positions by the first ultrasonic device 210, the second ultrasonic device 220 and the third ultrasonic device 230, namely, the first ultrasonic device 210 is positioned at a high end position, the second ultrasonic device 220 is positioned at a middle end position, and the third ultrasonic device 230 is positioned at a low end position. Wherein the third ultrasonic device 230 is 1 meter, the second ultrasonic device 220 is 2 meters, and the first ultrasonic device 210 is 3 meters. I.e. the first to third ultrasonic devices 210 to 230 are spaced apart by 1 meter, and because the ultrasonic wave emission angle of the plurality of ultrasonic devices 200 is 120 °, the ultrasonic waves emitted from the two adjacent ultrasonic devices at a distance of 50 cm from the stretching arm 110 cross each other, so that the full coverage at the height of zero to 4 meters at the minimum safe distance is realized, and it is ensured that the vehicles at different heights can be covered and detected by the ultrasonic waves at the safe distance of 50 cm.
Referring to fig. 1 and 2, in one embodiment of the present invention, the detecting device 300 includes a signal device 310, a visual detecting and temperature measuring device 320 and a code scanning device 330. The signal device 310 is located on top of the detecting device 300, and signal enhancement can be performed on the detecting device 300 by the signal device 310. The bottom of the detection device 300 is provided with a code scanning device 330, and the code scanning device 330 can scan the health code, the journey code and the identity information of the driver. The vision inspection and temperature measurement device 320 is located between the signal device 310 and the code scanning device 330, and the vision inspection and temperature measurement device 320 can be used for measuring the body temperature of the driver. The detection device 300 further includes a body temperature comparison module 321, a health code comparison module 340, a trip code analysis module 350, a epidemic risk assessment module 360, and a face recognition module 370. The body temperature comparison module 321 is respectively in communication connection with the vision inspection and temperature measurement device 320 and the epidemic risk assessment module 360 to judge whether the body temperature of the driver is normal or not, and transmits body temperature information to the epidemic risk assessment module 360, so that the epidemic risk assessment module 360 makes a judgment whether the driver is infected with epidemic or not and a risk assessment of epidemic infection. The health code comparison module 340 is in communication connection with the code scanning device 330 and the epidemic risk assessment module 360 respectively so as to judge whether the health code information of the driver is normal or not, and transmits the health code information to the epidemic risk assessment module 360, so that the epidemic risk assessment module 360 can make a judgment whether the driver is infected with epidemic or not and a risk assessment of the epidemic. The journey code analysis module 350 is respectively in communication connection with the code scanning device 330 and the epidemic risk assessment module 360, acquires journey information of a driver, performs overall analysis by combining real-time epidemic situation conditions of all areas, and transmits overall analysis results to the epidemic risk assessment module 360 so that the epidemic risk assessment module 360 can conveniently judge whether the driver is infected with epidemic or not and carry out epidemic risk assessment. The epidemic risk assessment module 360 obtains corresponding body temperature information, health code information and journey code information of the driver through communication connection with the body temperature comparison module 321, the health code comparison module 340 and the journey code analysis module 350, overall analyzes the information, gives risk assessment, and classifies risk assessment results into risk grades, wherein the risk grades comprise low grades, medium grades and high grades. And if the risk level is low, and the body temperature, the safety code and the journey code information of the driver are normal, the vehicle is released, and if the risk level is medium or high, the vehicle is commanded to move to an isolation position, and further epidemic prevention measures are carried out on the driver. The face recognition module 370 is communicatively coupled to the vision inspection and temperature measurement device 320, the extension device 100, and the control device 400, respectively. Specifically, the face recognition module 370 is communicatively connected to the first power device 150 and the second power device 160, and performs face position confirmation through the face recognition module 370, and adjusts the position of the detection device 300 accordingly, so that the detection device 300 is just opposite to the face of the driver to perform temperature measurement and the driver is scanned by the health code and the trip code.
