CN211729198U

CN211729198U - Non-contact automatic human body temperature measuring robot

Info

Publication number: CN211729198U
Application number: CN202020238592.1U
Authority: CN
Inventors: 吕春哲; 刘辛军; 孟齐志; 谢福贵; 刘魁; 李鹏; 王金斗; 刘建辉
Original assignee: Yantai Qingkejia Robot Joint Research Institute Co ltd; Tsinghua University
Current assignee: Yantai Qingkejia Robot Joint Research Institute Co ltd; Tsinghua University
Priority date: 2020-03-02
Filing date: 2020-03-02
Publication date: 2020-10-23
Anticipated expiration: 2030-03-02

Abstract

A non-contact automatic human body temperature measuring robot comprises a first transmission device, a telescopic mechanism, a temperature measuring frame, a temperature measuring device, a base and an attitude retainer; first transmission fixed mounting is on the base, and telescopic machanism's both ends rotate with first transmission respectively and the gesture keeps the ware to rotate to be connected, and the temperature measurement frame links firmly in the gesture keeps the ware and has installed at least one temperature measuring device. The utility model discloses can carry out the body temperature measurement to personnel in the current vehicle that gets into entry such as various office buildings, market, residential district, dining room, hotel, hospital, examination hall, railway station, airport building, bus station, subway station and important traffic barrier such as high-speed crossing automatically, avoid the direct contact between personnel and then reduced the cross infection risk to show improvement measurement of efficiency. The robot is used for measuring the skin of a wrist pulse area covered by clothes, can represent the real body temperature of a human body and has high accuracy of measured data.

Description

Non-contact automatic human body temperature measuring robot

Technical Field

The utility model relates to a human temperature measurement technical field, in particular to non-contact human temperature automatic measure machine people.

Background

Body temperature detection is an important means for quarantine and epidemic prevention, and most of the existing human body temperature measurement products are handheld, such as: chinese patent application publication No. CN203953626U entitled "hand-held in-ear temperature tester" discloses a hand-held body temperature measuring device. By adopting the equipment, the temperature of personnel entering a residence community, a market, an office building, a subway station, a railway station, an airport and other personnel intensive places and key traffic hubs such as a high-speed entrance and exit need to be measured by being held by a worker. The workload is huge, a large amount of personnel investment is needed, and meanwhile, the risk of cross infection between workers and the tested personnel is increased. In addition, the outdoor environment is severe, manual temperature measurement operation is not facilitated, and temperature measurement accuracy and detection efficiency are difficult to guarantee.

In addition, although the existing face temperature measurement method is high in efficiency, the outdoor environment is unstable, and the accuracy of forehead temperature measurement is obviously influenced by the environment.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims at providing a non-contact human temperature automatic measuring robot need not the staff, can the automatic measure human body temperature.

The utility model aims at realizing through the following technical scheme:

in a first aspect, the utility model discloses a human temperature automatic measure machine people of non-contact, include: the device comprises a first transmission device, a telescopic mechanism, a temperature measuring frame, a temperature measuring device, a base and a posture retainer; the first transmission device is fixedly arranged on the base, one end of the telescopic mechanism is rotatably connected with the first transmission device, the other end of the telescopic mechanism is rotatably connected with the attitude retainer, the temperature measuring frame is fixedly connected with the attitude retainer, and at least one temperature measuring device is detachably arranged on the temperature measuring frame;

the temperature measuring device comprises a shell, a distributed processor, an environment temperature detection sensor, a heating module, a closed cavity and a temperature measuring head; the closed cavity is formed by a shell, and the heating module, the ambient temperature detection sensor, the temperature measuring head and the distributed processor are all positioned in the closed cavity; the closed cavity is provided with an opening, and the temperature detection head is positioned at the opening and is used for detecting the skin temperature of a human body; the heating module is used for heating the air inside the closed cavity, the environment temperature detection sensor is used for detecting the air temperature inside the closed cavity, and the heating module maintains the constant temperature inside the closed cavity under the control of the distributed processor.

Furthermore, when the number of the temperature measuring devices is more than 1, the positions of the temperature measuring devices can be adjusted.

Furthermore, the first transmission device comprises a first motor, a second motor, a first ball screw, a second ball screw, a first screw nut, a second screw nut, a first slide block, a second slide block and a first support frame; the first support frame, the first ball screw and the second ball screw are fixedly arranged on the base, and the first ball screw and the second ball screw are arranged in the middle of the first support frame; the first motor and the second motor are arranged on the first support frame and are respectively connected with one end of the first ball screw and one end of the second ball screw; two side walls of the first support frame are provided with first sliding guide rails; the middle of the first sliding block and the middle of the second sliding block are respectively provided with two through holes, a first lead screw nut is fixedly arranged in one through hole of the first sliding block, a second ball screw freely passes through the other through hole of the first sliding block, a second lead screw nut is fixedly arranged in one through hole of the second sliding block, and the first ball screw freely passes through the other through hole of the second sliding block; the first sliding block and the second sliding block are respectively provided with a first groove, and the first grooves are matched with the first sliding guide rail of the first support frame and slide up and down along the first sliding guide rail.

