CN211986374U - Ultraviolet inspection robot - Google Patents
Ultraviolet inspection robot Download PDFInfo
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- CN211986374U CN211986374U CN202020332424.9U CN202020332424U CN211986374U CN 211986374 U CN211986374 U CN 211986374U CN 202020332424 U CN202020332424 U CN 202020332424U CN 211986374 U CN211986374 U CN 211986374U
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultra-violet radiation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
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- A—HUMAN NECESSITIES
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- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The utility model provides an ultraviolet inspection robot, relating to the technical field of disinfection equipment, comprising a body temperature thermal image device, a disinfection device, a voice device and a mobile device; the body temperature thermal imaging device, the disinfection device and the voice device are all arranged on the mobile device, wherein the body temperature thermal imaging device can detect the body temperature of pedestrians, the body temperature thermal imaging device is electrically connected with the voice device, the voice device is used for carrying out voice broadcast on body temperature detection information, people with abnormal body temperature can be distinguished in real time by using the body temperature thermal imaging device, and workers are reminded by using the voice device, so that the people with heating conditions cannot be missed; meanwhile, the mobile device is used for driving the disinfection device to disinfect and sterilize the external environment; the temperature detection and disinfection of personnel in specific areas are realized, and the technical problems that the disinfection robot in the prior art is single in function and cannot meet the use requirement of complex environment are solved.
Description
Technical Field
The utility model belongs to the technical field of disinfecting equipment technique and specifically relates to an ultraviolet ray patrols and examines robot.
Background
At present, disinfection and sterilization are the main means in hospitals and places with intensive personnel, and especially during epidemic situations, the disinfection and sterilization work is one of the important links for ensuring the safety of personnel.
In the prior art, disinfection work mainly adopts manual spraying of disinfectant and a robot for disinfection, wherein the disinfection robot can be used as a carrier for disinfection and sterilization to disinfect a plurality of open areas; however, the disinfection robot in the prior art has a single function, is usually only provided with a mobile tool for carrying disinfection liquid, and cannot meet the requirement of a complex environment with large human flow during epidemic situations.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an ultraviolet ray patrols and examines robot to alleviate the disinfection robot's that exists among the prior art function singleness, can't satisfy complex environment user demand's technical problem.
The utility model provides a pair of robot is patrolled and examined to ultraviolet ray, include: the system comprises a body temperature thermal image device, a disinfection device, a voice device and a mobile device;
the body temperature thermal imaging device, the disinfection device and the voice device are all arranged on the mobile device; the body temperature thermal imaging device is used for detecting the body temperature of a pedestrian, the voice device is electrically connected with the body temperature thermal imaging device, and the voice device is used for voice broadcasting the abnormal body temperature information acquired by the body temperature thermal imaging device.
In a preferred embodiment of the present invention, the moving device includes a control assembly and a driving wheel; the control assembly is used for acquiring environmental information and is electrically connected with the driving wheel body, the control assembly is used for controlling a walking route of the driving wheel body, and the driving wheel body is used for driving the disinfection device to disinfect and sterilize the external environment;
the body temperature thermal imaging device and the voice device are respectively and electrically connected with the control assembly, the body temperature thermal imaging device is used for transmitting detected temperature information of pedestrians to the control assembly, a body temperature threshold value is preset in the control assembly, and the control assembly correspondingly controls the voice device to be turned on or off.
In a preferred embodiment of the present invention, the sterilizing device includes at least one of a sterilizing atomization mechanism and an ultraviolet lamp sterilizing mechanism.
In a preferred embodiment of the present invention, the ultraviolet lamp sterilizing mechanism includes a fixing post and an ultraviolet lamp tube;
the fixed stand column is fixedly connected with the driving wheel body, the ultraviolet lamp tubes are arranged in a plurality, and the ultraviolet lamp tubes are uniformly arranged along the circumferential direction of the fixed stand column.
