CN116061236A - Digital intelligent epidemic prevention robot fault alarm system based on laser navigation - Google Patents
Digital intelligent epidemic prevention robot fault alarm system based on laser navigation Download PDFInfo
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- 238000012545 processing Methods 0.000 claims abstract description 55
- 238000012544 monitoring process Methods 0.000 claims abstract description 24
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 23
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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
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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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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Abstract
The invention belongs to the technical field of intelligent robots, and particularly relates to a digital intelligent epidemic prevention robot fault alarm system based on laser navigation, which comprises a shell, a central processing unit, a driving system, a disinfection spraying system, a fault detection system, an epidemic prevention detection system and a power management system, wherein the central processing unit and the fault detection system are respectively and fixedly arranged in the shell, and the fault detection system is electrically connected with the central processing unit through a lead. According to the invention, the fault detection system is connected with the driving system, the disinfection spraying system, the epidemic prevention detection system and the power management system in the robot, so that the running condition of each system of the robot can be detected, the central processing unit is connected with the server through the wireless module, the service condition of the robot can be monitored through the monitoring terminal and the mobile terminal, the monitoring terminal is connected with the alarm, and the monitoring terminal starts the alarm to give an alarm prompt when the running system of the robot breaks down.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a digital intelligent epidemic prevention robot fault alarm system based on laser navigation.
Background
The intelligent robot is called intelligent robot because it has a rather developed brain in which a central processor is acting, which computer has a direct connection with the person handling it, and above all, which computer can perform the purposely arranged actions, just as we say that it is a real robot, which intelligent robot has all kinds of internal information sensors and external information sensors, such as visual, auditory, tactile, olfactory, as well as effectors as means for acting on the surrounding environment.
The laser navigation system is an emerging navigation application technology developed along with the continuous maturation of laser technology, is suitable for operation navigation under the condition of poor sight, field survey and orientation and other works, is very suitable for positioning navigation by robots, in the epidemic prevention process, the current epidemic prevention measure donor is to arrange personnel to hold a temperature measuring gun at an entrance and an exit of a public place, measure the body temperature of pedestrians and regularly spray disinfectant to the public place for in-field disinfection, the mode consumes a large amount of manpower, the implementation process is slow, the probability of contact infection is also increased, the intelligent epidemic prevention robot replaces manpower to realize epidemic prevention work in epidemic prevention, but the robot has the following problems in use:
in the running process of the epidemic prevention robot, the internal program is likely to fail, the robot cannot perform self-inspection on the internal program at regular time, and when the robot fails, alarm prompt is inconvenient in time, so that epidemic prevention work is easily affected;
in the epidemic prevention detection process of the epidemic prevention robot, the monitoring center is inconvenient to monitor the running condition of the epidemic prevention robot, and the monitoring center cannot acquire notification in time when the robot runs out of order.
Therefore, we propose a digital intelligent epidemic prevention robot fault alarm system based on laser navigation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a digital intelligent epidemic prevention robot fault alarm system based on laser navigation, which solves the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a digital intelligent epidemic prevention robot fault alarm system based on laser navigation, includes casing (1), central processing unit (2), actuating system (3), disinfection spraying system (4), fault detection system (5), epidemic prevention detecting system (6) and power management system (7), its characterized in that: the intelligent disinfection and protection system is characterized in that a central processing unit (2) and a fault detection system (5) are fixedly installed inside the machine shell (1) respectively, the fault detection system (5) is electrically connected with the central processing unit (2) through a wireless data communication module, a machine head (19) is fixedly connected to the upper surface of the machine shell (1), a wireless module (9) is fixedly installed on the back surface of the machine head (19), a driving base (15) is fixedly connected to the bottom surface of the machine shell (1), the central processing unit (2) is electrically connected with a driving system (3), a disinfection spraying system (4), an epidemic prevention detection system (6) and a power management system (7) respectively through wires, the driving system (3), the disinfection spraying system (4), the epidemic prevention detection system (6) and the power management system (7) are electrically connected with the fault detection system (5) through wires respectively, the central processing unit (2) is connected with a server (10) through a wireless module (9) network, the server (10) is electrically connected with a monitoring terminal (11) through wires, the monitoring terminal (11) is electrically connected with an alarm terminal (12) through wires, and the alarm terminal (11) is connected with the mobile terminal (8) through the wireless module (8) network;
the fault detection system (5) comprises a voltage detection module (501), a current detection module (502), a signal detection module (503), a temperature detection module (504), a detection data processing module and a wireless data communication module; the central processing unit (2) is provided with a wireless communication port,
wherein the voltage detection module (501) is used for realizing voltage detection of circuit data information;
the current detection module (502) is used for realizing current detection of circuit data information;
the signal detection module (503) is used for detecting abnormal signals of circuit data information communication;
the temperature detection module (504) is used for realizing circuit data information and temperature data information detection;
the detection data processing module comprises a CNN algorithm model;
the wireless data communication module is used for realizing wireless communication of detection data information through a local area network, bluetooth or a blockchain interface;
the CNN algorithm model comprises a coding module, a fusion module, a convolution processing module, a detection calculation module and an output module, wherein the coding module is used for coding input detection data information; so that the CNN algorithm model can be identified, analyzed and applied;
the fusion module is used for carrying out multidimensional fusion on the input data information;
the convolution processing module carries out convolution calculation on the input data information;
the detection calculation module monitors the monitored data information;
the output module outputs the output data information.
