CN217687537U - Autonomous mobile human body temperature measuring equipment - Google Patents
Autonomous mobile human body temperature measuring equipment Download PDFInfo
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- CN217687537U CN217687537U CN202221011787.8U CN202221011787U CN217687537U CN 217687537 U CN217687537 U CN 217687537U CN 202221011787 U CN202221011787 U CN 202221011787U CN 217687537 U CN217687537 U CN 217687537U
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Abstract
The utility model provides an autonomous mobile human body temperature measurement device, which comprises a chassis module, a vision module, a temperature measurement module and a processing module; the chassis module comprises a moving assembly and a support, the moving assembly is arranged on the support, and the moving assembly is used for driving the support to move on the ground; the vision module and the temperature measuring module are arranged on the bracket; the processing module is arranged on the bracket; the motion assembly, the vision module and the temperature measuring module are respectively electrically connected with the processing module. This human temperature measurement equipment of autonomous movement can move by oneself, and accessible face information discerns the human body and carries out temperature measurement automatically, is fit for being applied to indoor public occasions such as medical institution, hall of doing business, station, has good practicality in the epidemic situation prevention and control that generates heat.
Description
Technical Field
The utility model relates to the epidemic prevention field, concretely relates to human temperature measurement equipment of autonomous movement.
Background
After the new crown epidemic situation enters the normalized prevention and control stage, the situation that the epidemic situation of each region sporadically spreads and locally and intensively explodes appears occasionally, and the demand of public places on human body temperature measuring equipment is increased day by day. When the temperature is measured by using the handheld temperature measuring gun, the processes of measuring the human body temperature and reading data need to be repeated continuously and quickly, so that the arm fatigue of users can be caused, and when the human flow is large, the defect of long time consumption for temperature measurement is obvious, crowds are easy to jam, and the risk of virus propagation is increased; the fixed temperature measuring camera is used for measuring the temperature, the temperature measuring speed is difficult to follow the advancing speed of the people stream, and the conditions of missing measurement, mismeasurement and the like are easy to occur.
SUMMERY OF THE UTILITY MODEL
The utility model provides a human temperature measurement equipment of autonomous movement, this human temperature measurement equipment of autonomous movement can the self-propelled movement, and accessible face information discernment is human and carry out temperature measurement automatically, is the powerful supplementary temperature measurement means to hand-held type temperature measurement rifle and fixed temperature measurement equipment, is fit for being applied to medical institution, the hall of handling affairs, indoor public occasion such as station, has good practicality in the epidemic situation prevention and control of generating heat.
Correspondingly, the utility model provides an autonomous mobile human body temperature measuring device, which comprises a chassis module, a double-shaft motion module, a vision module, a temperature measuring module and a processing module;
the chassis module comprises a moving assembly and a support, the moving assembly is arranged on the support, and the moving assembly is used for driving the support to move on the ground;
the vision module and the temperature measuring module are arranged on the bracket;
the processing module is arranged on the bracket;
the motion assembly, the vision module and the temperature measurement module are respectively electrically connected with the processing module.
In an optional embodiment, the biaxial movement module comprises a fixed part, a first moving part and a second moving part, the fixed part is arranged on the bracket, the first moving part and the second moving part integrally rotate relative to the fixed part along a horizontal deflection direction, and the first moving part and the second moving part respectively rotate along a vertical pitch direction;
the vision module is arranged on the first motion part;
the temperature measuring module is arranged on the second moving part.
In an optional embodiment, the motion assembly includes more than one set of passive driving assembly and more than two sets of active driving assembly;
the active driving assembly comprises a servo motor and a driving wheel;
the passive driving assembly comprises a universal wheel;
the driving wheel with the universal wheel all sets up on the bottom of support, the driving wheel is used for driving the driving wheel operation.
In an alternative embodiment, the vision module includes a vision element having an auto-focus function.
In an optional embodiment, the temperature measurement module comprises a temperature measurement sensor.
In an optional embodiment, the system further comprises a 5G communication module;
the 5G communication module is electrically connected with the processing module.
In an optional embodiment, the system further comprises a position positioning module;
the position positioning module is electrically connected with the processing module.
In an optional implementation manner, a human-computer interaction module is further disposed on the surface of the chassis module, and the human-computer interaction module is electrically connected with the processing module.
In an optional implementation manner, the human-computer interaction module includes a touch screen.
In an optional embodiment, the autonomous mobile body thermometry device further comprises a battery;
the storage battery is arranged in the chassis module;
the storage battery is electrically connected with the motion assembly, the vision module, the temperature measuring module and the processing module respectively.