In a preferred embodiment of the present invention, the thermal body temperature imaging device is located at an end of the fixed column away from the driving wheel body, and the thermal body temperature imaging device is connected to the fixed column.
In a preferred embodiment of the present invention, the control assembly includes a ground distance measuring sensor array set, a forward obstacle avoidance sensor array set, a forward distance measuring sensor array set, a laser radar detection device, a body inertia measuring module, a driving wheel angle reading module and a processor;
the ground distance measuring sensor array group is positioned on one side of the driving wheel body close to the ground surface and used for detecting whether the driving wheel body is suspended; the forward obstacle avoidance sensor array group, the forward distance measurement sensor array group and the laser radar detection device are all positioned on the peripheral wall of the front side of the driving wheel body, and the forward obstacle avoidance sensor array group is used for detecting whether an obstacle exists on the front side of the driving wheel body; the forward distance measuring sensor array group is used for detecting the distance between an obstacle positioned on the front side of the driving wheel body and the driving wheel body; the laser radar detection device is used for detecting environmental information located at the front side direction of the driving wheel body; the machine body inertia measurement module and the driving wheel angle reading module are both arranged inside the driving wheel body, the machine body inertia measurement module is used for reading posture change data of the driving wheel body, and the driving wheel angle reading module is used for reading rotation angle data of the driving wheel body;
ground range finding sensor array group, preceding obstacle avoidance sensor array group, preceding range finding sensor array group, laser radar detection device, organism inertia measurement module and drive wheel angle reading module respectively with treater signal connection, the treater is used for receiving ground range finding sensor array group, preceding obstacle avoidance sensor array group, preceding range finding sensor array group, laser radar detection device, organism inertia measurement module and the information of drive wheel angle reading module output, the treater corresponds control the action of drive wheel body.
In the preferred embodiment of the present invention, the present invention further comprises a wireless transmission device;
the processor is in electric signal connection with the mobile terminal through the wireless transmission device.
In a preferred embodiment of the present invention, the processor includes a main control chip; the mobile terminal is in electric signal connection with the main control chip, and the main control chip can be used for controlling the driving wheel body and setting the working mode of the driving wheel body to be a remote control mode so that the driving wheel body only responds to the control instruction of the mobile terminal.
In a preferred embodiment of the present invention, the voice device includes an intercom mechanism and a voice broadcasting mechanism;
the intercom mechanism passes through wireless transmission device with mobile terminal electricity signal connection, the voice broadcast mechanism with the treater electricity is connected.
In a preferred embodiment of the present invention, the driving wheel body includes a bearing body, a moving wheel, a driving motor and a motor driver;
the moving wheel, the driving motor and the motor driver are arranged on the bearing main body, and the driving motor is in transmission connection with the moving wheel and is used for driving at least one of the moving wheel to walk or turn; the motor driver is electrically connected with the processor, connected with the driving motor and used for controlling the driving motor to operate according to a traveling instruction of the processor;
one side of the bearing main body, which is far away from the moving wheels, is connected with the body temperature thermal imaging device and the disinfection device.
The utility model provides a pair of robot is patrolled and examined to ultraviolet ray, include: the system comprises a body temperature thermal image device, a disinfection device, a voice device and a mobile device; the body temperature thermal imaging device, the disinfection device and the voice device are all arranged on the mobile device, wherein the body temperature thermal imaging device can detect the body temperature of pedestrians, the body temperature thermal imaging device is electrically connected with the voice device, the voice device is used for carrying out voice broadcast on body temperature detection information, people with abnormal body temperature can be distinguished in real time by using the body temperature thermal imaging device, and workers are reminded by using the voice device, so that the people with heating conditions cannot be missed; meanwhile, the mobile device is used for driving the disinfection device to disinfect and sterilize the external environment; the temperature detection and disinfection of personnel in specific areas are realized, and the technical problems that the disinfection robot in the prior art is single in function and cannot meet the use requirement of complex environment are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an ultraviolet inspection robot provided by an embodiment of the present invention;
fig. 2 is a schematic view of the overall structure of the ultraviolet inspection robot according to the embodiment of the present invention;
fig. 3 is a structural diagram of a mobile device of an ultraviolet inspection robot according to an embodiment of the present invention;
fig. 4 is a block diagram of a flow of the ultraviolet inspection robot provided by the embodiment of the present invention.