Referring to fig. 1 and 2, in one embodiment of the present invention, the control device 400 is located on one side of the stretching device 100, the control device 400 is communicatively connected to the stretching device 100, and the control device 400 can enable the stretching device 100 to stretch, adjust and move according to a predetermined motion and route, and enable the detection device 300 to move to a driver window position, so that the vision detection and temperature measurement device 320 can be accurately aligned with the face of the driver. Specifically, the electric cabinet 500 is located at one side of the stretching device 100, and the control device 400 is located in the electric cabinet 500. The control device 400 includes a ground sensing module 410, a visual detection module 420, a database module 430, a vehicle model identification module 440, a vehicle distance identification module 450, and a path planning module 460. The ground sensing module 410 determines whether the vehicle enters the to-be-detected area according to the electromagnetic induction principle, so as to determine whether the stretching device 100 is to act, the ground sensing module 410 is in communication connection with the visual detection module 420, and the visual detection module 420 is used for detecting vehicle information and specifically identifying the vehicle type. The vision inspection module 420, the database module 430 and the path planning module 460 are communicatively connected, and the database module 430 stores such vehicle information including, for example, a vehicle model number, vehicle size information, and cab window position. The vehicle model identification module 440 is in communication connection with the vision detection module 420, the database module 430 and the path planning module 460, and compares the vehicle model information detected by the vision detection module 420 with the vehicle information in the database module 430 to obtain the size information of the vehicle and the cab window position information. The distance identifying module 450 is communicatively connected to the plurality of ultrasonic devices 200 and the path planning module 460, and by acquiring the real-time distance between the vehicle and the stretching device 100 and transmitting the real-time distance to the path planning module 460, the path planning module 460 plans the action and path of the stretching device 100, so that the detecting device 300 is located at the position of the window of the driver. The path planning module 460 is communicatively coupled to the vision detection module 420, the database module 430, the vehicle model recognition module 440, the distance recognition module 450, and the face recognition module 370. The path planning module 460 is also in communication connection with the first power device 150 and the second power device 160, the path planning module 460 controls the action of the stretching device 100 and the path to plan through the acquired information, the height position of the detecting device 300 is adjusted through controlling the first power device 150, the detecting device 300 is located at the position of the window of the driver, and the detecting device 300 is enabled to face recognition through controlling and rotating the second power device 160, so that the detecting device 300 is further located. Through foretell epidemic prevention arm, can realize the unmanned epidemic prevention of high automation in commodity circulation garden, solve the epidemic risk of artifical epidemic prevention, solve simultaneously that the driver is swept the inconvenient problem that causes the traffic jam of sign indicating number and can solve the epidemic prevention delay that the healthy sign indicating number of individual comparison caused and can not in time early warning in advance.
Referring to fig. 1 to 3, in another embodiment of the present invention, a path planning method based on an epidemic prevention mechanical arm is provided, where the path planning method of the epidemic prevention mechanical arm includes the following steps:
s110, the vehicle enters a logistics park.
The logistics park comprises a region to be detected and an isolation position for isolating the vehicle from the driver when abnormality is detected.
S120, judging whether the vehicle enters the waiting area or not through the ground sensing module 410.
S121, if not entered, the stretching device 100 is in a non-working state.
Wherein the inactive state is the extension apparatus 100 remaining stationary.
S122, if the vehicle enters, the stretching device 100 is in an operating state, and at the same time, the visual detection module 420 detects the vehicle information, and the ultrasonic device 200 measures the distance between the vehicle and the stretching device.
Wherein, the stretching device 100 is in working state, and prepares for action according to the path and action planned by the path planning module 460.
S130, comparing the vehicle information stored in the database module 430 with the vehicle type identification module 440 to obtain the size information of the vehicle and the cab window position information.
And S140, acquiring distance information between the vehicle and the stretching device through a vehicle distance identification module 450.
And S150, performing information integration analysis on the acquired size information of the vehicle, the cab window position information and the distance information between the vehicle and the stretching device 100 through a path planning module 460, and controlling the stretching device 100 to act according to a specified path according to the result of the information integration analysis so as to enable the detection device 300 to move to the cab window position.
S160, confirming the face position of the driver through the face recognition module 370, and adjusting the position of the detection device 300 according to the face position so as to facilitate subsequent epidemic prevention detection.
Referring to fig. 1, 2, 4 and 5, in still another embodiment of the present invention, an epidemic prevention detection method based on an epidemic prevention mechanical arm is provided, where the epidemic prevention detection method based on an epidemic prevention mechanical arm includes the following steps:
s210, acquiring body temperature information of a driver according to the visual inspection and temperature measurement device 320;
s210, judging whether the body temperature of the driver is normal or not through a body temperature comparison module 321;
s210, acquiring health code information and journey code information of a driver according to the code scanning device 330;
s210, judging whether the health code information of the driver is normal or not through the health code comparison module 340;
s210, judging whether the journey code information of the driver is normal or not through a journey code analysis module 350;
s210, if the body temperature information, the health code information and the journey code information are all normal, releasing the vehicle;
and S210, if any one of the body temperature information, the health code information and the journey code information is abnormal, commanding the vehicle to move to an isolation position, and performing further epidemic prevention measures on a driver.
Referring to fig. 1, 2, 4 and 5, in one embodiment of the present invention, the epidemic prevention detection method of the epidemic prevention mechanical arm further includes the following steps:
s310, overall analysis is carried out on the current epidemic situation conditions of all areas and the journey information of the drivers according to the journey code analysis module 350.