Further, the first transmission device comprises a third motor, a fourth motor, a first synchronous belt, a second synchronous belt, a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a third slide block, a fourth slide block and a second support frame; the second support frame is fixedly arranged on the base, the third motor and the fourth motor are arranged on the second support frame, and a second sliding guide rail is arranged on the vertical wall of the second support frame; the first belt wheel and the third belt wheel are respectively arranged on the third motor and the fourth motor; the second belt wheel and the fourth belt wheel are fixedly arranged on the base through two belt wheel frames respectively, and the second belt wheel and the fourth belt wheel can rotate in the two belt wheel frames respectively; the first synchronous belt is arranged on the first belt wheel and the second belt wheel, and the second synchronous belt is arranged on the third belt wheel and the fourth belt wheel; one end of the third sliding block is provided with a second groove, and the second groove is matched with the second sliding guide rail and slides up and down along the second sliding guide rail; the other end of the third sliding block is fixedly connected with the first synchronous belt; one end of the fourth sliding block is provided with a third groove, and the third groove is matched with the second sliding guide rail and slides up and down along the second sliding guide rail; the other end of the fourth sliding block is fixedly connected with the second synchronous belt.

Furthermore, the telescopic mechanism is a telescopic fence structure, and the fence structure comprises at least one transmission rod group; each transmission rod group consists of two transmission rods which are connected in a cross way, the crossed parts form a third revolute pair through a pin shaft, and the two transmission rods rotate around the third revolute pair; the transmission rod groups are rotationally connected through a fourth revolute pair; one transmission rod in the first transmission rod group is rotationally connected with the first sliding block through a first revolute pair, and the other transmission rod in the first transmission rod group is rotationally connected with the second sliding block through a second revolute pair; the other end of the fence structure is rotatably connected with an attitude retainer, and the attitude retainer is fixedly connected with the temperature measuring frame and is mutually vertical or parallel.

Further, the posture holder is a U-shaped fork, and two side walls of the U-shaped fork are respectively provided with a side wall opening.

Furthermore, when the U-shaped fork is perpendicular to the temperature measuring frame, one transmission rod in the last transmission rod group of the fence structure freely moves up and down in the opening of the side wall, a cylindrical pin is arranged at the tail end of one transmission rod in the last transmission rod group of the fence structure, the cylindrical surface of the cylindrical pin is slidably matched with the two side walls of the U-shaped fork, and the cylindrical surface of the cylindrical pin is driven by the corresponding transmission rod to move up and down between the two side walls of the U-shaped fork; meanwhile, the intersection of the tail end of the other transmission rod in the last transmission rod group of the fence structure and the two side walls of the U-shaped fork is in rotating connection through a fifth revolute pair.

Furthermore, when the U-shaped fork and the temperature measuring frame are parallel to each other, the intersection positions of the tail ends of the two transmission rods in the last transmission rod group of the fence structure and the two side walls of the U-shaped fork are rotatably connected through a sixth revolute pair; the pin roll cylindrical surface of the adjacent revolute pair is slidably matched with two side walls of the U-shaped fork and horizontally moves between the two side walls of the U-shaped fork; one of the transfer bars in the transfer group adjacent to the last transfer group is free to move horizontally in the side wall opening of the clevis.

Furthermore, the non-contact automatic human body temperature measuring robot further comprises a second transmission device, wherein the second transmission device comprises a guide rail base, a fifth motor, a third ball screw and a third screw nut; the guide rail base is provided with a third sliding guide rail, the fifth motor is installed at one end of the guide rail base, a third ball screw is horizontally arranged in the middle of the third guide rail, one end of the third ball screw is connected with the fifth motor, and the other end of the third ball screw is connected with the other end of the guide rail base; and the base is fixedly connected with a third lead screw nut, and the base is driven by the third lead screw nut to move horizontally.

Furthermore, the temperature measuring device also comprises a disinfectant nozzle, a guide pipe, a disinfectant storage tank and a pump body; the disinfectant storage tank and the pump body are arranged inside the shell, the disinfectant nozzle is provided with a closed cavity opening, and disinfectant flows through the guide pipe from the disinfectant storage tank under the action of the pump body and is sprayed out of the disinfectant nozzle to disinfect a human body measurement part and the closed cavity opening.

Furthermore, a wired data transceiver or a wireless data transceiver is arranged on the distributed processor; when the data is transmitted in a wired mode, the shell is provided with a wiring port, the data line is connected with the wired data output interface and then extends out of the shell through the wiring port, and the data is sent to an external upper computer through the data line; when the wireless data transmission mode is used for transmitting data, the data are directly transmitted to the upper computer through the wireless data transceiver.

Furthermore, the non-contact automatic human body temperature measuring robot further comprises a camera, and the camera is detachably mounted on the temperature measuring frame.

In a second aspect, the utility model discloses a human body temperature automatic measuring method, including following step:

step S1, judging whether the parking position of the vehicle is in the designated detection area by using an ultrasonic device, and if not, informing the driver that the vehicle is not in the designated detection area by voice; if the automobile is in the designated detection area, the person in the automobile is prompted by voice to put down the automobile window, the distance between the ultrasonic device and the automobile is measured, the distance is sent to the upper computer processor, and the infrared camera is started;

step S2, recognizing the position of the vehicle window by using an infrared camera, determining whether the vehicle is stable or not by updating and comparing the position information of the vehicle window in real time, synchronously recognizing the number of people in the vehicle after the vehicle is stable, and sending the recognized position information of the vehicle window and the number information of the people to a processor of an upper computer;

s3, the upper computer processor sends a motion instruction according to the obtained measurement information, the non-contact automatic human body temperature measurement robot receives the instruction and controls the telescopic mechanism to move the temperature measuring device to the positions of the vehicle windows on the two sides, the voice is played again, and the person in the vehicle is prompted to extend the arm to measure the body temperature according to the requirement to obtain the body temperature values of all the persons;