Icon: 100-body temperature thermal imaging device; 200-a disinfection device; 201-fixed upright post; 202-ultraviolet lamp tube; 300-a voice device; 411-ground ranging sensor array group; 421-forward obstacle avoidance sensor array group; 431-a set of forward ranging sensor arrays; 441-lidar detection means; 451-body inertia measurement module; 461-driving wheel angle reading module; 471-a processor; 402-a drive wheel body; 412-a carrier body; 422-moving wheels; 432-a motor drive; 442-a drive motor; 500-a wireless transmission device; 600-mobile terminal.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 4, the present embodiment provides an ultraviolet inspection robot, including: a body temperature thermal imaging device 100, a disinfection device 200, a voice device 300 and a mobile device; the body temperature thermal imaging device 100, the disinfection device 200 and the voice device 300 are all arranged on the mobile device; the body temperature thermal imaging device 100 is used for detecting the body temperature of a pedestrian, the voice device 300 is electrically connected with the body temperature thermal imaging device 100, and the voice device 300 is used for voice broadcasting the abnormal body temperature information acquired by the body temperature thermal imaging device 100.
It should be noted that the ultraviolet inspection robot provided by this embodiment can perform mobile regional sterilization on places with large personnel mobility and dense personnel, such as shopping malls, stations, office places, and production places; in addition, the ultraviolet inspection robot provided by the embodiment has high demand on the body temperature detection of the passing people in the period similar to the epidemic situation, so that the ultraviolet inspection robot can detect the body temperature of the passing people through the body temperature thermal imaging device 100 under the condition that the people flow greatly in the daytime, can perform voice prompt on the people with abnormal body temperature by using the voice device 300, and can drive the disinfection device 200 to perform mobile disinfection on the whole area by using the mobile device at night or in the period of controlling people flow; wherein, the robot is patrolled and examined to ultraviolet ray utilizes the robot as the carrier, at robot internally mounted degassing unit 200, and degassing unit 200 can produce the disinfection medium, has increased sterile coverage and homogeneity, and then can effectively, kill the pathogenic microorganism in the air at no dead angle ground, and wherein, the robot is patrolled and examined to the ultraviolet ray can be according to the automatic, high-efficient, the accurate epidemic prevention that disinfects to in the specific area of route of setting for.
Alternatively, the thermal imaging apparatus 100 may be a thermal imaging system, which uses the infrared thermal imaging principle to detect infrared energy (heat) in a non-contact manner and convert the infrared energy (heat) into an electrical signal, so as to generate a thermal image and a temperature value on a display, and may be a detection device for calculating the temperature value. In this embodiment, the mobile device is moved to a pedestrian flow passing point, the camera of the thermal imaging device 100 aligns with the pedestrian flow, and when the flowing personnel pass through the camera by presetting a temperature threshold, the human face is automatically identified and the temperature is measured, and when the detected body temperature is too high, an alarm is triggered to report that the body temperature is abnormal.
The embodiment provides an ultraviolet ray inspection robot, includes: a body temperature thermal imaging device 100, a disinfection device 200, a voice device 300 and a mobile device; the body temperature thermal imaging device 100, the disinfection device 200 and the voice device 300 are all arranged on the mobile device, wherein the body temperature thermal imaging device 100 can detect the body temperature of pedestrians, the body temperature thermal imaging device 100 is electrically connected with the voice device 300, the voice device 300 is used for voice broadcasting of body temperature detection information, people with abnormal body temperature can be distinguished in real time by using the body temperature thermal imaging device 100, and workers are reminded by using the voice device 300, so that the people with heating conditions cannot be missed; meanwhile, the mobile device is used for driving the disinfection device 200 to disinfect and sterilize the external environment; the temperature detection and disinfection of personnel in specific areas are realized, and the technical problems that the function is single and the use requirement of complex environment cannot be met in the prior art are solved.
