WO2021184561A1 - 紫外光巡检机器人 - Google Patents

紫外光巡检机器人 Download PDF

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Publication number
WO2021184561A1
WO2021184561A1 PCT/CN2020/096160 CN2020096160W WO2021184561A1 WO 2021184561 A1 WO2021184561 A1 WO 2021184561A1 CN 2020096160 W CN2020096160 W CN 2020096160W WO 2021184561 A1 WO2021184561 A1 WO 2021184561A1
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WIPO (PCT)
Prior art keywords
driving wheel
body temperature
sensor array
thermal imaging
disinfection
Prior art date
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PCT/CN2020/096160
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English (en)
French (fr)
Inventor
赵万秋
张弢
刘哲
姚章浩
陈华斌
闻泉
杨敉琳
Original Assignee
深圳优艾智合机器人科技有限公司
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Publication of WO2021184561A1 publication Critical patent/WO2021184561A1/zh

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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—Ultraviolet radiation
    • 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
    • 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
    • A61L2/24—Apparatus using programmed or automatic operation
    • 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
    • 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
    • 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
    • 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

Definitions

  • the present disclosure relates to the technical field of disinfection equipment, in particular to an ultraviolet light inspection robot.
  • the disinfection work in the prior art mainly adopts manual spraying of disinfectant and robots for disinfection.
  • the disinfection robot can be used as the carrier of disinfection and sterilization to disinfect many open areas; however, the disinfection robot in the prior art has more functions.
  • the purpose of the present disclosure is to provide an ultraviolet light inspection robot to alleviate the technical problem that the disinfection robot in the prior art has a single function and cannot meet the needs of use in a complex environment.
  • An ultraviolet light inspection robot includes: a body temperature thermal imaging 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 configured to detect the body temperature of pedestrians, and the voice device is electrically connected to the body temperature thermal imaging device, so The voice device is configured to perform voice broadcast on abnormal body temperature information collected by the body temperature thermal imaging device.
  • the mobile device includes a control assembly and a drive wheel body; the control assembly is configured to obtain environmental information, and the control assembly is electrically connected to the drive wheel body, so The control assembly is configured to control the walking route of the driving wheel body, and the driving wheel body is configured to drive the disinfection device to sterilize and sterilize the external environment;
  • the body temperature thermal imaging device and the voice device are respectively electrically connected to the control assembly, and the body temperature thermal imaging device is configured to transmit detected pedestrian temperature information to the control assembly, and the control assembly presets A body temperature threshold is provided, and the control assembly correspondingly controls the opening and closing of the voice device.
  • the disinfection device includes at least one of a disinfection atomization mechanism and an ultraviolet lamp disinfection mechanism.
  • the ultraviolet lamp disinfection mechanism includes a fixed column and an ultraviolet lamp tube;
  • the fixed column is fixedly connected with the driving wheel body, the ultraviolet lamp tube is provided with a plurality, and the plurality of ultraviolet lamp tubes are evenly arranged along the circumferential direction of the fixed column.
  • the body temperature thermal imaging device is located at an end of the fixed column away from the driving wheel body, and the body temperature thermal imaging device is connected to the fixed column.
  • control assembly includes a ground ranging sensor array group, a forward obstacle avoidance sensor array group, a forward ranging sensor array group, a lidar detection device, a body inertial measurement module, Driving wheel angle reading module and processor;
  • the ground distance measuring sensor array group is located on the side of the driving wheel body close to the ground, and is configured to detect whether the driving wheel body is suspended in the air;
  • the group and the lidar detection device are both located on the front peripheral wall of the driving wheel body, and the forward obstacle avoidance sensor array group is configured to detect whether there is an obstacle on the front side of the driving wheel body;
  • the distance measuring sensor array group is configured to detect the distance between the obstacle located on the front side of the driving wheel body and the driving wheel body;
  • the lidar detection device is configured to detect the front side orientation of the driving wheel body
  • the body inertial measurement module and the drive wheel angle reading module are both set inside the drive wheel body, and the body inertial measurement module is configured to read the posture change data of the drive wheel body,
  • the driving wheel angle reading module is configured to read the rotation angle data of the driving wheel body;
  • the ground distance measurement sensor array group, the forward obstacle avoidance sensor array group, the forward distance measurement sensor array group, the lidar detection device, the body inertial measurement module, and the driving wheel angle reading module are electrically connected to the processor respectively.