As a preferable technical scheme of the invention, a separation plate is fixedly arranged in the shell, a disinfectant storage cavity is arranged above the separation plate, and a device mounting cavity is arranged below the separation plate.
As a preferable technical scheme of the invention, the driving system comprises a laser navigation system and a driving wheel set, wherein the laser navigation system is fixedly arranged in a driving base, the driving wheel set is fixedly arranged on the bottom surface of the driving base, an anti-collision rubber ring is fixedly arranged on the front surface of the driving base, and a laser emission port is arranged on the front surface of the driving base; the laser navigation system comprises a laser positioning module, and the robot positioning is realized through the laser positioning module.
As a preferred technical scheme of the invention, the disinfection spraying system comprises an atomization spray head, a wind hole, a fan, an extraction pipe, an air inlet and a water pump, wherein the atomization spray head is arranged at the top end of a machine head, the water pump is arranged in the machine head, the output end of the water pump is fixedly communicated with the bottom end of the atomization spray head through a pipeline, the extraction pipe is fixedly communicated with the output end of the water pump, the bottom end of the extraction pipe penetrates through a machine shell and extends to the inside of the machine shell, the air inlet is formed in the right side surface of the machine head, the fan is fixed on the right side surface of the machine head, a liquid level window is arranged on the back surface of the machine shell, a medicine injection hopper is fixedly communicated with the front surface of the machine shell, and a movable cover is hinged to the top end of the medicine injection hopper.
As a preferable technical scheme of the invention, the epidemic prevention detection system comprises a fixed sleeve, a supporting pipe, an infrared thermometer, a face recognition device, a connecting plate, a sliding chute, a motor, a bearing, a screw rod and a screw barrel, wherein the two fixed sleeves are respectively and fixedly arranged on the left side surface and the right side surface of a casing, the supporting pipe is connected inside each fixed sleeve in a sliding manner, the motor is fixedly arranged at the top end of each fixed sleeve, the screw rod is fixedly arranged at the output end of each motor, the screw barrel is fixedly embedded at one end of each supporting pipe, the bearing is fixedly embedded at the top end of each fixed sleeve, the bottom end of each screw rod sequentially penetrates through the bearing and the screw barrel and extends to the inside of the supporting pipe, and each screw rod is in threaded connection with the screw barrel.
As a preferable technical scheme of the invention, one side surface of each fixing sleeve, which is far away from each other, is provided with a sliding groove, the inside of each sliding groove is connected with a connecting plate in a sliding way, one end of each connecting plate, which is far away from each other, is fixedly connected with a supporting tube, and the other ends of the supporting tubes are respectively and fixedly provided with an infrared thermometer and a face recognition device.
As a preferable technical scheme of the invention, the power management system comprises a storage battery, a charging connector and a charging seat, wherein the storage battery is electrically connected with the charging connector through a wire, a mounting plate is fixedly arranged on one side surface of the charging seat, and two mounting holes are formed in one side surface of the mounting plate.
As a preferable technical scheme of the invention, the front surface of the machine head is provided with the indicator lamp, the indicator lamp is electrically connected with the central processing unit through the wireless data communication module, the left side surface and the right side surface of the driving base are provided with the radiating windows, and the front surface of the machine shell is provided with the ventilating windows.
As a preferable technical scheme of the invention, the back of the shell is movably hinged with an access door through a hinge, and the back of the access door is provided with a buckling groove.
As a preferable technical scheme of the invention, the working process of the CNN algorithm model is as follows:
robot operation and maintenance parameters to be input
The one-dimensional data is converted into a two-dimensional matrix, and the decomposed CNN detection parameters are expressed as follows:
in the formula (1), the components are as follows,
representing the size of the CNN convolution kernel in the detection model during detection +.>
Representing the size of the data of the operation parameters of the detection system; the detection parameters for reducing the original CNN detection after convolution decomposition are shown by a formula (1);
the parameter comparison function of the depth separation CNN and the standard CNN is:
in the formula (2), P represents a parameter of the standard CNN,
CNN parameters after depth separation improvement, s is CNN parameter type, and input robot operation and maintenance parameters ∈>
Performing convolution operation with the convolution kernel of the layer, the convolution function being expressed as:
in the formula (3), the amino acid sequence of the compound,
output of convolution layer representing detection model in detection process,/->
Representing the detection mode in the detection processInput of convolution kernel, < >>
Representing the entered robot operation parameters, +.>
Representing convolution operations +.>
Representing the bias of the detection model convolution layer in the detection process; />
Representing a convolution kernel sequence,/->
Representing the number of convolution kernels>
Representing a convolution kernel identification;
the convolution module is followed by batch standardized processing and activation functions, which are expressed as:
in the formula (4), the amino acid sequence of the compound,
representing a batch normalization process,/->
Representing an activation function->
Convolution module representing an identification model->
Representing a batch normalization processing function->
Representing the activation function, adding an adjustment factor, the adjustment factorThe function is: />
In the formula (5), the amino acid sequence of the compound,
system operation status information indicating inputs and outputs of batch layer,/for a batch layer>
Represents an adjustment factor->
Representing the previous layer convolution output in the monitoring model, +.>
Weight coefficient representing monitoring model, +.>
Characteristic value representing system sample data, +.>
Indicating batch layer constants; the safety state index function is:
in the formula (6), the amino acid sequence of the compound,
representing the probability of detecting a failure in the intelligent epidemic prevention robot,/for>
Indicates the number of times the fault was detected, +.>
Representing the size of the sliding window in the model, +.>
Indicating the received eventTotal number of barrier types>
Indicating the type of fault subject to the fault +.>
Indicating the total number of detected fault types +.>
Representing a safety monitoring value of the current detection system; when->
At (0.0-0.25)]During the interval, no fault alarm occurs; when->
At (0.25-0.45)]During the interval, the fault alarm is a primary alarm; when->
At (0.45-0.65)]During the interval, the fault alarm is a secondary alarm; when->
At (0.65-0.90)]During the interval, the fault alarm is three-level alarm; when->
At (0.90-1.00)]And during the interval, the fault alarm is a four-level alarm.