Based on the above embodiments, further, in the preferred embodiment of the present invention, the moving device includes a control assembly and a driving wheel 402; the control assembly is used for acquiring environmental information and is electrically connected with the driving wheel body 402, the control assembly is used for controlling a walking route of the driving wheel body 402, and the driving wheel body 402 is used for driving the disinfection device 200 to disinfect and sterilize the external environment; the body temperature thermal imaging device 100 and the voice device 300 are respectively electrically connected with the control assembly, the body temperature thermal imaging device 100 is used for transmitting detected temperature information of the pedestrian to the control assembly, a body temperature threshold value is preset in the control assembly, and the control assembly correspondingly controls the on-off of the voice device 300.
In this embodiment, because the ultraviolet inspection robot does not stand still during the sterilization process, the ultraviolet inspection robot can be connected with the electric signal of the driving wheel body 402 through the control assembly, so that a plurality of operation programs are preset in the control system, the external environment information is acquired through the control assembly, and the driving wheel body 402 is used for driving the sterilization device 200 and the thermal imaging device 100 to move in a limited area.
Since the body temperature threshold defined each time is different, the body temperature threshold is preset by the control assembly, for example: when the body temperature of the person detected by the thermography device 100 exceeds 37.3 degrees, an alarm can be given through the voice device 300, and further, the staff can perform secondary screening confirmation on the person with suspected body temperature.
In the preferred embodiment of the present invention, the control assembly includes a ground distance measuring sensor array group 411, a forward obstacle avoidance sensor array group 421, a forward distance measuring sensor array group 431, a laser radar detection device 441, a body inertia measurement module 451, a driving wheel angle reading module 461, and a processor 471; the ground distance measuring sensor array group 411 is positioned on one side of the driving wheel body 402 close to the ground surface and used for detecting whether the driving wheel body 402 is suspended; the forward obstacle avoidance sensor array group 421, the forward distance measurement sensor array group 431 and the laser radar detection device 441 are all located on the peripheral wall of the front side of the driving wheel body 402, and the forward obstacle avoidance sensor array group 421 is used for detecting whether an obstacle exists on the front side of the driving wheel body 402; the forward distance measuring sensor array group 431 is configured to detect a distance between an obstacle located on the front side of the driving wheel 402 and the driving wheel 402; laser radar detection device 441 is used for detecting environmental information located at the front side of driving wheel body 402; the body inertia measurement module 451 and the driving wheel angle reading module 461 are both arranged inside the driving wheel body 402, the body inertia measurement module 451 is used for reading posture change data of the driving wheel body 402, and the driving wheel angle reading module 461 is used for reading rotation angle data of the driving wheel body 402; the ground ranging sensor array group 411, the forward obstacle avoidance sensor array group 421, the forward ranging sensor array group 431, the laser radar detection device 441, the machine body inertia measurement module 451 and the driving wheel angle reading module 461 are respectively in electrical signal connection with the processor 471, the processor 471 is used for receiving information output by the ground ranging sensor array group 411, the forward obstacle avoidance sensor array group 421, the forward ranging sensor array group 431, the laser radar detection device 441, the machine body inertia measurement module 451 and the driving wheel angle reading module 461, and the processor 471 correspondingly controls the action of the driving wheel body 402.