In summary, the utility model provides an autonomous mobile human body temperature measurement device and method, which can automatically move on the ground and acquire real-time images in multiple directions, can perform autonomous mobile human body temperature measurement on nearby pedestrians in a targeted manner, and has better practicability compared with the existing fixed temperature measurement device; the autonomous mobile human body temperature measurement method can automatically track the position of the face information to perform directional temperature measurement, and has good use convenience.
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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is the three-dimensional structure schematic diagram of the autonomous mobile human body temperature measuring device of the embodiment of the utility model.
Fig. 2 is a schematic view of the chassis module 1 according to the embodiment of the present invention after the housing is hidden.
Fig. 3 is a schematic diagram of a three-dimensional structure of a biaxial movement module according to an embodiment of the present invention.
Fig. 4 is a flowchart of a single temperature measurement process according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.
Fig. 1 shows the three-dimensional structure schematic diagram of the autonomous mobile human body temperature measurement device in the embodiment of the present invention. Specifically, the embodiment of the utility model provides an independently remove human temperature measurement equipment, including chassis module 1, biax motion module, vision module 4, temperature measurement module 5 and processing module 10.
Specifically, chassis module 1 includes plastic housing, motion subassembly and support, and the support is based on plastic housing parcel to guarantee the aesthetic property of outward appearance.
The motion assembly is arranged on the bracket and is used for driving the bracket to move on the ground; in the embodiment of the present invention, the motion assembly includes more than one group of passive driving assemblies and more than two groups of active driving assemblies; the driving component comprises a servo motor and a driving wheel 7; the passive driving assembly comprises a universal wheel 8; the driving wheel 7 and the universal wheel 8 are arranged on the bottom of the support, and the driving wheel 7 is used for driving the driving wheel 7 to run. Referring to a three-dimensional structure schematic diagram of the chassis module 1 with the plastic shell hidden in fig. 2, the driving wheel can be driven by a hub motor, an additional motor and the like, and the universal wheel 8 is fixed at the bottom of the support and can be a one-way wheel or a universal wheel.
Specifically, the composition of the active driving assembly can be realized by referring to the following embodiments:
the driving assembly comprises a servo motor, a speed reducer, a driving wheel and a suspension, the driving wheel is arranged on the suspension, the servo motor and the speed reducer are arranged on the support, the servo motor transmits power to the driving wheel through the speed reducer under the driving of a transmission part, and the driving wheel has good buffering capacity and the attaching capacity with the ground under the action of the suspension, so that good movement performance is achieved.
The embodiment of the utility model provides an in, the quantity of initiative drive assembly is two sets of, and driven drive assembly's quantity is four groups, and is concrete, and four have played the effect of basic support from the driving wheel, and two sets of initiative drive assemblies have mainly played differential drive, shock attenuation, have closely laminated the effect that improves environmental suitability with ground.
Further, since the unmanned control motion is involved, how to adjust the self-moving human body temperature measurement device adaptively to the actual environment is also a problem faced by the self-moving human body temperature measurement device. Thus, the autonomous mobile body thermometry device further comprises a motion related sensing component, specific to the nature of autonomous movement;
specifically, this sensing assembly includes equipment such as laser radar, ultrasonic sensor, IMU, wheeled odometer, dropproof sensor, and sensing assembly's sensing data all feeds back to processing module. Specifically, the laser radar mainly adopts an SLAM mode for autonomous navigation, and the ultrasonic sensor is mainly used for scanning obstacles to avoid obstacles; the IMU, i.e. an inertial measurement unit, is generally used for measuring three-axis attitude angles (or angular rates) and acceleration of an object, and may be used for assisting the operation of the equipment, monitoring the attitude of the equipment in real time, and assisting the control of the active drive assembly; the wheel type odometer is mainly used for measuring and calculating distance, namely the running distance of equipment is sensed according to the movement of structures such as a driving wheel and the like; the anti-falling sensor is used for preventing the equipment from falling to steps and other positions, and safety risks are avoided.
The biax motion module includes fixed part 2 and motion portion 3, and motion portion 3 actually comprises first motion portion and second motion portion, and is concrete, fixed part 2 sets up on the support, motion portion 3 (first motion portion and second motion portion are whole promptly) can wind fixed part 2 is rotatory along the horizontal deflection direction, and first motion portion and second motion portion itself can carry out the rotation of vertical every single move direction respectively.
Specifically, the first motion part and the second motion part can be respectively regarded as two output ends of the biaxial motion module, the two output ends can integrally rotate around the fixed part in the horizontal deflection direction, and the two output ends have the capability of autorotation (rotation in the vertical pitch direction).