  • the processor is configured to receive the ground ranging sensor array group, the forward obstacle avoidance sensor array group, the forward ranging sensor array group, the lidar detection device, the body inertial measurement module, and the driving wheel angle Reading the information output by the module, the processor correspondingly controls the actions of the driving wheel body.
  • it also includes a wireless transmission device
  • the processor is electrically signal connected with the mobile terminal through the wireless transmission device.
  • the processor includes a main control chip; the mobile terminal is electrically signaled to the main control chip, and the main control chip can be configured to control the driving wheel body, and The working mode of the driving wheel body is set to a remote control mode, so that the driving wheel body only responds to control instructions of the mobile terminal.
  • the voice device includes an intercom mechanism and a voice broadcast mechanism
  • the intercom mechanism is electrically connected to the mobile terminal through the wireless transmission device, and the voice broadcast mechanism is electrically connected to the processor.
  • the driving wheel body includes a carrying 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 carrier body, and the driving motor is in transmission connection with the moving wheel and is configured to drive at least one of the moving wheels to walk or turn;
  • a motor driver is electrically connected to the processor, the motor driver is connected to the driving motor, and the motor driver is configured to control the operation of the driving motor according to a travel instruction of the processor;
  • the side of the carrying body away from the moving wheel is connected with the body temperature thermal imaging device and the disinfection device.
  • the ultraviolet light inspection robot includes: a body temperature thermal imaging 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 image
  • the device can detect the body temperature of pedestrians, and the body temperature thermal imaging device is electrically connected to the voice device.
  • the voice device is configured to broadcast the body temperature detection information.
  • the body temperature thermal imaging device By using the body temperature thermal imaging device, it can distinguish people with abnormal body temperature in real time, and use voice
  • the device reminds the staff so that they will not miss the person who has a fever; at the same time, the mobile device is used to drive the disinfection device to sterilize the external environment; realize the temperature detection and disinfection of the personnel in the specific area, and alleviate the existing technology
  • the sterilization robot has a single function and cannot meet the technical problem of the use of complex environments.
  • FIG. 1 is a schematic structural diagram of an ultraviolet light inspection robot provided by an embodiment of the disclosure
  • FIG. 2 is a schematic diagram of the overall structure of an ultraviolet light inspection robot provided by an embodiment of the disclosure.
  • FIG. 3 is a structural diagram of a mobile device of an ultraviolet light inspection robot provided by an embodiment of the disclosure.
  • FIG. 4 is a flowchart of an ultraviolet light inspection robot provided by an embodiment of the disclosure.
  • Icon 100-body temperature thermal imaging device; 200-disinfection device; 201-fixed column; 202-ultraviolet lamp tube; 300-voice device; 411-ground distance sensor array group; 421-forward obstacle avoidance sensor array group; 431 -Forward ranging sensor array group; 441-Lidar detection device; 451-Body inertial measurement module; 461-Driving wheel angle reading module; 471-Processor; 402-Driving wheel body; 412-Carrying body; 422- Moving wheel; 432-motor driver; 442-drive motor; 500-wireless transmission device; 600-mobile terminal.
  • the ultraviolet light inspection robot includes: a body temperature thermal imaging device 100, a disinfection device 200, a voice device 300, and a mobile device; a body temperature thermal imaging device 100, a disinfection device 200
  • the body temperature thermal imaging device 100 is configured to detect the body temperature of pedestrians
  • the voice device 300 is electrically connected to the body temperature thermal imaging device 100
  • the voice device 300 is configured to detect abnormalities collected by the body temperature thermal imaging device 100 Voice broadcast of body temperature information.
  • the ultraviolet light inspection robot provided in this embodiment can be used for mobile regional disinfection in shopping malls, stations, office spaces, or production sites with large flow of people and densely populated places; and the above-mentioned areas are similar to those during an epidemic.
  • the ultraviolet light inspection robot provided in this embodiment can detect the body temperature of passing people through the body temperature thermal imaging device 100 when the flow of people is large during the day, and at the same time, the voice device 300 can Give voice prompts to persons with abnormal body temperature.
  • the ultraviolet light inspection robot uses the robot as a carrier and installs a disinfection device inside the robot 200.