step S4, the temperature measuring device compares the measured body temperature value with a reference value, if the measured body temperature is lower than the upper limit of the normal body temperature of the human body, the body temperature is considered normal, the next step is carried out, otherwise, the temperature exceeds a threshold value, a red indicator lamp is turned on, a buzzer alarms, and field workers are notified;

and S5, the automatic human body temperature measuring robot uploads all normal body temperature information to an upper computer, the upper computer judges whether the effective temperature measurement number is equal to the number of people detected by the infrared camera, if so, a green indicator light is on, a telescopic mechanism retracts, a temperature measuring frame and a temperature measuring device are withdrawn, a vehicle is prompted to pass away from a detection area, and otherwise, voice prompt is given to people who are not measured to measure the body temperature.

Further, step S1 is replaced with:

and step S1', judging whether the vehicle parking position is in the designated detection area by using the ultrasonic device, if the vehicle parking position is not in the designated detection area, controlling the second transmission device by the upper computer processor, moving the human body temperature automatic measuring robot by the second transmission device, and meeting the requirement of the horizontal distance between the temperature measuring device and the vehicle window.

Further, in step S3, the step of measuring the body temperature includes:

s3.1, detecting the number of front and rear passengers and the seat distribution on the same side of the passenger car by using an infrared camera;

s3.2, controlling a motor to move the temperature measuring devices not less than the number of people in the automobile to the positions of the windows on two sides through a mechanical execution device according to the window position information sent by the upper computer;

s3.3, prompting the person in the vehicle to place the wrist pulse part under the temperature measuring device by voice, carrying out language interaction with the person in the vehicle, and making a corresponding action by the robot according to the language requirement of the person on duty or the person in the vehicle;

s3.4, sensing temperature jump by the temperature measuring device, collecting temperature information, obtaining the skin temperature of a wrist pulse area of a person in the vehicle, and measuring the ambient temperature by an ambient temperature detection sensor of the temperature measuring device;

s3.5, judging whether the wrist skin temperature value of the person is larger than an effective threshold value, if so, recording measurement data, and if not, returning to the S3.4 for re-measurement;

s3.6, judging whether the effective duration of the measured temperature is greater than a duration threshold, if so, going to the next step, and if not, returning to the step S3.4 for re-measurement;

and S3.7, calculating the body temperature of the personnel in the vehicle by combining the ambient temperature.

Further, the formula for calculating the body temperature of the people in the vehicle is as follows:

T＝AxT_w+BxT_a+C,

wherein: t is body temperature, T_wIs the wrist temperature, T_aThe ambient temperature is A, B, C.

Further, the range of the parameters is as follows: a is 0.15,0.2, B is-0.055-0.035, C is 28, 32.

Further, after step S4, a sterilization step may be further included: after the body temperature is measured, the upper computer sends an instruction to start a disinfectant spraying program for disinfection.

The utility model discloses a human temperature automatic measurement robot and measuring method need not the staff, can carry out the body temperature measurement to personnel in the past vehicle at highway crossing automatically, has avoided the cross infection between survey crew and the surveyed personnel to a great extent has improved measurement of efficiency. The part measured by the device is the arm part covered by clothes, is less influenced by the ambient temperature, and can represent the real body temperature of a human body, so that the measurement accuracy is high.

Drawings

Fig. 1-1 is a schematic structural view of an automatic human body temperature measuring robot with two temperature measuring devices according to a first embodiment of the present invention in a working state;

fig. 1-2 are schematic structural views of a human body temperature automatic measuring robot with two temperature measuring devices according to a first embodiment of the present invention in a retracted state;

fig. 1-3 are schematic structural views of a human body temperature automatic measuring robot with a temperature measuring device according to an embodiment of the present invention in a working state;

FIGS. 1-4 are schematic views of the structure of the posture keeper of the present invention perpendicular to the temperature measuring frame;

FIGS. 1-5 are schematic structural views of the posture holder of the present invention at another angle perpendicular to the temperature measuring rack;

fig. 1-6 are schematic structural views of the posture keeper and the temperature measuring rack in parallel in the working state of the present invention;

fig. 2-1 is a schematic structural view of an automatic human body temperature measuring robot in which an attitude retainer and a temperature measuring frame are parallel to each other according to a second embodiment of the present invention;

fig. 2-2 is a schematic structural view of a human body temperature automatic measuring robot in which an attitude retainer and a temperature measuring frame of the second embodiment of the present invention are perpendicular to each other;

fig. 3 is a schematic structural view of an automatic human body temperature measuring robot according to a third embodiment of the present invention;

FIG. 4 is a schematic structural view of the temperature measuring device of the present invention;

FIG. 5-1 is a step chart of the automatic human body temperature measurement method according to the first and second embodiments of the present invention;

fig. 5-2 is a step diagram of an automatic human body temperature measurement method according to a third embodiment of the present invention;

fig. 6-1 is one of the scene diagrams of the automatic body temperature measuring robot of the present invention when applied to the toll station;

fig. 6-2 is a second view of the automatic body temperature measuring robot of the present invention applied to a toll station.