Specifically, the double-shaft movement module comprises three driving motors, namely a first driving motor, a second driving motor and a third driving motor, wherein a body of the first driving motor is fixed on the fixing part, and an output end of the first driving motor drives the second driving motor and the third driving motor to integrally rotate around a vertical axis; the output end of the second driving motor and the output end of the third driving motor are respectively used as the first moving part and the second moving part, and can be driven by the second driving motor and the third driving motor to respectively rotate in the pitching direction.
Specifically, the vision module 4 and the temperature measurement module 5 are respectively arranged on the first moving part and the second moving part, and through the embodiment, the rotation of the vision module 4 and the rotation of the temperature measurement module 5 in the horizontal direction are synchronous, and the rotation in the pitching direction are separated, so that the operation flexibility of the vision module 4 and the temperature measurement module can be ensured.
Specifically, the vision module 4 includes a vision element having an automatic focus following function. The temperature measuring module 5 comprises a temperature measuring sensor. Specifically, the orientations of the visual element and the temperature measuring sensor are kept all the time, and the automatic focus following function of the visual element can ensure accurate acquisition of face information and ensure the accuracy rate of finding the face information in the image.
Specifically, before the temperature measuring sensor is used, the temperature of the temperature measuring sensor can be corrected by the black body firstly, so that the accuracy of measurement is ensured.
The processing module 10 is arranged on the bracket, and the moving assembly, the moving part 3, the vision module 4 and the temperature measuring module 5 are respectively and electrically connected with the processing module 10. Specifically, processing module 10 is in the utility model discloses the effect among the human temperature measurement equipment of autonomous movement does, the motion of control motion subassembly, the gesture information of motion, the receipt control part of control motion portion 3 (specifically be first motion portion and second motion portion), the image information that the receipt vision module 4 acquireed, receipt temperature measurement data of temperature measurement module 5. Specifically, the physical hardware of the processing module 10 is disposed inside the chassis module 1.
Specifically, based on the embodiment of the present invention, the processing module 10 mainly includes the following hardware devices:
the control and operation component comprises an industrial control card (a processor system), a data acquisition card (analog-digital conversion hardware and the like), a visual processor (a high-efficiency GPU for image processing) and the like;
the man-machine interaction assembly comprises information output equipment (video output equipment, audio output equipment, light state indicating equipment and the like), information input equipment (such as a touch screen and the like), real-time communication equipment (such as a 5G communication module and the like) and a communication interface (such as an RJ45 interface, a USB interface and the like).
Furthermore, in order to improve the intelligence of the autonomous mobile human body temperature measuring equipment, the autonomous mobile human body temperature measuring equipment provided by the embodiment of the utility model also comprises a position positioning module;
the position locating module is electrically connected with the processing module 10. Specifically, the position location module can be selected for use to this human temperature measurement equipment of autonomous movement's application scene, if the human temperature measurement equipment of autonomous movement need be used for indoorly, then adopt indoor orientation module, if the human temperature measurement equipment of autonomous movement need be used for outdoor environment, then adopt satellite positioning module. The physical hardware of the position positioning module is built in the chassis module 1.
Further, in order to realize human-computer interaction, optionally, a touch screen 6 is further arranged on the surface of the chassis module, and the touch screen 6 is electrically connected with the processing module; correspondingly, the inside battery 9 that still is provided with of chassis module, battery 9 are arranged in supplying power to the consumer in the human temperature measurement equipment of autonomous movement.
Specifically, in regard to the setting of the storage battery, a power management system (hardware and software), a power converter, a charging interface, and the like, which are matched with each other, need to be correspondingly set.
Specifically, the processing module has a preset operation logic, and can coordinate operations among the motion assembly, the motion part, the vision module and the temperature measurement module, and the subsequent embodiment provides a possible execution logic for reference.
Correspondingly, the embodiment of the utility model also provides an autonomous mobile human body temperature measurement method, which is realized by the autonomous mobile human body temperature measurement equipment and comprises a repeatedly executed single temperature measurement process;
fig. 4 is a flowchart of a single temperature measurement process according to an embodiment of the present invention.
Specifically, the single temperature measurement process includes:
s101: the processing module controls the motion part to move around the fixed part based on a first operation program, and the visual element continuously operates and captures a real-time image;
specifically, the first operating program group is a program for controlling the movement of the moving part, the movement of the moving part can change the posture of the moving part, the orientation of the visual element fixed on the moving part can correspondingly change, and the movement of the moving part can enable the visual element to acquire image information at multiple angles, so that the environment can be acquired at multiple angles, and the face information can be found from the environment.