  • the disinfection device 200 can produce disinfection media, increase the coverage and uniformity of disinfection, and can effectively kill pathogenic microorganisms in the air without dead ends.
  • the ultraviolet light inspection robot can automatically, according to the set route, Efficiently and accurately disinfect and prevent epidemics in specific areas.
  • the body temperature thermal imaging device 100 may be a body temperature thermal imaging camera, which uses the principle of infrared thermal imaging to detect infrared energy (heat) through non-contact, and convert it into electrical signals, thereby generating thermal images and temperature values on the display , And can calculate the temperature value of a detection device.
  • the mobile device is used to move to the passing point of the flow of people, the camera of the body temperature thermal imaging device 100 is aimed at the flow of people, and the temperature threshold is preset. The human body temperature is too high to trigger an alarm and report an abnormal body temperature.
  • the ultraviolet light inspection robot provided in this embodiment 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 set in the mobile device Above, the body temperature thermal imaging device 100 can detect the body temperature of pedestrians, and the body temperature thermal imaging device 100 is electrically connected to the voice device 300.
  • the voice device 300 is configured to broadcast body temperature detection information by voice.
  • the mobile device includes a control assembly and a drive wheel body 402; the control assembly is configured to obtain environmental information, and the control assembly and the drive wheel body 402 is electrically connected, the control assembly is configured to control the walking route of the driving wheel body 402, and the driving wheel body 402 is configured to drive the disinfection device 200 to sterilize the external environment; the body temperature thermal imaging device 100 and the voice device 300 are respectively connected to the control assembly Electrically connected, the body temperature thermal imaging device 100 is configured to transmit the detected pedestrian temperature information to the control assembly.
  • the control assembly is preset with a body temperature threshold, and the control assembly controls the opening and closing of the voice device 300 correspondingly.
  • the ultraviolet light inspection robot since the ultraviolet light inspection robot does not stand still during the disinfection process, it can be connected through the electrical signal of the control assembly and the driving wheel body 402 to preset multiple operating procedures in the control system. , The external environment information is acquired by controlling the assembly, and the driving wheel body 402 is used to drive the disinfection device 200 and the body temperature thermal imaging device 100 to move within a limited area.
  • the body temperature threshold value is different each time, the body temperature threshold value is preset by the control assembly. For example, when the body temperature of the person detected by the body temperature thermal imaging device 100 exceeds 37.3°, the voice device 300 can be used to give an alarm at this time. Further, The staff carried out a second screening and confirmation of persons with suspected body temperatures.
  • control assembly includes a ground ranging sensor array group 411, a forward obstacle avoidance sensor array group 421, a forward ranging sensor array group 431, a lidar detection device 441, and a body inertial measurement unit.
  • the ground ranging sensor array group 411 is located on the side of the driving wheel body 402 close to the ground, and is configured to detect whether the driving wheel body 402 is suspended in the air;
  • the forward obstacle avoidance sensor array The group 421, the forward ranging sensor array group 431, and the lidar detection device 441 are all located on the front peripheral wall of the driving wheel body 402, and the forward obstacle avoidance sensor array group 421 is configured to detect whether there is an obstacle on the front side of the driving wheel body 402.
  • the forward ranging sensor array group 431 is configured to detect the distance between the obstacle on the front side of the drive wheel body 402 and the drive wheel body 402; the lidar detection device 441 is configured to detect the front side of the drive wheel body 402 Azimuth environmental information; the body inertial measurement module 451 and the driving wheel angle reading module 461 are both installed inside the driving wheel body 402, the body inertial measurement module 451 is configured to read the attitude change data of the driving wheel body 402, and the driving wheel angle reading
  • the fetching module 461 is configured to read the 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 lidar detection device 441, and the body
  • the inertial measurement module 451 and the driving wheel angle reading module 461 are respectively connected to the electrical signal of the processor 471, and the processor 471 is configured to receive the ground ranging sensor array group 411, the forward obstacle avoidance sensor array group 421, and the forward ranging sensor The processor
  • the processor 471 can be used. Provides the environment data of the environment in which the entire robot is located or the surrounding environment of the path of travel, so that through the fusion and calculation of these data, the processor 471 can draw a real-time environment map during the movement of the robot, and can Refer to the data provided by the body inertial measurement module 451, the lidar detection device 441, and the driving wheel angle reading module 461 to realize the real-time positioning of the robot and plan the path of the robot; based on this, the structure optimization of the entire robot and The configuration of functional devices can realize intelligent automatic control functions such as the perception of unknown environment and the establishment of maps, obstacle detection and obstacle avoidance navigation. It should be noted that the processor 471 may use the laser SLAM algorithm to complete the construction and positioning of the global environment map.