In this embodiment, the local distance measurement sensor array group 411, the forward obstacle avoidance sensor array group 421 and the forward distance measurement sensor array group 431 mounted at different positions of the driving wheel 402 may provide environmental data of the whole robot in various directions in the environment where the robot is located or the environment around the traveling path for the processor 471, so that the processor 471 can draw a real-time environmental map during the moving process of the robot through fusion calculation processing of the data, and the real-time positioning of the robot and the planning of the traveling path of the robot can be realized after referring to the data provided by the body inertia measurement module 451, the laser radar detection device 441 and the driving wheel angle reading module 461; based on the intelligent control method, the intelligent automatic control functions of unknown environment perception, map establishment, obstacle detection, obstacle avoidance navigation and the like can be realized through structural optimization of the whole robot and configuration of functional devices. It should be noted that, the processor 471 may complete the construction and the positioning of the global environment map by using a laser SLAM algorithm.
Among these, the processor 471 can be various, for example: an MCU, a computer, a PLC controller, etc., preferably, the processor 471 is an MCU; a Micro Control Unit (MCU), also called a single-chip microcomputer or a single-chip microcomputer, is a computer that properly reduces the frequency and specification of a central processing Unit, and integrates peripheral interfaces such as a memory, a counter, a USB, an a/D conversion, a UART, a PLC, a DMA, and the like, even an LCD driving circuit, on a single chip to form a chip-level computer, which is used for different combined control in different application occasions.
Preferably, the processor 471 adopts an STM32F103C8T6 single chip microcomputer, which has strong processing capability, rich internal resources and stable operation.
Alternatively, the ground distance measuring sensor array group 411 may be formed by combining a plurality of infrared sensors embedded at the edge of the bottom of the driving wheel body 402; the forward obstacle avoidance sensor array group 421 may be formed by combining a plurality of infrared sensors that are distributed along the circumferential direction of the inner support frame of the driving wheel body 402 and are embedded in the wall plate of the driving wheel body 402; the forward distance measuring sensor array group 431 may be formed by combining a plurality of ultrasonic sensors that are distributed along the circumferential direction of the inner support frame of the drive wheel body 402 and that are fitted to the wall of the periphery of the drive wheel body 402. The characteristics of the infrared sensor and the ultrasonic sensor are utilized to realize the functions of detecting obstacles and measuring distance, so that the accuracy of extracting relevant data by the processor 471 is ensured, and the precision of the movement of the whole robot is ensured.
In the preferred embodiment of the present invention, the present invention further comprises a wireless transmission device 500; the processor 471 is electrically connected with the mobile terminal 600 through the wireless transmission device 500.
Wherein, wireless communication device can adopt bluetooth communication module, also can adopt wireless network signal, for example: a wifi module, a 4G or 5G module, etc.; alternatively, the processor 471 may implement signal intercommunication with the mobile terminal 600 through the wireless communication module; the processor 471 can transmit a data signal to the mobile terminal 600 through the wireless communication module, and the mobile terminal 600 can also send a control instruction to the processor 471.
Alternatively, the mobile terminal 600 may be a joystick, a mobile phone, or an electronic device having a communication function, etc.
In a preferred embodiment of the present invention, the processor 471 includes a main control chip; the mobile terminal 600 is electrically connected to a main control chip, which is configured to control the driving wheel 402 and set the operating mode of the driving wheel 402 to a remote control mode, so that the driving wheel 402 only responds to a control command of the mobile terminal 600.
Specifically, the wireless communication device may communicate with the mobile terminal 600 through the optical fiber based on the communication protocol of the processor 471, so that the processor 471 can be set to a remote control mode (remote mode) through the main control chip, and at this time, the processor 471 does not respond to the operation of the key and the automatic control of the processor, and only receives the data acquisition or control instruction from the communication port.
In the preferred embodiment of the present invention, the voice device 300 includes an intercom mechanism and a voice broadcasting mechanism; the intercom is in electrical signal connection with the mobile terminal 600 through the wireless transmission device 500, and the voice broadcasting mechanism is electrically connected with the processor 471.
The voice broadcast mechanism can comprise a loudspeaker, the talkback mechanism can comprise a microphone, the loudspeaker can be used for directly carrying out voice broadcast on the alarm information to the staff, and the microphone can realize timely conversation between the staff and the background staff.