The reference numerals are explained below:

1: telescopic mechanism, 2: temperature measurement frame, 3: temperature measuring device, 4: a base, 5: a camera, 6: attitude holder, 11/12/13/14/15: motor, 21/22/25: ball screw, 23/24: synchronous belt, 31/32/37: lead screw nut, 33/34/35/36: pulley, 41/42/43/44: slider, 51/52: support frame, 61: guide rail seat, 111/112/113: transfer lever, 121/122: connection member, 311: a housing, 312: distributed processor, 313: ambient temperature detection sensor, 314: heating module, 315: closed cavity, 316: temperature measuring head, 317: disinfectant nozzle, 318: catheter, 319: disinfectant storage tank, 320: data egress of distributed processor, 321: pump body, 322: routing port, 323: wireless data transceiving module, 324: and an outside temperature detection sensor.

Detailed Description

The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The utility model discloses a human temperature automatic measurement robot is applied to toll station department of highway, perhaps is the entrance of public places such as various venues, buildings for automatic measurement human temperature, in giving clearance to the vehicle at the personnel or the personnel place that the body temperature is normal, give clearance to the personnel that the body temperature is on the high side, and send the warning by equipment, guide staff comes to handle follow-up affairs in advance. The utility model discloses a human temperature automatic measure robot installs when the condition at high-speed crossing, and the driver and crew need not get off, only need open the door window, stretch out the arm and can accomplish the measurement. The utility model discloses it is regional preferably to measure wrist pulse, and the reason lies in: the radial artery in the wrist pulse area has fast blood renewal and small external influence on the temperature, and can reflect the real body temperature of the human body. When measuring, the person to be measured needs to roll up the sleeve, preferably the measuring wrist.

Example one

The automatic human body temperature measuring robot of the present embodiment, as shown in fig. 1-1 to 1-3, includes a first transmission device, a telescopic mechanism 1, a temperature measuring frame 2, a temperature measuring device 3, a base 4, a camera 5, and a posture holder 6; first transmission fixed mounting is on base 4, and telescopic machanism 1's one end rotates with first transmission to be connected, and telescopic machanism 1's the other end keeps ware 6 to rotate with the gesture to be connected, and temperature measurement frame 2 keeps ware 6 fixed connection with the gesture, and detachably has installed camera 5 and at least one temperature measuring device 3 on the temperature measurement frame 2. The camera 5 is used to acquire body height information, vehicle position information, or the number of persons in the vehicle. The position of the temperature measuring device 3 is adjusted through a transmission device and a telescopic mechanism.

The camera 5 can be used as an alternative and also can be detached from the automatic human body temperature measuring robot of the present invention as an independent auxiliary device. Optionally, the camera 5 may further add an identity recognition function (such as face recognition, identification card recognition, etc.) and a license plate scanning function.

The figures 1-1 and 1-2 are mainly suitable for high-speed ports, and are used for measuring the body temperature of people in passing vehicles with important traffic checkpoints, and after the measurement is qualified, the result is given to a lifting rod of a toll station. Fig. 1-3 are more suitable for entrances to various office buildings, shopping malls, residential districts, restaurants, hotels, hospitals, examination rooms, train stations, terminal buildings, bus stations, subway stations, etc. For example, when the device is applied to an examination room, the device is placed at an entrance of the examination room, qualified people enter the examination room, and unqualified alarm is given to inform invigilators.

The first transmission device of the embodiment adopts screw transmission, and the screw transmission has the advantage of higher bearing capacity. The transmission device comprises a motor 11/12, a ball screw 21/22, a screw nut 31/32 (embedded in a slide block 41/42 and not shown in the figure), a slide block 41/42 and a support frame 51; the supporting frame 51 and the ball screw 21/22 are fixedly arranged on the base 4, and the ball screw 21/22 is arranged in the middle of the supporting frame 51; the motors 11/12 are arranged on the support frame 51 and are respectively connected with the top ends of the ball screws 21/22; two side walls of the supporting frame 51 are provided with first sliding guide rails; the middle of the sliding block 41/42 is provided with two through holes, the screw nut 31 is fixedly arranged in one through hole of the sliding block 41, the ball screw 22 freely passes through the other through hole of the sliding block 41, the screw nut 32 is fixedly arranged in one through hole of the sliding block 42, and the ball screw 21 freely passes through the other through hole of the sliding block 42; the sliders 41/42 are each provided with a first groove that engages with the first slide rail of the support frame 51 and slides up and down along the slide rail.

The telescopic mechanism 1 is a telescopic fence structure, and the fence structure comprises at least one transmission rod group; each transmission rod group consists of two transmission rods which are connected in a crossed mode, and the crossed parts form rotating pairs through pin shafts, as shown in R3 in figure 1-1. The two transmission rods can rotate around a rotating pair R3. The transmission rod sets are also connected through revolute pairs, as shown by R4 in FIGS. 1-1, and all transmission rods can rotate around the revolute pairs connected with the transmission rods. In the fence structure formed by the transmission rod groups, one ends of the two transmission rods in the first transmission rod group respectively form a revolute pair with the two sliding blocks, as shown in R1 and R2 in figure 1-1, the two transmission rods in the first transmission rod group respectively rotate around a revolute pair R1 and a revolute pair R2. The other end of the fence structure is rotatably connected with an attitude retainer, the attitude retainer is fixedly connected with the temperature measuring frame and is mutually vertical or parallel, and the temperature measuring frame is parallel to the ground.

When the two sliding blocks move oppositely, the fence structure is stretched to push the temperature measuring frame to stretch out; when the two sliding blocks move reversely, the fence structure retracts to drive the temperature measuring frame to retract. When the two sliding blocks move up and down simultaneously, the temperature measuring frame is driven to move up and down.