  • the processor 471 can be of multiple types, such as: MCU, computer, PLC controller, etc.
  • the processor 471 is an MCU; Microcontroller Unit (MCU), also known as a single-chip microcomputer or single-chip microcomputer, It is to appropriately reduce the frequency and specifications of the central processing unit, and integrate peripheral interfaces such as memory, counter, USB, A/D conversion, UART, PLC or DMA, and even LCD drive circuits on a single chip to form a chip-level Computer, do different combination control for different application occasions.
  • MCU Microcontroller Unit
  • peripheral interfaces such as memory, counter, USB, A/D conversion, UART, PLC or DMA, and even LCD drive circuits on a single chip to form a chip-level Computer, do different combination control for different application occasions.
  • the processor 471 adopts the STM32F103C8T6 single-chip microcomputer, which has strong processing capability, abundant internal resources, and stable operation.
  • the ground ranging sensor array group 411 may be composed of a plurality of infrared sensors embedded at the bottom edge of the driving wheel body 402; the forward obstacle avoidance sensor array group 421 may be composed of a plurality of driving wheels along the edge.
  • the inner support frame of the body 402 is distributed around the front side in the circumferential direction and embedded in the peripheral wall of the driving wheel body 402.
  • the forward distance sensor array group 431 can be composed of a plurality of infrared sensors along the driving wheel body.
  • the inner support frame of the 402 is formed by a combination of ultrasonic sensors distributed on the front side surrounded by the circumferential direction of the inner support frame and embedded in the peripheral wall of the driving wheel body 402.
  • it further includes a wireless transmission device 500; the processor 471 is electrically signal connected to the mobile terminal 600 through the wireless transmission device 500.
  • the wireless communication device can use a Bluetooth communication module, or a wireless network signal, such as a wifi module, a 4G or 5G module, etc.; optionally, the processor 471 can implement signal intercommunication with the mobile terminal 600 through the wireless communication module; The wireless communication module can implement the processor 471 to transmit data signals to the mobile terminal 600, and can also send control instructions to the processor 471 through the mobile terminal 600.
  • a Bluetooth communication module or a wireless network signal, such as a wifi module, a 4G or 5G module, etc.
  • the processor 471 can implement signal intercommunication with the mobile terminal 600 through the wireless communication module
  • the wireless communication module can implement the processor 471 to transmit data signals to the mobile terminal 600, and can also send control instructions to the processor 471 through the mobile terminal 600.
  • the mobile terminal 600 may be a control handle, a mobile phone, or an electronic device with a communication function, or the like.
  • the processor 471 includes a main control chip; the mobile terminal 600 is electrically signaled to the main control chip, and the main control chip can be configured to control the driving wheel body 402 and change the working mode of the driving wheel body 402 It is set to the remote control mode, so that the driving wheel body 402 only responds to the control instructions of the mobile terminal 600.
  • the wireless communication device can communicate with the mobile terminal 600 through an optical fiber based on the communication protocol of the processor 471, so that the processor 471 can be set to the remote control mode (remote mode) through the main control chip. At this time, the processor 471 does not respond to itself.
  • the operation of buttons and automatic control only receives data collection or control commands from the communication port.
  • the voice device 300 includes an intercom mechanism and a voice broadcast mechanism; the intercom mechanism is electrically connected to the mobile terminal 600 through the wireless transmission device 500, and the voice broadcast mechanism is electrically connected to the processor 471.
  • the voice broadcast mechanism may include a speaker
  • the intercom mechanism may include a microphone.
  • the speaker can directly voice the alarm information to the staff
  • the microphone can realize a timely dialogue between the staff and the background staff.