S320, performing risk assessment on the overall analysis result and combining the health code information and the body temperature information according to the epidemic risk assessment module 360, and performing risk classification according to the risk assessment result, wherein the risk classification comprises low level, medium level and high level.
S321, if the risk level is low, the vehicle is released.
S322, if the risk level is medium or high, commanding the vehicle to move to the isolation position, and performing further epidemic prevention measures on the driver.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The above-described embodiments merely represent embodiments of the invention, the scope of the invention is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (6)
1. An epidemic prevention mechanical arm, characterized by comprising:
an extension device;
a plurality of ultrasonic devices located on the stretching device;
a detection device located on one side of the extension device and allowing the detection device to adjust position on the extension device;
control means located on one side of said stretching means and communicatively connected to said stretching means, said detecting means and said plurality of ultrasonic means;
wherein the plurality of ultrasonic devices judge the distance between the vehicle and the stretching arm of the stretching device by sending out ultrasonic waves and receiving the reflected ultrasonic waves; the ultrasonic devices comprise a first ultrasonic device, a second ultrasonic device and a third ultrasonic device, the first ultrasonic device and the third ultrasonic device are respectively positioned at two ends of the stretching arm, the third ultrasonic device is positioned at one end close to a base of the stretching device, and the height of the third ultrasonic device on the stretching arm is 1 meter away from the ground; the second ultrasonic device is positioned between the first ultrasonic device and the third ultrasonic device, the interval between two adjacent ultrasonic devices is 1 meter, and the ultrasonic wave emission angle of each ultrasonic device is 120 degrees, so that vehicles with different heights can be covered by ultrasonic waves and the distance can be detected;
the detection device further comprises a face recognition module, the face recognition module is in communication connection with the stretching device, and the detection device is positioned through the face recognition module;
the control device includes:
a ground sensing module in communication with the stretching device and the ultrasonic device;
the visual detection module is used for detecting vehicle information and is in communication connection with the ground sensing module;
the database module is used for storing the vehicle information, the vehicle information comprises a vehicle model and a cab window position, and the database module is in communication connection with the visual detection module
The control device further includes:
the vehicle type identification module is in communication connection with the visual detection module and the database module, compares the vehicle information acquired by the visual detection module with the vehicle information stored by the database module, and acquires the size information of the vehicle and the position information of the windows of the cab;
the vehicle distance identification module is in communication connection with the ultrasonic device and is used for acquiring the real-time distance between the vehicle and the stretching device;
the path planning module is in communication connection with the vehicle distance recognition module, the visual detection module and the face recognition module, controls the stretching device to stretch according to the planned action and the path, enables the detection device to be positioned at the vehicle window position of the cab, and performs face recognition on a driver and acquires health information;
the path planning method of the epidemic prevention mechanical arm comprises the following steps:
the vehicle enters a logistics park;
judging whether the vehicle enters a region to be detected or not through the ground sensing module;
if the device does not enter, the stretching device is in a non-working state;
if the vehicle is in the working state, the stretching device is in the working state, meanwhile, the visual detection module detects vehicle information, and the ultrasonic device measures the distance between the vehicle and the stretching device;
comparing the vehicle type recognition module with the vehicle information stored in the database module to obtain the size information of the vehicle and the vehicle window position information of the cab;
acquiring distance information between the vehicle and the stretching device through the vehicle distance identification module;
the acquired size information of the vehicle, the cab window position information and the distance information between the vehicle and the stretching device are subjected to information integration analysis through the path planning module, and the stretching device is controlled to act according to a specified path according to the result of the information integration analysis, so that the detection device moves to the cab window position;
and confirming the face position of the driver through a face recognition module, and adjusting the position of the detection device according to the face position so as to facilitate subsequent epidemic prevention detection.
2. The epidemic prevention mechanical arm of claim 1, wherein the detection device comprises:
the signal device is positioned at the top of the detection device;
the vision detection and temperature measurement device is positioned at the bottom of the detection device and is used for acquiring the body temperature information of a driver;
the code scanning device is positioned between the signal device and the vision detection and temperature measurement device and is used for acquiring the driver health code information and the journey code information of the driver.
3. The epidemic prevention mechanical arm of claim 2, wherein the detection device further comprises:
the body temperature comparison module is in communication connection with the visual inspection and temperature measurement device and is used for judging whether the body temperature of the driver is normal or not;
the health code comparison module is in communication connection with the code scanning device and is used for judging whether the health code information of the driver is normal or not;
the journey code analysis module is in communication connection with the code scanning device and is used for carrying out overall analysis according to the current epidemic situation of each region and the journey information of the driver;
and the epidemic risk assessment module is in communication connection with the body temperature comparison module, the health code comparison module and the journey code analysis module.