The visual element has an automatic focus following function, and the visual element can zoom according to the distance between the shooting object and the visual element, so that a clear image of the shooting object is obtained. Generally, the focus position of the visual element is set in the central region, and the focus of the visual element is constantly changed in space under the drive of the motion part, so as to traverse the external environment of the autonomous mobile human body temperature measurement device to acquire images.
S102: the processing module processes the real-time image in real time and searches face information in the real-time image;
specifically, the working substance of the visual element is to acquire a real-time image at a certain frequency, and the processing module processes the real-time image according to a face recognition program and searches face information possibly existing in the real-time image.
S103: when the processing module finds that the real-time image has the face information, the face information is locked and tracked through a visual element, and the autonomous mobile human body temperature measuring equipment is driven to approach the position of the face information through a motion assembly;
specifically, when the processing module finds that the real-time image has the face information, the execution of a first running program is firstly stopped, the face information is locked and tracked through a visual element, and the autonomous mobile human body temperature measuring device is driven by a motion assembly to be close to the position of the face information.
Specifically, the specific execution mode of tracking the face information in the locked mode by the visual element is that the real-time image is acquired at a certain frequency, the posture of the motion part is driven to change according to the position of the face information in the real-time image, so that the face information is adjusted to the central position in the real-time image, correspondingly, the relative position of the face information and the autonomous mobile human body temperature measurement equipment can be correspondingly changed due to the change of the posture of the motion part, and the processing module can adjust the motion of the face information close to the position of the face information in real time.
Specifically, the tracking the face information by visual element locking includes:
the processing module acquires the position of the face information and the horizontal relative position of the autonomous mobile human body temperature measuring equipment through the real-time posture of the motion part;
based on the horizontal relative position, the processing module controls the motion assembly, and the motion assembly drives the autonomous mobile human body temperature measurement equipment to integrally move close to the position where the human face information is located;
and synchronously, the processing module enables the face information to be always kept at the central position of the real-time image by adjusting the posture of the motion part according to the locked face information.
S104: in the process that the autonomous mobile human body temperature measurement equipment approaches the position of the face information, the temperature measurement module continuously carries out non-contact temperature measurement on the position of the face information;
specifically, the reason that the human temperature measurement equipment of independent removal is close to face information position is that, the temperature measurement distance of temperature measurement module is less, need just make the temperature measurement module can carry out non-contact's temperature measurement to the human body of face information seat position through the reduction in the physical distance.
S105: and after the temperature measurement module generates effective data for the non-contact temperature measurement of the position of the face information, the single temperature measurement process is stopped.
Specifically, the purpose of the single temperature measurement process is to measure the temperature of the human body within the range, so that the human body at the position of the face information can be regarded as the completion of the temperature measurement process only after the temperature measurement (obtaining effective temperature measurement data) is performed on the human body.
Specifically, human body temperature scope is generally between 35 degrees centigrade to 42 degrees centigrade the embodiment of the utility model provides an in, carry out the expansion of adaptability to the scope of valid data, the temperature measurement module obtains the data of temperature measurement data between 30 degrees centigrade to 45 degrees centigrade to the non-contact temperature measurement of temperature measurement region.
Specifically, after the temperature measurement program is completed, the situation can be determined according to the set temperature-specific obtained result, based on the definition in the medical industry at present, when the body surface temperature exceeds 37.3 degrees centigrade and is regarded as high temperature, in specific implementation, information recording and information reminding need to be performed on pedestrians with the body surface temperature exceeding 37.3 degrees centigrade, in specific implementation, the pedestrians can be indicated through the human-computer interaction module, for example, the prompting sound and the prompting picture are adopted, and the working personnel are notified through means such as the 5G communication module, so as to perform subsequent processing means.
Specifically, the single temperature measurement process is to drive the motion assembly after human body information is found, and in order to expand the application range of the autonomous mobile human body temperature measurement device, the autonomous mobile human body temperature measurement method provided by the embodiment of the invention is optional and further comprises a patrol process;
the patrol process comprises the following steps:
the processing module drives a motion assembly according to a second preset program, and the motion assembly drives the autonomous mobile human body temperature measurement equipment to patrol along a corresponding patrol route;
the autonomous mobile human body temperature measuring equipment repeatedly executes the single temperature measuring process in the patrol process;
the control priority of the processing module to the motion assembly in the single temperature measurement process is higher than the control priority of the processing module to the motion assembly in the patrol process.