  • the driving wheel body 402 includes a carrying body 412, a moving wheel 422, a driving motor 442, and a motor driver 432; the moving wheel 422, the driving motor 442 and a motor driver 432 are arranged on the carrier body 412, the driving motor 442 is in transmission connection with the moving wheel 422, and is configured to drive at least one walking or turning of the moving wheel 422; the motor driver 432 is electrically connected to the processor 471, and the motor driver 432 is connected to the drive The motor 442 is connected, and the motor driver 432 is configured to control the operation of the driving motor 442 according to the travel instruction of the processor 471; the side of the carrying body 412 away from the moving wheel 422 is connected to the body temperature thermal imaging device 100 and the disinfection device 200.
  • the driving motor 442 can drive the moving wheel 422 to move, and in order to be able to directly transmit the electrical signal of the processor 471 to the position of the driving motor 442, the motor driver 432 is connected to the driving motor 442, and the motor driver 432 is configured according to the processor 471
  • the traveling command controls the operation of the driving motor 442; among them, in order to interpret 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, The encoder can be used to enable the processor 471 to obtain the rotation angle of the driving motor 442 and even the moving wheel 422 through the driving wheel angle reading module 461 in a manner of reading the pulse of the encoder.
  • the disinfection device 200 includes at least one of a disinfection atomization mechanism and an ultraviolet lamp disinfection mechanism.
  • the disinfection atomization mechanism can atomize the disinfection liquid, and spray the disinfection liquid into the air through the air outlet.
  • the ultraviolet lamp disinfection mechanism includes a fixed column 201 and an ultraviolet lamp tube 202; the fixed column 201 is fixedly connected to the driving wheel body 402, and a plurality of ultraviolet lamp tubes 202 are provided. They are evenly arranged along the circumferential direction of the fixed column 201.
  • the ultraviolet lamp 202 can use short-wave UVC ultraviolet rays for disinfection and sterilization, which can destroy the DNA and RNA of the germs and cause them to die within a few minutes, which can effectively achieve the killing effect; with high-level disinfection mode, it can be The surface, rough porous surface) of the spores and various multi-drug resistant bacteria can completely achieve the 99.9999% killing effect required for high-level disinfection.
  • the number of the ultraviolet lamp tubes 202 on the fixed column 201 can be a plurality of ultraviolet lamp tubes 202, and the plurality of ultraviolet lamp tubes 202 surround the fixed column 201 in 360 degrees; preferably, the number of the ultraviolet lamp tubes 202 The number is six.
  • the total power of the six ultraviolet lamps 202 can reach 180W, the cumulative light intensity can reach 270uw/cm 2 , and the single-point disinfection time can be as fast as 10 minutes.
  • the body temperature thermal imaging device 100 is located at an end of the fixed column 201 away from the driving wheel body 402, and the body temperature thermal imaging device 100 is connected to the fixed column 201.
  • the fixed column 201 is fixedly connected to the driving wheel body 402, such as welding, riveting, plugging, etc., and a body temperature thermal imaging device 100 is installed at the height of the fixed column 201, and the body temperature thermal imaging device 100 can be passed through a rotating seat It is connected with the fixed post 201 to ensure the full detection of the body temperature thermal imaging device 100.
  • the ultraviolet light inspection robot provided in this embodiment has a battery inside, and the battery can be charged.
  • the battery is a lithium battery; in order to ensure the safety of the ultraviolet light inspection robot, the driving wheel body 402 can be provided with emergency Stop button. When there is a problem with the running track of the ultraviolet light inspection robot, you can manually press the emergency stop button to complete the stable stop of the ultraviolet light inspection robot.