The posture retainer is a U-shaped fork, and two side walls of the U-shaped fork are respectively provided with a side wall opening.

When the U-shaped fork and the temperature measuring frame are perpendicular to each other, one transmission rod in the last transmission rod group of the fence structure can freely move up and down in the side wall opening, and a cylindrical pin, such as R6 in figures 1-4, is arranged at the tail end of one transmission rod in the last transmission rod group of the fence structure. The cylindrical surface of the cylindrical pin is slidably matched with two side walls of the U-shaped fork, and the cylindrical surface is driven by the corresponding transmission rod to move up and down between the two side walls of the U-shaped fork. Meanwhile, a rotating pair is formed at the intersection of the tail end of the other transmission rod in the last transmission rod group of the fence structure and two side walls of the U-shaped fork, such as R5 in figures 1-4, and the fence structure is rotatably connected with the U-shaped fork through a rotating pair R5. Due to the U-shaped fork, the cylindrical pin and the revolute pair R5 are always in the same vertical plane, and the temperature measuring frame is perpendicular to the U-shaped fork, so that the temperature measuring frame is always kept horizontal.

When the U-shaped fork and the temperature measuring frame are parallel to each other, the tail ends of the two transmission rods in the last transmission rod group of the fence structure and the two side walls of the U-shaped fork intersect to form a revolute pair, such as R7 in figures 1-5, and the two transmission rods in the last transmission rod group rotate around the revolute pair R7. The cylindrical surface of a pin shaft of the adjacent revolute pair R8 is slidably matched with the two side walls of the U-shaped fork in the same horizontal plane with the revolute pair R7, and can freely and horizontally move between the two side walls of the U-shaped fork. One of the transfer bars in the transfer group adjacent to the last transfer group is free to move horizontally in the side wall opening of the clevis. Due to the U-shaped fork, the revolute pair R8 and the revolute pair R7 are always in the same horizontal plane, and the temperature measuring frame is parallel to the U-shaped fork, so that the temperature measuring frame is always kept horizontal.

When the number of the temperature measuring devices is more than 1, the positions of the temperature measuring devices are adjustable, and the purpose of meeting the requirement of the distance between the vehicle windows of different vehicle types is achieved. The thermometry device includes a housing 311, a distributed processor 312, an ambient temperature detection sensor 313, a heating module 314, a closed cavity 315, and a temperature measurement head 316.

The housing 311 includes two parts, one part is a closed cavity 315, the other part is a cavity for arranging a disinfectant storage tank and a pump body, and the two parts are connected by bolts and can be detached. The heating module 314, the ambient temperature detection sensor 313, the temperature measurement head 316 and the distributed processor 312 are all located inside the closed cavity 315; the closed cavity 315 has an opening, and the temperature measuring head 316 is positioned at the opening and is used for detecting the skin temperature of the human body; the heating module 314 is used for heating the air in the closed cavity, the ambient temperature detection sensor 313 is used for detecting the air temperature in the closed cavity, and the heating module maintains the temperature in the closed cavity to be constant under the control of the distributed processor.

Preferably, the disinfection solution dispenser further comprises a disinfection solution spray nozzle 317, a conduit 318, a disinfection solution storage tank 319 and a pump body 321, as shown in fig. 3. The disinfectant storage tank 319 and the pump body 321 are arranged in the upper half shell of the shell 311, the disinfectant spray nozzle 317 is arranged at the opening of the closed cavity 315, and disinfectant flows through the conduit 318 from the disinfectant storage tank 319 under the action of the pump body 321 and is sprayed out from the disinfectant spray nozzle 317 to disinfect the measured part of the human body and the opening of the closed cavity. The disinfection function is not a necessary function of the device, and can realize timely spraying of disinfectant after measurement to disinfect the opening of the closed cavity and the measurement part of the measured human body when necessary, thereby avoiding possible pathogen transmission. After the body temperature data is detected, an external upper computer communicates with the distributed controller, the controller controls the pump body 321 to spray the disinfectant, the pump body is closed after spraying for 0.5 second, and the spraying of the disinfectant is stopped. The time of 0.5 second is only the setting time of the present embodiment, and this time can be arbitrarily set, and is not limited to 0.5 second.

Preferably, a data output port 320 is arranged on a circuit board of the distributed processor 312, a wiring port 322 is arranged on the shell 311, the data wire is connected with the data output port 320 and extends out of the shell through the wiring port, and the ambient temperature and the measured human body temperature of the device can be transmitted to an upper computer through the data wire, so that networking of the device is realized.

Preferably, the temperature measuring device further comprises a temperature detecting and compensating system, the temperature detecting and compensating system comprises a temperature detecting module and a human body temperature error compensating module, and the compensating formula adopted by the human body temperature error compensating module is as follows: T-AxT_w+BxT_a+C。

Preferably, the range of the parameters is as follows: a is 0.15,0.2, B is-0.055-0.035, C is 28, 32.

Additionally, the utility model discloses can also pass through wireless mode transmission data, when using wireless mode, be equipped with wireless data transceiver module 323 on distributed processor 312's the circuit board, thereby can lead to wireless data transceiver module and transmit the ambient temperature, the measuring human body temperature of this device for the host computer realization device networking.

The upper computer transmits an instruction signal for starting detection to the distributed processor 312, the distributed processor measures the ambient temperature by using the external temperature detection sensor 324, calculates a compensation value, measures the human body temperature data and compensates by using the compensation value.