In order to optimize the autonomous movement performance of the entire robot to the maximum, in the preferred embodiment of the present invention, the driving wheel 402 includes a bearing body 412, a moving wheel 422, a driving motor 442 and a motor driver 432; the moving wheel 422, the driving motor 442 and the motor driver 432 are arranged on the bearing body 412, and the driving motor 442 is in transmission connection with the moving wheel 422 and is used for driving at least one of the moving wheel 422 to walk or turn; the motor driver 432 is electrically connected with the processor 471, the motor driver 432 is connected with the driving motor 442, and the motor driver 432 is used for controlling the driving motor 442 to operate according to a travel instruction of the processor 471; the side of the bearing body 412 away from the moving wheel 422 is connected with the thermography device 100 and the disinfection device 200.
The driving motor 442 can drive the moving wheel 422 to move, and in order to directly transmit the electric signal of the processor 471 to the position of the driving motor 442, the motor driver 432 is connected with the driving motor 442, and the motor driver 432 is used for controlling the driving motor 442 to operate according to the traveling instruction of the processor 471; in order to read and transmit the information of the driving wheel angle reading module 461, an encoder is installed on the body of the driving motor 442 and connected to the driving wheel angle reading module 461, so that the processor 471 can obtain the rotation angle of the driving motor 442 and thus the moving wheel 422 by reading the pulse of the encoder through the driving wheel angle reading module 461 by using the encoder.
In a preferred embodiment of the present invention, the disinfecting device 200 includes at least one of a disinfecting and atomizing mechanism and an ultraviolet lamp disinfecting mechanism.
Wherein, disinfection atomizing mechanism can carry out atomizing treatment with the antiseptic solution to spray the antiseptic solution in the air through the air outlet.
In the preferred embodiment of the present invention, the ultraviolet lamp disinfection mechanism comprises a fixed column 201 and an ultraviolet lamp tube 202; the fixed upright column 201 is fixedly connected with the driving wheel body 402, a plurality of ultraviolet lamps 202 are arranged, and the ultraviolet lamps 202 are uniformly arranged along the circumferential direction of the fixed upright column 201.
Wherein, the ultraviolet lamp tube 202 can use short wave UVC ultraviolet rays to disinfect and sterilize, and the DNA and RNA of germs can be destroyed within a few minutes to die, thereby effectively achieving the disinfection and sterilization effect; in a high-level disinfection mode, the high-level disinfection agent can completely achieve 99.9999% of killing effect on spores on the surface (smooth surface and rough porous surface) of an environmental object and various multi-drug-resistant bacteria with high-level disinfection requirements.
In this embodiment, the number of the ultraviolet lamps 202 on the fixed upright 201 may be a plurality of ultraviolet lamps 202, and the plurality of ultraviolet lamps 202 surround the fixed upright 201 in 360 degrees; preferably, the number of the ultraviolet lamp tubes 202 is six, the total power of the six ultraviolet lamp tubes 202 can reach 180W, the cumulative illumination intensity reaches 270uw/cm2, and the single-point disinfection time is 10 minutes at most.
In the preferred embodiment of the present invention, the thermal imaging device 100 is located at one end of the fixed post 201 away from the driving wheel 402, and the thermal imaging device 100 is connected to the fixed post 201.
Alternatively, the stationary upright 201 is fixedly connected to the driving wheel 402, for example: welding, riveting, grafting and the like, and the body temperature thermal imaging device 100 is installed at the eminence of the fixed stand column 201, and the body temperature thermal imaging device 100 can be connected with the fixed stand column 201 through the rotating seat, so that the comprehensive detection of the body temperature thermal imaging device 100 can be ensured.