4. The epidemic prevention mechanical arm of claim 1, wherein the extension device further comprises:
an extension arm;
the base is fixedly connected with one end of the stretching arm;
one side of the first connecting piece is movably connected with the extending arm;
one side of the second connecting piece is fixedly connected with the detection device;
the first power device is positioned on one side of the extension arm, one side of the first power device is fixedly connected with the other side of the first connecting piece, the other side of the first power device is fixedly connected with the other side of the second connecting piece, and the first power device is also in communication connection with the face recognition module;
the second power device is positioned on one side of the stretching arm, one side of the second power device is fixedly connected with one side of the second connecting piece, and the other side of the second power device is fixedly connected with the detecting device.
5. An epidemic prevention detection method based on the epidemic prevention mechanical arm of any one of claims 1 to 4, characterized in that the epidemic prevention detection method of the epidemic prevention mechanical arm comprises the following steps:
according to the visual inspection and temperature measurement device, acquiring body temperature information of a driver;
judging whether the body temperature of the driver is normal or not through a body temperature judging and comparing module;
according to the code scanning device, health code information and journey code information of a driver are obtained;
judging whether the health code information of the driver is normal or not through a health code comparison module;
judging whether the journey code information of the driver is normal or not through a journey code analysis module;
if the body temperature information, the health code information and the journey code information are all normal, releasing the vehicle;
and if any one of the body temperature information, the health code information and the journey code information is abnormal, commanding the vehicle to move to an isolation position, and performing further epidemic prevention measures on the driver.
6. The epidemic prevention detection method of an epidemic prevention mechanical arm according to claim 5, characterized in that the epidemic prevention detection method of an epidemic prevention mechanical arm comprises the following steps:
carrying out overall analysis on the epidemic situation conditions of each current region and the journey information of the driver according to the journey code analysis module;
performing risk assessment on overall analysis results according to the epidemic risk assessment module and combining health code information and body temperature information, and performing risk classification according to the risk assessment results, wherein the risk classification comprises low level, medium level and high level;
if the risk level is low, releasing the vehicle;
and if the risk level is medium or high, commanding the vehicle to move to an isolation position, and performing further epidemic prevention measures on the driver.
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| JP2006302206A (en) * | 2005-04-25 | 2006-11-02 | Toyota Motor Corp | Health care system and healthy information center |
| CN207851900U (en) * | 2017-12-28 | 2018-09-11 | 北京万集科技股份有限公司 | A kind of high speed charge Intelligent hairpin system |
| WO2019238142A2 (en) * | 2019-08-05 | 2019-12-19 | 深圳市锐明技术股份有限公司 | Vehicle monitoring system and vehicle monitoring method |
| CN211347155U (en) * | 2020-02-09 | 2020-08-25 | 湖南超能机器人技术有限公司 | Intelligent epidemic prevention detection device integrating temperature measurement, inquiry, disinfection and data statistics |
| CN111122013A (en) * | 2020-03-02 | 2020-05-08 | 清华大学 | Automatic human body temperature measuring robot and measuring method |
| CN111152240B (en) * | 2020-03-02 | 2021-07-30 | 清华大学 | Rocker arm type automatic human body temperature measuring robot and measuring method |
| CN111337134B (en) * | 2020-03-02 | 2023-04-07 | 清华大学 | Column type robot for automatically measuring human body temperature and measuring method |
| CN211928594U (en) * | 2020-05-27 | 2020-11-13 | 蜂鸟创新(北京)科技有限公司 | Self-service temperature measurement system and device thereof |
| CN111872953B (en) * | 2020-07-20 | 2021-12-14 | 河南科技大学 | Epidemic prevention robot based on infrared temperature measurement and sound screening and detection method |
| CN111862364A (en) * | 2020-07-27 | 2020-10-30 | 上海福赛特智能科技有限公司 | Automatic card issuing system and method for toll station |
| CN112215234A (en) * | 2020-10-16 | 2021-01-12 | 神思电子技术股份有限公司 | Method for checking information of vehicle personnel at road interface |
| CN214476427U (en) * | 2021-03-22 | 2021-10-22 | 天津医科大学朱宪彝纪念医院(天津医科大学代谢病医院、天津代谢病防治中心) | Intelligent admission information registration robot system |
| CN113674460A (en) * | 2021-07-20 | 2021-11-19 | 合肥优恩物联网科技有限公司 | Real-time cloud voice interaction access control machine based on 5G network |
| CN113997305A (en) * | 2021-12-01 | 2022-02-01 | 浙江科技学院 | Multifunctional epidemic prevention admission inspection robot |
| CN114444865A (en) * | 2021-12-24 | 2022-05-06 | 西安富立叶微电子有限责任公司 | Urban epidemic prevention management device and method |
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