The working principle of the automatic human body temperature measuring robot of the embodiment is as follows:

the motor 11/12 drives the screw nut 31/32 to move linearly up and down on the ball screw 21/22, and the sliders 41/42 fixedly mounted with the screw nut 31/32 move linearly up and down.

The working principle of the telescopic mechanism 1 is illustrated by referring to fig. 1-1 to fig. 1-6, in the drawings, R1 to R6 are 6 revolute pairs, and assuming that the lower slider 41 is stationary, when the slider 42 moves up and down, the driving rod (i.e., the driving rod 113) between R5 and R6 is driven to move, and the driving rod between R5 and R6 pulls the driving rod (i.e., the driving rod 111) between R2 and R3 to make an arc-drawing motion of the revolute pair R2, and drives the driving rod (i.e., the driving rod 112) between R1 and R4 to make an arc-drawing motion around the revolute pair R1. That is, the temperature measuring rack 2 is fixedly connected to the connecting member 122, so that the temperature measuring rack 2 has a relative movement with respect to the slider 4. The movement path is illustrated by means of fig. 1-1, and when the slide block 41 and the slide block 42 move relatively, the temperature measuring rack 2 can move relative to the slide block 1 in the plane of the Z axis and the Y axis. When the two sliding blocks move in the same direction, the temperature measuring frame 2 can move up and down in a translation mode along the Z-axis direction. Because the temperature measuring device 3 is arranged on the temperature measuring frame 2, the temperature measuring device 3 can do the same movement along with the temperature measuring frame 2.

When the temperature measurement is finished and the temperature measurement is ready to be released, the sliding block 41 and the sliding block 42 move reversely, the transmission rod 113 pulls back the transmission rods 111 and 112, the temperature measurement rack and the temperature measurement device are retracted by contracting the telescopic mechanism, and a channel is left, as shown in fig. 1-2. Or the slide 41 and the slide 42 are simultaneously moved up to the top of the apparatus, freeing the channel.

The method for measuring the temperature by using the automatic measuring robot of the embodiment comprises the following steps:

in this embodiment, if the vehicle stop position is not in the designated detection area, the voice prompts that the vehicle is not in the detection area, and in this case, the driver can adjust the stop position so that the vehicle stop position is within the prescribed detection area.

As shown in fig. 6-1 and 6-2, the present invention is applied to a scene diagram of an expressway toll station. Fig. 6-1 is a case before the vehicle is in a waiting state and has not entered a designated detection area. The equipment of road both sides is just the utility model discloses a human temperature automatic measure robot, the square frame on road surface is exactly appointed detection area. The ultrasonic device is tested before the detection area is designated. Fig. 6-2 is a schematic diagram of the temperature measuring device of the automatic human body temperature measuring robot moving to the window position to measure the body temperature of people in the vehicle after the vehicle enters the designated detection area.

further, step S3 specifically includes the following sub-steps:

and S3.1, detecting the number of front and rear passengers on the same side of the passenger car and the distribution of seats by using an infrared camera.

And S3.2, controlling the motor to move the temperature measuring devices not less than the number of people in the vehicle to the positions of the vehicle windows on two sides through the mechanical execution device according to the vehicle window position information sent by the upper computer.

The temperature measuring device is at least one, and when one temperature measuring device is available, the temperature of the front row or the rear row of people on the same side of the passenger car is measured respectively; when two temperature measuring devices are arranged, the body temperatures of the front row and the rear row of people on the same side of the passenger car can be measured simultaneously; when three or more temperature measuring devices are provided, a plurality of persons in the rear row can measure simultaneously.

And S3.3, prompting the person in the vehicle to place the wrist pulse part under the temperature measuring device by voice, carrying out language interaction with the person in the vehicle, and making a corresponding action by the robot according to the language requirement of the person on duty or the person in the vehicle.

And S3.4, sensing the temperature jump by the temperature measuring device, namely starting to acquire temperature information to obtain the skin temperature of the wrist pulse area of the person in the vehicle, and simultaneously starting to measure the ambient temperature by an ambient temperature detection sensor of the temperature measuring device.

The formula for calculating the body temperature of the people in the vehicle is as follows:

T＝AxT_w+BxT_a+C,

wherein: t is body temperature, T_wIs the wrist temperature, T_aABC is a parameter for ambient temperature, preferably in the range of A e 0.15,0.2],B∈[-0.055,-0.035],C∈[28,32]The parameter value is only preferable and may vary according to the change of the environment. The utility model discloses what protect is the thought that the formula was expressed, all applied above-mentioned formula, the condition of fine setting parameter value falls into equally the utility model discloses a protection scope.

and S5, uploading all normal body temperature information to an upper computer by the non-contact automatic human body temperature measuring robot, judging whether the effective temperature measuring number is equal to the number of people detected by the infrared camera by the upper computer, if so, lighting a green indicator light, retracting a telescopic mechanism, withdrawing the temperature measuring frame and the temperature measuring device, prompting a vehicle to pass away from a detection area, and otherwise, prompting a person who is not measured to measure the body temperature by voice.

Further, after step S4, the method further includes the step of sterilizing: after the temperature is measured, the upper computer sends an instruction to start a disinfectant spraying program for disinfection.

Example two

In practical application, the automatic human body temperature measuring robot needs to be high enough to meet the requirements of temperature measurement and release, so that the ball screw 21/22 is required to be long enough, the longer screw increases the production and manufacturing difficulty to a certain extent, and the cost is higher, so that the position of the temperature measuring device is moved by using another transmission device with transmission, and the problems of difficulty in production and manufacturing and high cost are solved.