In addition, the ultraviolet inspection robot provided by the embodiment is internally provided with a battery, the battery can be charged, and optionally, the battery adopts a lithium battery; in order to ensure the safety of the ultraviolet inspection robot, an emergency stop button can be arranged on the driving wheel body 402, and when the running track of the ultraviolet inspection robot has a problem, the ultraviolet inspection robot can be stably stopped by manually pressing the emergency stop button.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides an ultraviolet ray inspection robot which characterized in that includes: the system comprises a body temperature thermal image device, a disinfection device, a voice device and a mobile device;
the body temperature thermal imaging device, the disinfection device and the voice device are all arranged on the mobile device; the body temperature thermal imaging device is used for detecting the body temperature of a pedestrian, the voice device is electrically connected with the body temperature thermal imaging device, and the voice device is used for voice broadcasting the abnormal body temperature information acquired by the body temperature thermal imaging device.
2. The ultraviolet inspection robot according to claim 1, wherein the movement device includes a control assembly and a drive wheel; the control assembly is used for acquiring environmental information and is electrically connected with the driving wheel body, the control assembly is used for controlling a walking route of the driving wheel body, and the driving wheel body is used for driving the disinfection device to disinfect and sterilize the external environment;
the body temperature thermal imaging device and the voice device are respectively and electrically connected with the control assembly, the body temperature thermal imaging device is used for transmitting detected temperature information of pedestrians to the control assembly, a body temperature threshold value is preset in the control assembly, and the control assembly correspondingly controls the voice device to be turned on or off.
3. The ultraviolet inspection robot according to claim 2, wherein the disinfection device includes at least one of a disinfection and atomization mechanism and an ultraviolet lamp disinfection mechanism.
4. The ultraviolet inspection robot according to claim 3, wherein the ultraviolet lamp disinfection mechanism includes a stationary post and an ultraviolet lamp tube;
the fixed stand column is fixedly connected with the driving wheel body, the ultraviolet lamp tubes are arranged in a plurality, and the ultraviolet lamp tubes are uniformly arranged along the circumferential direction of the fixed stand column.
5. The ultraviolet inspection robot according to claim 4, wherein the thermal body temperature imager is located at an end of the stationary post remote from the driving wheel body, and the thermal body temperature imager is connected to the stationary post.
6. The ultraviolet inspection robot according to claim 2, wherein the control assembly includes a ground ranging sensor array set, a forward obstacle avoidance sensor array set, a forward ranging sensor array set, a lidar detection device, a body inertia measurement module, a drive wheel angle reading module and a processor;
the ground distance measuring sensor array group is positioned on one side of the driving wheel body close to the ground surface and used for detecting whether the driving wheel body is suspended; the forward obstacle avoidance sensor array group, the forward distance measurement sensor array group and the laser radar detection device are all positioned on the peripheral wall of the front side of the driving wheel body, and the forward obstacle avoidance sensor array group is used for detecting whether an obstacle exists on the front side of the driving wheel body; the forward distance measuring sensor array group is used for detecting the distance between an obstacle positioned on the front side of the driving wheel body and the driving wheel body; the laser radar detection device is used for detecting environmental information located at the front side direction of the driving wheel body; the machine body inertia measurement module and the driving wheel angle reading module are both arranged inside the driving wheel body, the machine body inertia measurement module is used for reading posture change data of the driving wheel body, and the driving wheel angle reading module is used for reading rotation angle data of the driving wheel body;
ground range finding sensor array group, preceding obstacle avoidance sensor array group, preceding range finding sensor array group, laser radar detection device, organism inertia measurement module and drive wheel angle reading module respectively with treater signal connection, the treater is used for receiving ground range finding sensor array group, preceding obstacle avoidance sensor array group, preceding range finding sensor array group, laser radar detection device, organism inertia measurement module and the information of drive wheel angle reading module output, the treater corresponds control the action of drive wheel body.
7. The ultraviolet inspection robot according to claim 6, further including a wireless transmission device;
the processor is in electric signal connection with the mobile terminal through the wireless transmission device.