Specifically, in the patrol process of the autonomous mobile human body temperature measurement equipment, a wider temperature measurement monitoring area can be obtained through the combination of self-motion and motion of a motion part, because the control priority of the processing module to the motion component in the single temperature measurement process is higher than the control priority of the processing module to the motion component in the patrol process, if face information is found in the patrol process, the driving logic of the motion component in the single temperature measurement process is preferentially executed, and the autonomous mobile human body temperature measurement equipment continues to perform patrol operation until the single temperature measurement process is finished; specifically, due to the fact that the positioning and guiding problem of the patrol route is involved, generally, the processing module needs to be used for acquiring the positions where the autonomous mobile human body temperature measurement devices are located through the position positioning module, and the accuracy of the patrol route is guaranteed.
Specifically, the patrol route can be acquired in a teaching mode, or the device can scan the environment, perform preliminary map modeling, manually set the patrol route of the device by a user on the basis of the map modeling, and introduce the patrol route into the device in a man-machine interaction mode so as to enable the device to perform autonomous mobile patrol. The device itself can also be patrolled autonomously by means of a map obtained by modeling.
Furthermore, because the acquisition of the face information is involved, the health codes of the face information can be associated according to the data matching information in a legally obtained face information database, and the data of the health codes can be synchronously updated.
To sum up, the embodiment of the utility model provides an autonomous mobile human body temperature measurement equipment and method, the autonomous mobile human body temperature measurement equipment can automatically move on the ground and can acquire real-time images in multiple directions, and can perform autonomous mobile human body temperature measurement on nearby pedestrians in a targeted manner, and the device has better practicability compared with the existing fixed temperature measurement equipment; the autonomous mobile human body temperature measurement method can automatically track the position of the face information to carry out directional temperature measurement, and has good use convenience.
The above detailed description is given to the autonomous mobile human body temperature measuring device provided by the embodiment of the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (10)
1. An autonomous mobile human body temperature measurement device is characterized by comprising a chassis module, a double-shaft motion module, a vision module, a temperature measurement module and a processing module;
the chassis module comprises a moving assembly and a support, the moving assembly is arranged on the support, and the moving assembly is used for driving the support to move on the ground;
the vision module and the temperature measuring module are arranged on the bracket;
the processing module is arranged on the bracket;
the motion assembly, the vision module and the temperature measurement module are respectively electrically connected with the processing module.
2. The autonomous mobile body temperature measuring apparatus of claim 1, wherein the biaxial movement module comprises a fixed portion, a first movement portion and a second movement portion, the fixed portion is disposed on the support, the first movement portion and the second movement portion integrally rotate in a horizontal yaw direction with respect to the fixed portion, and the first movement portion and the second movement portion respectively rotate in a vertical pitch direction;
the vision module is arranged on the first motion part;
the temperature measuring module is arranged on the second moving part.
3. The autonomous mobile body thermometry apparatus of claim 1, wherein the motion assembly comprises more than one set of passive drive assemblies and more than two sets of active drive assemblies;
the active driving assembly comprises a servo motor and a driving wheel;
the passive driving assembly comprises a universal wheel;
the driving wheel with the universal wheel all sets up on the bottom of support, the driving wheel is used for driving the driving wheel operation.
4. The autonomous mobile body temperature apparatus of claim 1, wherein the vision module comprises a vision element having an automatic focus following function.
5. The autonomous mobile body temperature measurement device of claim 1 wherein the temperature measurement module comprises a temperature measurement sensor.
6. The autonomous mobile body thermometry apparatus of claim 1, further comprising a 5G communication module;
the 5G communication module is electrically connected with the processing module.
7. The autonomous mobile body thermometry apparatus of claim 1, further comprising a position locating module;
the position positioning module is electrically connected with the processing module.
8. The autonomous mobile body thermometry apparatus of claim 1, wherein a human-computer interaction module is further disposed on a surface of the chassis module, the human-computer interaction module being electrically connected to the processing module.
9. The autonomous mobile body thermometry apparatus of claim 8, wherein the human interaction module comprises a touch screen.
10. The autonomous mobile body temperature measuring device of claim 1, further comprising a battery;
the storage battery is arranged in the chassis module;
the storage battery is electrically connected with the motion assembly, the vision module, the temperature measurement module and the processing module respectively.
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| CN202221011787.8U CN217687537U (en) | 2022-04-28 | 2022-04-28 | Autonomous mobile human body temperature measuring equipment |
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| CN202221011787.8U CN217687537U (en) | 2022-04-28 | 2022-04-28 | Autonomous mobile human body temperature measuring equipment |
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