The transmission of the present embodiment includes: motor 13/14, timing belt 23/24, belt pulley 33/34/35/36, slider 43/44 and support frame 52; the supporting frame 52 is fixedly arranged on the base 4, the motor 13/14 is arranged on the supporting frame 52, and a second sliding guide rail is arranged on the vertical wall of the supporting frame 52; the belt wheels 33/35 are respectively arranged on the motor 13/14 and driven by the motor 13/14; the belt wheels 34/36 are respectively and fixedly arranged on the base through two belt wheel frames, and the belt wheels 34/36 can respectively rotate in the two belt wheel frames; the synchronous belt 23 is arranged on the belt wheels 33 and 34, and the synchronous belt 24 is arranged on the belt wheels 35 and 36; one end of the sliding block 43 is provided with a second groove, and the second groove is matched with the second sliding guide rail and slides up and down along the second sliding guide rail; the other end of the slide block 43 is fixedly connected with the synchronous belt 23; one end of the slider 44 is provided with a third groove, and the third groove is matched with the second sliding guide rail and slides up and down along the second sliding guide rail; the other end of the slide block 44 is fixedly connected with the synchronous belt 24.

The working principle of the transmission device of the embodiment is as follows: the motor 13 drives the belt wheel 33 to rotate clockwise or anticlockwise, the rotation of the belt wheel 33 drives the synchronous belt 23 to move up and down, the synchronous belt 23 drives the sliding block 43 to move up and down, and the working principle of the other group is the same.

Other components in this embodiment are the same as those in the first embodiment, and are not described again.

EXAMPLE III

The present embodiment is an improvement on the basis of the first and second embodiments, and the temperature measuring device of the first and second embodiments is fixedly installed on the ground. When the highway toll station is applied, the highway toll station is fixedly arranged on two sides of a highway of the toll station. The temperature measuring equipment of the first and second embodiments can only adjust the vertical distance between the temperature measuring device and the vehicle window through the telescopic mechanism 9, and cannot adjust the horizontal distance. When the front and rear positions of the vehicle at the stop do not meet the temperature measurement requirement, the front and rear positions of the vehicle need to be adjusted to meet the measured horizontal distance. The horizontal distance between the temperature measuring device and the window can be adjusted under the condition that the vehicle does not move.

On the basis of the first and second embodiments, a second transmission device is added, and the second transmission device comprises a guide rail base 61, a motor 15, a ball screw 25 and a screw nut 37 (not shown in the figure because the guide rail base is shielded by a base); the third sliding guide is established to the both sides of guide rail base 61 upper end, motor 15 installs the one end at guide rail base 61, ball 25 level is arranged in the middle of the third guide rail, ball 25's one end links to each other with motor 15, ball 25's the other end is connected guide rail base 61's the other end. The both ends of base 4 are equipped with the fourth recess, and the fourth recess matches with third sliding guide and slides along third sliding guide horizontal slip, and base 4 and screw nut 37 fixed connection are driven base 4 horizontal migration by screw nut 37.

The measuring robot of the embodiment is arranged on two sides of the intersection of the toll station, and one measuring robot is arranged on each side. The guide rail base 61 is installed along the road direction, the motor 15 drives the screw nut 37 to move on the ball screw 25, and the screw nut 37 drives the base 4 to horizontally move along the road direction, so that the horizontal movement of the temperature measuring device is realized.

The method for measuring the temperature by using the automatic measuring robot of the embodiment is different from the first embodiment in that:

and S1' is replaced with the step S1, if the parking position of the vehicle is not in the designated detection area, the upper computer processor controls the second transmission device, the human body temperature automatic measuring robot is moved through the second transmission device, and the requirement of the horizontal distance between the temperature measuring device and the vehicle window is met.

Other steps are the same as those in the first embodiment, and are not described again.

The above embodiments of the present invention are not unique and fixed relative positions of the indicating lamp, the ultrasonic sensor, the camera, the temperature measuring head and other components.

In the description of the present invention, it is to be understood that the terms "intermediate", "length", "upper", "lower", "front", "rear", "vertical", "horizontal", "inner", "outer", "radial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on the second feature or indirectly via intermediate members. "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The above description is for illustrative purposes only and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. that do not depart from the spirit and principles of the present invention should be construed as within the scope of the present invention.

Claims

1. A non-contact automatic human body temperature measuring robot is characterized by comprising: the device comprises a first transmission device, a telescopic mechanism, a temperature measuring frame, a temperature measuring device, a base and a posture retainer; the first transmission device is fixedly arranged on the base, one end of the telescopic mechanism is rotatably connected with the first transmission device, the other end of the telescopic mechanism is rotatably connected with the attitude retainer, the temperature measuring frame is fixedly connected with the attitude retainer, and at least one temperature measuring device is detachably arranged on the temperature measuring frame;

2. The robot of claim 1, wherein the positions of the temperature measuring devices are adjustable when the number of the temperature measuring devices is more than 1.