8. The ultraviolet inspection robot according to claim 7, wherein the processor includes a master control chip; the mobile terminal is in electric signal connection with the main control chip, and the main control chip can be used for controlling the driving wheel body and setting the working mode of the driving wheel body to be a remote control mode so that the driving wheel body only responds to the control instruction of the mobile terminal.
9. The ultraviolet inspection robot according to claim 8, wherein the voice device includes an intercom mechanism and a voice broadcast mechanism;
the intercom mechanism passes through wireless transmission device with mobile terminal electricity signal connection, the voice broadcast mechanism with the treater electricity is connected.
10. The ultraviolet inspection robot according to any one of claims 6-9, wherein the drive wheel body includes a load-bearing body, a moving wheel, a drive motor, and a motor driver;
the moving wheel, the driving motor and the motor driver are arranged on the bearing main body, and the driving motor is in transmission connection with the moving wheel and is used for driving at least one of the moving wheel to walk or turn; the motor driver is electrically connected with the processor, connected with the driving motor and used for controlling the driving motor to operate according to a traveling instruction of the processor;
one side of the bearing main body, which is far away from the moving wheels, is connected with the body temperature thermal imaging device and the disinfection device.
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| CN202020332424.9U CN211986374U (en) | 2020-03-17 | 2020-03-17 | Ultraviolet inspection robot |
| PCT/CN2020/096160 WO2021184561A1 (en) | 2020-03-17 | 2020-06-15 | Ultraviolet inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020332424.9U CN211986374U (en) | 2020-03-17 | 2020-03-17 | Ultraviolet inspection robot |
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| WO (1) | WO2021184561A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116164364A (en) * | 2023-04-21 | 2023-05-26 | 安徽逸天科技有限公司 | Classroom environment health data monitoring and processing system based on artificial intelligence |
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| CN101659053B (en) * | 2009-06-29 | 2011-04-27 | 雷学军 | Robot suitable for cleaning and sterilizing under a plurality of environments |
| JP2012175136A (en) * | 2011-02-17 | 2012-09-10 | Nec Corp | Camera system and control method of the same |
| US9352469B2 (en) * | 2013-05-03 | 2016-05-31 | Michael Stewart | Robotic disinfection system |
| CN106139196A (en) * | 2015-04-12 | 2016-11-23 | 陈田来 | A kind of intelligent disinfecting equipment |
| CN106272467A (en) * | 2016-09-18 | 2017-01-04 | 深圳前海高森智能科技有限公司 | Based on dynamic environment change autonomous formula atomization disinfection robot |
| KR101987133B1 (en) * | 2017-01-31 | 2019-06-10 | (주) 한호기술 | Unmanned autonomous driving robot for pest control |
| CN107757751B (en) * | 2017-11-17 | 2024-02-27 | 西安优艾智合机器人科技有限公司 | Wheeled autonomous mobile robot |
| KR102102784B1 (en) * | 2017-12-04 | 2020-04-29 | 유한회사 이젠365 | self-driving disinfection robot system |
| CN107883496A (en) * | 2017-12-12 | 2018-04-06 | 天津城建大学 | Mobile type indoor study on microenvironment regulation robot |
| CN110736164B (en) * | 2018-07-02 | 2020-11-24 | 西安电子科技大学 | Environment monitoring and haze and formaldehyde removing sterilization robot |
| CN108837166A (en) * | 2018-08-23 | 2018-11-20 | 上海钛米机器人科技有限公司 | Deployable and collapsible chlorination equipment and autonomous disinfection robot |
| CN110722583A (en) * | 2019-11-12 | 2020-01-24 | 深圳优艾智合机器人科技有限公司 | Inspection robot and inspection system |
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| CN116164364A (en) * | 2023-04-21 | 2023-05-26 | 安徽逸天科技有限公司 | Classroom environment health data monitoring and processing system based on artificial intelligence |
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| WO2021184561A1 (en) | 2021-09-23 |
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