Compared with the prior art, the invention provides a digital intelligent epidemic prevention robot fault alarm system based on laser navigation, which has the following beneficial effects:
1. this digital intelligent epidemic prevention robot fault alarm system based on laser navigation is connected with inside actuating system, disinfection spraying system, epidemic prevention detecting system and the power management system of robot through setting up fault detection system, built-in voltage detection module in the fault detection system, current detection module, signal detection module and temperature detection module, can detect each system running condition of robot, fault detection system is connected with central processing unit, send the central processing unit with the detection data, and central processing unit passes through wireless module and is connected with the server, can monitor the service condition of robot through monitor terminal and mobile terminal, monitor terminal is connected with the alarm moreover, when robot running system breaks down, monitor terminal can start the alarm and report to the police and point out, also receive the SMS suggestion on mobile terminal simultaneously, make things convenient for the manager to overhaul in time.
2. This digital intelligent epidemic prevention robot fault alarm system based on laser navigation through setting up central processing unit and fault detection system, can regularly detect four systems inside the robot, guarantees the normal operating of robot, and this robot adopts laser navigation system to navigate actuating system moreover, can be in real time with the position display coordinates of robot on, also can set for epidemic prevention robot's walking route, makes the robot remove according to the route of settlement.
3. This digital intelligent epidemic prevention robot fault alarm system based on laser navigation sets up fixed cover through the both sides at the casing, and the inside slip of fixed cover is provided with the stay tube, sets up infrared thermometer and face recognition device respectively on two stay tubes, and infrared thermometer can carry out temperature detection to the personnel of process, and face recognition device makes things convenient for the robot to acquire the personnel information of process, is convenient for carry out epidemic prevention record, sets up the motor at the top of fixed cover, drives lead screw and silk section of thick bamboo cooperation through the motor, can realize the lift to the stay tube, conveniently adjusts infrared thermometer and face recognition device.
4. This digital intelligent epidemic prevention robot fault alarm system based on laser navigation through set up atomizer at the top of aircraft nose, atomizer and the inside water pump intercommunication of aircraft nose, adds the antiseptic solution in the inside of casing, through the cooperation of extraction pipe and water pump, can follow atomizer blowout with the antiseptic solution, is convenient for epidemic prevention disinfection and uses.
Drawings
FIG. 1 is a schematic diagram of a fault alarm detection system according to the present invention;
FIG. 2 is a schematic perspective view of an epidemic prevention robot according to the present invention;
FIG. 3 is a top view of the drive base of the present invention;
FIG. 4 is a front cross-sectional view of the housing and handpiece of the present invention;
FIG. 5 is a front cross-sectional view of a retaining sleeve of the present invention;
FIG. 6 is a rear view of the housing of the present invention;
in the figure: 1. a housing; 2. a central processing unit; 3. a drive system; 301. a laser navigation system; 302. a driving wheel group; 4. a disinfection spray system; 401. an atomizing nozzle; 402. a wind hole; 403. a fan; 404. an extraction tube; 405. an air inlet; 406. a water pump; 5. a fault detection system; 501. a voltage detection module; 502. a current detection module; 503. a signal detection module; 504. a temperature detection module; 6. an epidemic prevention detection system; 601. a fixed sleeve; 602. a support tube; 603. an infrared thermometer; 604. a face recognition device; 605. a connecting plate; 606. a chute; 607. a motor; 608. a bearing; 609. a screw rod; 610. a yarn cylinder; 7. a power management system; 701. a storage battery; 702. a charging connector; 703. a charging stand; 8. a mobile terminal; 9. a wireless module; 10. a server; 11. a monitoring terminal; 12. an alarm; 13. an indicator light; 14. a ventilation window; 15. a driving base; 16. an anti-collision rubber ring; 17. a laser emitting port; 18. a movable cover; 19. a machine head; 20. a medicine injection hopper; 21. a heat radiation window; 22. a buckling groove; 23. a mounting plate; 24. a mounting hole; 25. a partition plate; 26. a liquid level window; 27. an access door.