3. The robot for non-contact automatic measurement of human body temperature according to claim 1, wherein the first transmission device comprises a first motor, a second motor, a first ball screw, a second ball screw, a first screw nut, a second screw nut, a first slide block, a second slide block and a first support frame; the first support frame, the first ball screw and the second ball screw are fixedly arranged on the base, and the first ball screw and the second ball screw are arranged in the middle of the first support frame; the first motor and the second motor are arranged on the first support frame and are respectively connected with one end of the first ball screw and one end of the second ball screw; two side walls of the first support frame are provided with first sliding guide rails; the middle of the first sliding block and the middle of the second sliding block are respectively provided with two through holes, a first lead screw nut is fixedly arranged in one through hole of the first sliding block, a second ball screw freely passes through the other through hole of the first sliding block, a second lead screw nut is fixedly arranged in one through hole of the second sliding block, and the first ball screw freely passes through the other through hole of the second sliding block; the first sliding block and the second sliding block are respectively provided with a first groove, and the first grooves are matched with the first sliding guide rail of the first support frame and slide up and down along the first sliding guide rail.

4. The robot for non-contact automatic measurement of human body temperature according to claim 1, wherein the first transmission device comprises a third motor, a fourth motor, a first synchronous belt, a second synchronous belt, a first pulley, a second pulley, a third pulley, a fourth pulley, a third slider, a fourth slider and a second support frame; the second support frame is fixedly arranged on the base, the third motor and the fourth motor are arranged on the second support frame, and a second sliding guide rail is arranged on the vertical wall of the second support frame; the first belt wheel and the third belt wheel are respectively arranged on the third motor and the fourth motor; the second belt wheel and the fourth belt wheel are fixedly arranged on the base through two belt wheel frames respectively, and the second belt wheel and the fourth belt wheel can rotate in the two belt wheel frames respectively; the first synchronous belt is arranged on the first belt wheel and the second belt wheel, and the second synchronous belt is arranged on the third belt wheel and the fourth belt wheel; one end of the third sliding block is provided with a second groove, and the second groove is matched with the second sliding guide rail and slides up and down along the second sliding guide rail; the other end of the third sliding block is fixedly connected with the first synchronous belt; one end of the fourth sliding block is provided with a third groove, and the third groove is matched with the second sliding guide rail and slides up and down along the second sliding guide rail; the other end of the fourth sliding block is fixedly connected with the second synchronous belt.

5. A robot for non-contact automatic measurement of human body temperature according to claim 1, wherein said retractable mechanism is a retractable barrier structure, said barrier structure comprising at least one set of drive rods; each transmission rod group consists of two transmission rods which are connected in a cross way, the crossed parts form a third revolute pair through a pin shaft, and the two transmission rods rotate around the third revolute pair; the transmission rod groups are rotationally connected through a fourth revolute pair; one transmission rod in the first transmission rod group is rotationally connected with the first sliding block through a first revolute pair, and the other transmission rod in the first transmission rod group is rotationally connected with the second sliding block through a second revolute pair; the other end of the fence structure is rotatably connected with an attitude retainer, and the attitude retainer is fixedly connected with the temperature measuring frame and is mutually vertical or parallel.

6. The robot of claim 5, wherein the attitude holder is a clevis having a sidewall opening on each of two sidewalls.

7. The robot of claim 6, wherein when the clevis and the frame are perpendicular to each other, a driving rod of the last driving rod set of the fence structure moves up and down freely in the opening of the side wall, a cylindrical pin is disposed at the end of one driving rod of the last driving rod set of the fence structure, the cylindrical surface of the cylindrical pin is slidably engaged with the two side walls of the clevis, and the driving rod moves up and down between the two side walls of the clevis; meanwhile, the intersection of the tail end of the other transmission rod in the last transmission rod group of the fence structure and the two side walls of the U-shaped fork is in rotating connection through a fifth revolute pair.

8. The robot of claim 6, wherein when the U-shaped fork and the temperature measuring rack are parallel to each other, the intersection of the ends of the two transmission rods in the last transmission rod group of the fence structure and the two side walls of the U-shaped fork are rotatably connected through a sixth revolute pair; the pin roll cylindrical surface of the adjacent revolute pair is slidably matched with two side walls of the U-shaped fork and horizontally moves between the two side walls of the U-shaped fork; one of the transfer bars in the transfer group adjacent to the last transfer group is free to move horizontally in the side wall opening of the clevis.

9. The robot of claim 1, further comprising a second transmission device, wherein the second transmission device comprises a guide rail base, a fifth motor, a third ball screw and a third screw nut; the guide rail base is provided with a third sliding guide rail, the fifth motor is installed at one end of the guide rail base, a third ball screw is horizontally arranged in the middle of the third guide rail, one end of the third ball screw is connected with the fifth motor, and the other end of the third ball screw is connected with the other end of the guide rail base; and the base is fixedly connected with a third lead screw nut, and the base is driven by the third lead screw nut to move horizontally.

10. The robot of claim 1, wherein the temperature measuring device further comprises a disinfectant nozzle, a conduit, a disinfectant tank, and a pump body; the disinfectant storage tank and the pump body are arranged inside the shell, the disinfectant nozzle is provided with a closed cavity opening, and disinfectant flows through the guide pipe from the disinfectant storage tank under the action of the pump body and is sprayed out of the disinfectant nozzle to disinfect a human body measurement part and the closed cavity opening.

11. The robot for automatically measuring the human body temperature in a non-contact manner according to claim 1, wherein a wired data transceiver or a wireless data transceiver is arranged on the distributed processor; when the data is transmitted in a wired mode, the shell is provided with a wiring port, the data line is connected with the wired data output interface and then extends out of the shell through the wiring port, and the data is sent to an external upper computer through the data line; when the wireless data transmission mode is used for transmitting data, the data are directly transmitted to the upper computer through the wireless data transceiver.

12. The robot of claim 1, further comprising a camera, wherein the camera is detachably mounted on the temperature measuring frame.