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.
Examples: referring to fig. 1 to 6, in the present embodiment: the utility model provides a digital intelligent epidemic prevention robot fault alarm system based on laser navigation, including casing 1, central processing unit 2, actuating system 3, disinfection spraying system 4, fault detection system 5, epidemic prevention detecting system 6 and power management system 7, the inside of casing 1 is fixed mounting respectively central processing unit 2 and fault detection system 5, fault detection system 5 passes through the wire and is connected with central processing unit 2 electricity, the upper surface fixedly connected with aircraft nose 19 of casing 1, the back fixed mounting of aircraft nose 19 has wireless module 9, the bottom surface fixedly connected with actuating base 15 of casing 1, central processing unit 2 passes through the wire and is connected with actuating system 3 respectively, disinfection spraying system 4, epidemic prevention detecting system 6 and power management system 7 electricity respectively, actuating system 3, disinfection spraying system 4, epidemic prevention detecting system 6 and power management system 7 pass through the wire and are connected with fault detection system 5 respectively, central processing unit 2 passes through wireless module 9 detects and is connected with server 10, server 10 passes through the wire and is connected with monitor terminal 11, monitor terminal 11 passes through the wire and is connected with alarm 12, server 10 passes through wireless module 9 and is connected with mobile terminal 8.
The fault detection system 5 comprises a voltage detection module 501, a current detection module 502, a signal detection module 503, a temperature detection module 504, a detection data processing module and a wireless data communication module; the central processor 2 is provided with a wireless communication port,
wherein the voltage detection module 501 is configured to implement voltage detection of circuit data information;
the current detection module 502 is used for realizing current detection of circuit data information;
the signal detection module 503 is configured to detect an abnormal signal of circuit data information communication;
the temperature detection module 504 is configured to implement circuit data information and temperature data information detection;
the detection data processing module comprises a CNN algorithm model;
the wireless data communication module is used for realizing wireless communication of detection data information through a local area network, bluetooth or a blockchain interface.
In this embodiment, a partition plate 25 is fixedly installed inside a casing 1, a disinfectant storage cavity is above the partition plate 25, a device installation cavity is below the partition plate 25, the casing 1 is divided into two cavities by the partition plate 25, one cavity is convenient for installing devices, the other cavity is convenient for storing disinfectant, a fault detection system 5 comprises a voltage detection module 501, a current detection module 502, a signal detection module 503 and a temperature detection module 504, a plurality of detection modules are built in the fault detection system 5, detection of voltage, current, signals and temperature is respectively realized, the fault detection system adopts a mode identification technology, the change of the working states of the devices before and after a fault is recorded, then mode identification is performed, the fault is judged according to different working modes, and an alarm is given; the fault detection system 5 consisting of the voltage detection module 501, the current detection module 502, the signal detection module 503 and the temperature detection module 504 is directly connected with the central processing unit 2, and the detected fault information is directly transmitted to the central processing unit 2 for processing. The central processing unit 2 is connected with the server 10 through the wireless module 9, the use condition of the robot is monitored through the monitoring terminal 11 and the mobile terminal 8, the monitoring terminal 11 is connected with the alarm 12, and when the operation system of the robot fails, the monitoring terminal 11 can start the alarm 12 to give an alarm prompt; while an indicator light 13 connected to the central processing unit 2 lights up a red light. The driving system 3 comprises a laser navigation system 301 and a driving wheel set 302, the laser navigation system 301 is fixedly arranged in the driving base 15, the driving wheel set 302 is fixedly arranged on the bottom surface of the driving base 15, the anti-collision rubber ring 16 is fixedly arranged on the front surface of the driving base 15, the laser emission opening 17 is arranged on the front surface of the driving base 15, and the laser navigation system is matched with the driving wheel set 302 in the laser navigation system 301 to indicate the path, the coordinates and the surrounding environment by using laser so as to realize autonomous navigation. The system uses a laser rangefinder to detect the surrounding environment, constructs a coordinate system through distance detection and positioning techniques, and then utilizes the coordinate system to navigate autonomously. Firstly, the laser range finder emits a plurality of laser beams to perform multi-point distance measurement, and then the laser range finder collects the laser beams reflected by the obstacle, so that the direction, the distance and the volume of the obstacle can be determined. The system constructs a coordinate system based on the direction, distance and volume of the detected obstacle, realizes the position display of the robot, and then plans a specified route according to the coordinate system, so that the robot can move according to the specified route.
In this embodiment, disinfection spraying system 4 includes atomizer 401, the wind hole 402, fan 403, extraction pipe 404, air intake 405 and water pump 406, atomizer 401 installs in the top with aircraft nose 19, water pump 406 installs in the inside of aircraft nose 19, the output of water pump 406 passes through the bottom fixed intercommunication of pipeline and atomizer 401, the fixed intercommunication of output of water pump 406 has extraction pipe 404, the bottom of extraction pipe 404 runs through casing 1 and extends to the inside of casing 1, air intake 405 is seted up in the right flank of aircraft nose 19, fan 403 is fixed in the right flank of aircraft nose 19, the back of casing 1 is equipped with liquid level window 26, the front fixed intercommunication of casing 1 has medicine injection fill 20, the top of medicine injection fill 20 articulates there is movable cover 18, through set up atomizer 401 at the top of aircraft nose 19, atomizer 401 communicates with the inside water pump 406 of aircraft nose 19, add the antiseptic solution in the inside of casing 1, through the cooperation of extraction pipe 404 and water pump 406, spout antiseptic solution from atomizer 401, set up fan 403 and air intake 405, the diffusion of spraying can increase the disinfection scope.
In this embodiment, epidemic prevention detecting system 6 includes fixed cover 601, stay tube 602, infrared thermometer 603, face recognition device 604, connecting plate 605, spout 606, motor 607, bearing 608, lead screw 609 and silk section of thick bamboo 610, two fixed covers 601 respectively fixed mounting in the left and right sides face of casing 1, the inside of every fixed cover 601 all sliding connection has stay tube 602, the equal fixed mounting in top of every fixed cover 601 has motor 607, the equal fixed mounting of output of every motor 607 has lead screw 609, the silk section of thick bamboo 610 is all fixed to the one end of every stay tube 602, the equal fixed bearing 608 that inlays of top of every fixed cover 601, the bottom of every lead screw 609 runs through bearing 608 and silk section of thick bamboo 610 in proper order and extends to the inside of stay tube 602, every lead screw 609 all with silk section of thick bamboo 610 threaded connection, the spout 606 has all been seted up to one side that two fixed covers 601 keep away from each other, the inside of every spout 606 all sliding connection has stay tube 605, the equal fixed mounting in top of every fixed cover 602 has infrared thermometer 603 and face recognition device 604, the one end of every stay tube 602 respectively, the setting up at the inside of casing 602 through infrared thermometer 603 and face recognition device 604 and setting up at the face recognition device 602, the temperature detector 602 is convenient for the people, the temperature detector is set up on the inside the casing 602, the temperature sensor is convenient for the temperature detector 602, the temperature detector is set up at the inside the temperature sensor 602.
The power management system 7 comprises a storage battery 701, a charging connector 702 and a charging seat 703, the storage battery 701 is electrically connected with the charging connector 702 through a wire, a side surface of the charging seat 703 is fixedly provided with a mounting plate 23, two mounting holes 24 are formed in one side surface of the mounting plate 23, the mounting plate 23 and the mounting holes 24 are convenient to fix the charging seat 703, the charging connector 702 is convenient to connect with the charging seat 703 for charging, an indicator lamp 13 is arranged on the front surface of a machine head 19 and is electrically connected with a central processing unit 2 through the wire, radiating windows 21 are formed in the left side surface and the right side surface of a driving base 15, a ventilation window 14 is formed in the front surface of a machine shell 1, the indicator lamp 13 is convenient to indicate the running state of a robot, the indicator lamp 13 is not lighted in normal running, when faults occur, an access door 27 is movably hinged to the back surface of the machine shell 1 through a hinge, a buckling groove 22 is formed in the back surface of the access door 27, and the access door 27 is convenient to overhaul and maintain the robot.
The working principle and the using flow of the invention are as follows: when the anti-epidemic system is used, the fault detection system 5 is arranged in the shell 1, the driving system 3, the disinfection spraying system 4, the epidemic prevention detection system 6 and the power management system 7 of the robot are connected with the fault detection system 5, the wireless module 9 of the central processing unit 2 of the robot is connected with the server 10 in the monitoring room, the monitoring terminal 11 and the mobile terminal 8 are convenient to receive monitoring information, the driving system 3 of the robot adopts the laser navigation system 301 to control the driving wheel set 302, the position of the robot is displayed on coordinates, the running route of the epidemic prevention robot can be set, the robot moves according to the set route, the atomizing nozzle 401 is communicated with the water pump 406 in the machine head 19 through the arrangement of the atomizing nozzle 401 at the top of the machine head 19, disinfectant is added into the shell 1, and the disinfectant is sprayed out of the atomizing nozzle 401 through the cooperation of the extracting pipe 404 and the water pump 406, so that epidemic prevention and disinfection are convenient to use;
through setting up fixed cover 601 in the both sides of casing 1, the inside slip of fixed cover 601 is provided with stay tube 602, set up infrared thermometer 603 and face recognition ware 604 respectively on two stay tubes 602, infrared thermometer 603 carries out temperature detection to the personnel of passing by, face recognition ware 604 makes things convenient for the robot to acquire personnel's information of passing by, be convenient for carry out epidemic prevention record, built-in voltage detection module 501 in the fault detection system 5, electric current detection module 502, signal detection module 503 and temperature detection module 504, detect each system behavior of robot in the robot operation, send the test data to central processing unit 2, and central processing unit 2 is connected with server 10 through wireless module 9, can monitor the service behavior of robot through monitor terminal 11 and mobile terminal 8 connection server 10, monitor terminal 11 is connected with alarm 12 moreover, when the robot operation system breaks down, monitor terminal 11 can drive alarm 12 and report to the police and point, also receive the short message suggestion simultaneously on mobile terminal 8, make things convenient for the manager to carry out the maintenance in time.
The laser navigation system 301 comprises a laser positioning module, and the robot positioning is realized through the laser positioning module.
In specific application, the laser positioning module controls the robot body, calibration and display of data information can be realized, when the control realizes that the position of the robot is displayed on coordinates, the laser positioning module is provided with positioning light beams, and the light beams are positioned to the position of the robot under the control of the control center.
The principle of laser positioning is to determine the position of a target object by detecting the spatial position of a laser beam by receiving the laser beam by a laser detector by utilizing the property of the laser beam propagating in space. The laser positioning system consists of a transmitter, a detector, a computer and the like, wherein the laser transmitter transmits laser, the laser detector receives the laser, and the computer receives the signal of the laser detector to calculate the laser propagation position, thereby determining the position of the target object, and realizing positioning by the principle.
In a further embodiment, the CNN algorithm model includes an encoding module, a fusion module, a convolution processing module, a detection calculation module, and an output module, where the encoding module is configured to encode input detection data information; so that the CNN algorithm model can be identified, analyzed and applied;
the fusion module is used for carrying out multidimensional fusion on the input data information;
the convolution processing module carries out convolution calculation on the input data information;
the detection calculation module monitors the monitored data information;
the output module outputs the output data information.
The CNN algorithm model is described in detail below in connection with specific embodiments, which are based on convolutional neural detection (Convolutional Neural Networks,CNN) The method has the advantages that the characteristics of weight sharing and local perception of convolutional neural detection are effectively utilized, the convolutional decomposition technology is fused, the detection parameters are fully reduced, the detection depth is increased, the relation between safety states before failure data information occurs is better considered, the time sequence relation between detection data is better utilized, and therefore the detection effect in the detection process is improved.
The invention improves CNN detection by utilizing a convolution decomposition technology, combines convolution operation after convolution is carried out in different directions in steps, and can decompose the CNN detection into a channel direction, an X direction and a Y direction and also can decompose the CNN detection in part of directions when the convolution decomposition is carried out. Robot operation and maintenance parameters to be input
One-dimensional data are converted into a two-dimensional matrix, and a detection model in the detection process can be enabled to be +.>
With lower calculation amount, the decomposed CNN detection parameters can be expressed as:
in the formula (1), the components are as follows,
representing the size of the CNN convolution kernel in the detection model during detection +.>
Representing the size of the data of the operating parameters of the detection system. The detection parameters of the original CNN detection are reduced after convolution decomposition through the formula (1), and meanwhile, the depth of the original model is multiplied after decomposition, so that the nonlinear capability of the monitoring model is enhanced. And then separating the convolution channel and the space channel by using a depth separable technology, wherein the separable convolution step-by-step operation is performed, and the parameter comparison condition of the depth separable CNN and the standard CNN can be expressed as follows:
in the formula (2), the amino acid sequence of the compound,
parameters representing standard CNN, < >>
The CNN parameters after depth separation improvement show that the depth separation convolution is represented by the formula (2) so as to greatly reduce the parameter number of the detection model in the detection process, and simultaneously ensure the convolution effect and the detection expression effect. The structure of the detection model in the improved detection process is shown in fig. 5.
The fig. 5 includes convolution detection and pooling layers, the first two layers of improved CNN detection apply convolution decomposition technology, the third layer is depth separable convolution, and a relation between different channels at the same position of the feature map is established, so that data output dimension adjustment can be performed through the convolution of the layers. Input robot operation and maintenance parameters
Performing a convolution operation with the convolution kernel of the layer can be expressed as: />
In the formula (3), the amino acid sequence of the compound,
output of convolution layer representing detection model in detection process,/->
Input representing the convolution kernel of the detection model during detection,/->
Representing the entered robot operation parameters, +.>
Representing convolution operations +.>
Indicating the bias of the convolution layer of the detection model during detection,/->
Representing a convolution kernel sequence,/->
Representing the number of convolution kernels>
Representing the convolution kernel identification. The formula (3) shows the feature extraction operation of the detection model in the detection process, and after the convolution operation of the detection model in the detection process is completed, the convolution module is followed by batch standardization processing and activation functions, which can be expressed as follows:
in the formula (4), the amino acid sequence of the compound,
representing a batch normalization process,/->
Representing an activation function->
Convolution module representing an identification model->
Representing a batch normalization processing function->
The activation function is represented, the activation function in the formula (4) is a nonlinear unit in detection, so that a detection model in the detection process represents more complex detection safety conditions, and the activation function can be represented by adding an adjustment factor:
in the formula (5), the amino acid sequence of the compound,
system operation state information indicating input and output of batch layer,
Represents an adjustment factor->
Representing the previous layer convolution output in the monitoring model, +.>
Weight coefficient representing monitoring model, +.>
Characteristic value representing system sample data, +.>
Indicating batch layer constants. Equation (5) represents the system operating state information profile output by the adjustment factor control model convolution layer. After feature extraction and fusion of the running state parameters of the information system of the detection system are completed, the safety state of the current system is quantified by considering the influence of detection faults in the system in the current period of time on the safety of the information systemThe state index may be expressed as:
in the formula (6), the amino acid sequence of the compound,
representing the probability of suffering from a detection failure in an intelligent epidemic prevention robot,/->
Indicates the number of times the fault was detected, +.>
Representing the size of the sliding window in the model, +.>
Representing the total number of types of faults received +.>
Indicating the type of fault subject to the fault +.>
Indicating the total number of detected fault types +.>
Representing the safety monitoring value of the current detection system. When->
At (0.0-0.25)]When in interval, the system safety state is excellent; when->
At (0.25-0.45)]When the interval is carried out, the system safety state is good; when->
At (0.45-0.65)]When the interval is carried out, the system safety state is the middle; when->
At (0.65-0.90)]System for interval timeThe safety state is poor; when->
At (0.90-1.00)]And in the interval, the system safety state is dangerous. />
In a specific embodiment, the primary alarm is small fault data information, such as a robot indicator light fault;
in a specific embodiment, the secondary alarm is a travel track fault alarm, such as a robot path misalignment;
in a specific embodiment, the three-level alarm is that the control center fails, such as abnormal control of the control center;
in a specific embodiment, the four-stage alarm is the condition that the robot stops operating and maintaining and has larger faults.
The fault degree is that four-level alarm is greater than three-level alarm is greater than two-level alarm is greater than one-level alarm.
In the description of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. It should be noted that in this document, relational terms such as "first," "second," and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a digital intelligent epidemic prevention robot fault alarm system based on laser navigation, includes casing (1), central processing unit (2), actuating system (3), disinfection spraying system (4), fault detection system (5), epidemic prevention detecting system (6) and power management system (7), its characterized in that: the intelligent disinfection and protection system is characterized in that a central processing unit (2) and a fault detection system (5) are fixedly installed inside the machine shell (1) respectively, the fault detection system (5) is electrically connected with the central processing unit (2) through a wireless data communication module, a machine head (19) is fixedly connected to the upper surface of the machine shell (1), a wireless module (9) is fixedly installed on the back surface of the machine head (19), a driving base (15) is fixedly connected to the bottom surface of the machine shell (1), the central processing unit (2) is electrically connected with a driving system (3), a disinfection spraying system (4), an epidemic prevention detection system (6) and a power management system (7) respectively through wires, the driving system (3), the disinfection spraying system (4), the epidemic prevention detection system (6) and the power management system (7) are electrically connected with the fault detection system (5) through wires respectively, the central processing unit (2) is connected with a server (10) through a wireless module (9) network, the server (10) is electrically connected with a monitoring terminal (11) through wires, the monitoring terminal (11) is electrically connected with an alarm terminal (12) through wires, and the alarm terminal (11) is connected with the mobile terminal (8) through the wireless module (8) network;
the fault detection system (5) comprises a voltage detection module (501), a current detection module (502), a signal detection module (503), a temperature detection module (504), a detection data processing module and a wireless data communication module; the central processing unit (2) is provided with a wireless communication port,
wherein the voltage detection module (501) is used for realizing voltage detection of circuit data information;
the current detection module (502) is used for realizing current detection of circuit data information;
the signal detection module (503) is used for detecting abnormal signals of circuit data information communication;
the temperature detection module (504) is used for realizing circuit data information and temperature data information detection;
the detection data processing module comprises a CNN algorithm model;
the wireless data communication module is used for realizing wireless communication of detection data information through a local area network, bluetooth or a blockchain interface;
the CNN algorithm model comprises a coding module, a fusion module, a convolution processing module, a detection calculation module and an output module, wherein the coding module is used for coding input detection data information; so that the CNN algorithm model can be identified, analyzed and applied;
the fusion module is used for carrying out multidimensional fusion on the input data information;
the convolution processing module carries out convolution calculation on the input data information;
the detection calculation module monitors the monitored data information;
the output module outputs the output data information.
2. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: the inside of casing (1) is fixed mounting has division board (25), the top of division board (25) is antiseptic solution storage chamber, the below of division board (25) is the equipment erection chamber.
3. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: the driving system (3) comprises a laser navigation system (301) and a driving wheel set (302), the laser navigation system (301) is fixedly arranged in the driving base (15), the driving wheel set (302) is fixedly arranged on the bottom surface of the driving base (15), an anti-collision rubber ring (16) is fixedly arranged on the front surface of the driving base (15), and a laser emitting opening (17) is formed in the front surface of the driving base (15); the laser navigation system (301) comprises a laser positioning module, and the robot positioning is realized through the laser positioning module.
4. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: the disinfection spraying system (4) comprises an atomization nozzle (401), an air hole (402), a fan (403), an extraction pipe (404), an air inlet (405) and a water pump (406), wherein the atomization nozzle (401) is arranged at the top end of the machine head (19), the water pump (406) is arranged inside the machine head (19), the output end of the water pump (406) is fixedly communicated with the bottom end of the atomization nozzle (401) through a pipeline, the output end of the water pump (406) is fixedly communicated with the extraction pipe (404), the bottom end of the extraction pipe (404) penetrates through the machine shell (1) and extends to the inside of the machine shell (1), the air inlet (405) is formed in the right side surface of the machine head (19), the fan (403) is fixed on the right side surface of the machine head (19), the back surface of the machine shell (1) is provided with a liquid level window (26), the front surface of the machine shell (1) is fixedly communicated with a medicine injection hopper (20), and the top end of the medicine injection hopper (20) is hinged with a movable cover (18).
5. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: epidemic prevention detecting system (6) is including fixed cover (601), stay tube (602), infrared thermometer (603), face identification ware (604), connecting plate (605), spout (606), motor (607), bearing (608), lead screw (609) and silk section of thick bamboo (610), two fixed cover (601) respectively fixed mounting is in the left and right sides face of casing (1), every the inside of fixed cover (601) is all sliding connection has stay tube (602), every the equal fixed mounting in top of fixed cover (601) has motor (607), every the equal fixed mounting in output of motor (607) has lead screw (609), every the one end of stay tube (602) is all fixed to be inlayed and is had silk section of thick bamboo (610), every the top of fixed cover (601) is all fixed to be inlayed and is had bearing (608), and every the bottom of lead screw (609) runs through bearing (608) and silk section of thick bamboo (610) in proper order and extends to the inside of stay tube (602), every lead screw (609) all with silk section of thick bamboo (610) threaded connection.
6. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 5, wherein: two fixed cover (601) are kept away from each other one side all has seted up spout (606), every the inside of spout (606) is all sliding connection has connecting plate (605), two one end that connecting plate (605) kept away from each other all with stay tube (602) fixed connection, two the other end of stay tube (602) is fixed mounting respectively has infrared thermometer (603) and face recognition device (604).
7. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: the power management system (7) comprises a storage battery (701), a charging connector (702) and a charging seat (703), wherein the storage battery (701) is electrically connected with the charging connector (702) through a wire, a mounting plate (23) is fixedly arranged on one side surface of the charging seat (703), and two mounting holes (24) are formed in one side surface of the mounting plate (23).
8. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: the front of aircraft nose (19) sets up pilot lamp (13), pilot lamp (13) are connected with central processing unit (2) electricity through wireless data communication module, cooling window (21) have all been seted up to the left and right sides face of drive base (15), the front of casing (1) is equipped with ventilation window (14).
9. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system according to claim 1, wherein: the back of casing (1) is articulated through the hinge activity has access door (27), catching groove (22) have been seted up at the back of access door (27).
10. The laser navigation-based digital intelligent epidemic prevention robot fault alarm system of claim 1, wherein:
the working process of the CNN algorithm model is as follows:
robot operation and maintenance parameters to be input
The one-dimensional data is converted into a two-dimensional matrix, and the decomposed CNN detection parameters are expressed as follows:
in the formula (1), the components are as follows,
representing the size of the CNN convolution kernel in the detection model during detection +.>
Representing the size of the data of the operation parameters of the detection system; the detection parameters for reducing the original CNN detection after convolution decomposition are shown by a formula (1);
the parameter comparison function of the depth separation CNN and the standard CNN is:
in the formula (2), the amino acid sequence of the compound,
parameters representing standard CNN, < >>
CNN parameters after depth separation improvement, s is CNN parameter type, and input robot operation and maintenance parameters ∈>
Performing convolution operation with the convolution kernel of the layer, the convolution function being expressed as:
in the formula (3), the amino acid sequence of the compound,
output of convolution layer representing detection model in detection process,/->
Input representing the convolution kernel of the detection model during detection,/->
Representing the entered robot operation parameters, +.>
Representing convolution operations +.>
Representing the bias of the detection model convolution layer in the detection process; />
Representing a convolution kernel sequence,/->
Representing the number of convolution kernels>
Representing a convolution kernel identification;
the convolution module is followed by batch standardized processing and activation functions, which are expressed as:
in the formula (4), the amino acid sequence of the compound,
representing a batch normalization process,/->
Representing an activation function->
Convolution module representing an identification model->
Representing a batch normalization processing function->
Representing an activation function, adding an adjustment factor, wherein the adjustment factor function is as follows:
in the formula (5), the amino acid sequence of the compound,
system operation status information indicating inputs and outputs of batch layer,/for a batch layer>
Represents an adjustment factor->
Representing the previous layer convolution output in the monitoring model, +.>
Weight coefficient representing monitoring model, +.>
Characteristic value representing system sample data, +.>
Indicating batch layer constants; the safety state index function is:
in the formula (6), the amino acid sequence of the compound,
representing the probability of detecting a failure in the intelligent epidemic prevention robot,/for>
Indicates the number of times the fault was detected, +.>
Representing the size of the sliding window in the model, +.>
Representing the total number of types of faults received +.>
Indicating the type of fault subject to the fault +.>
Indicating the total number of detected fault types +.>
Representing a safety monitoring value of the current detection system; when->
At (0.0-0.25)]During the interval, no fault alarm occurs; when->
At (0.25-0.45)]During the interval, the fault alarm is a primary alarm; when->
At (0.45-0.65)]During the interval, the fault alarm is a secondary alarm; when->
At (0.65-0.90)]During the interval, the fault alarm is three-level alarm; when->
At (0.90-1.00)]And during the interval, the fault alarm is a four-level alarm. />
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