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Abstract

一种紫外光巡检机器人，涉及消毒设备的技术领域，包括体温热像装置(100)、消毒装置(200)、语音装置(300)和移动装置；体温热像装置(100)、消毒装置(200)和语音装置(300)均设置于移动装置上，其中，体温热像装置(100)能够对行人进行体温检测，且体温热像装置(100)与语音装置(300)电连接，语音装置(300)配置成对体温检测信息进行语音播报，通过利用体温热像装置(100)能够实时对体温异常的人群进行区分，并且利用语音装置(300)对工作人员进行提醒，使得不会错过有发热情况的人员；同时利用移动装置带动消毒装置(200)对外部环境进行杀毒消菌；实现了具体区域的人员温度检测和消毒，解决了现有技术中存在的消毒机器人的功能单一，无法满足复杂环境使用需求的技术问题。

Description

紫外光巡检机器人
相关申请的交叉引用
本公开要求于2020年03月17日提交中国专利局的申请号为CN202020332424.9、名称为“紫外光巡检机器人”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及消毒设备技术领域，尤其是涉及一种紫外光巡检机器人。
背景技术
目前，在医院以及人员密集的场所，进行消毒灭菌是主要手段，尤其当疫情期间，消毒灭菌的工作更是保证人员安全的重要环节之一。
现有技术中的消毒工作主要采用人工喷洒消毒液和机器人进行消毒，其中消毒机器人可以作为消毒灭菌的载体，对许多开放的区域进行消毒工作；但是，现有技术中的消毒机器人的功能较为单一，往往只是具有携带消毒液的移动工具而已，无法满足在疫情期间，人流量大的复杂环境的需求。
发明内容
本公开的目的在于提供一种紫外光巡检机器人，以缓解现有技术中存在的消毒机器人的功能单一，无法满足复杂环境使用需求的技术问题。
本公开提供的一种紫外光巡检机器人，包括：体温热像装置、消毒装置、语音装置和移动装置；
所述体温热像装置、消毒装置和语音装置均设置于所述移动装置上；所述体温热像装置配置成对行人进行体温检测，所述语音装置与所述体温热像装置电连接，所述语音装置配置成对所述体温热像装置采集的异常体温信息进行语音播报。
在本公开较佳的实施例中，所述移动装置包括控制总成和驱动轮体；所述控制总成配置成获取环境信息，且所述控制总成与所述驱动轮体电连接，所述控制总成配置成控制所述驱动轮体的行走路线，所述驱动轮体配置成带动所述消毒装置对外部环境进行杀毒消菌；
所述体温热像装置和所述语音装置分别与所述控制总成电连接，所述体温热像装置配置成将检测的行人温度信息传输至所述控制总成处，所述控制总成预设有体温阈值，所述 控制总成对应控制所述语音装置的启闭。
在本公开较佳的实施例中，所述消毒装置包括消毒雾化机构和紫外灯消毒机构中的至少一种。
在本公开较佳的实施例中，所述紫外灯消毒机构包括固定立柱和紫外线灯管；
所述固定立柱与所述驱动轮体固定连接，所述紫外线灯管设置有多个，多个所述紫外线灯管沿着所述固定立柱的圆周方向均匀布置。
在本公开较佳的实施例中，所述体温热像装置位于所述固定立柱远离所述驱动轮体的一端，且所述体温热像装置与所述固定立柱连接。
在本公开较佳的实施例中，所述控制总成包括对地测距传感器阵列组、前向避障传感器阵列组、前向测距传感器阵列组、激光雷达检测装置、机体惯性测量模块、驱动轮角度读取模块和处理器；
所述对地测距传感器阵列组位于所述驱动轮体靠近地面的一侧，配置成检测所述驱动轮体是否悬空；所述前向避障传感器阵列组、所述前向测距传感器阵列组和所述激光雷达检测装置均位于所述驱动轮体的前侧周壁上，所述前向避障传感器阵列组配置成检测所述驱动轮体的前侧是否存在障碍物；所述前向测距传感器阵列组配置成检测位于所述驱动轮体的前侧的障碍物与所述驱动轮体之间的距离；所述激光雷达检测装置配置成检测位于所述驱动轮体的前侧方位的环境信息；所述机体惯性测量模块和所述驱动轮角度读取模块均设置于所述驱动轮体的内部，所述机体惯性测量模块配置成读取所述驱动轮体的姿态变化数据，所述驱动轮角度读取模块配置成读取驱动轮体的转动角度数据；
所述地测距传感器阵列组、前向避障传感器阵列组、前向测距传感器阵列组、激光雷达检测装置、机体惯性测量模块和所述驱动轮角度读取模块分别与所述处理器电信号连接，所述处理器配置成接收所述地测距传感器阵列组、前向避障传感器阵列组、前向测距传感器阵列组、激光雷达检测装置、机体惯性测量模块和所述驱动轮角度读取模块输出的信息，所述处理器对应控制所述驱动轮体的动作。
在本公开较佳的实施例中，还包括无线传输装置；
所述处理器通过所述无线传输装置与移动终端电信号连接。
在本公开较佳的实施例中，所述处理器包括主控芯片；所述移动终端与所述主控芯片 电信号连接，所述主控芯片可配置成控制所述驱动轮体，并将所述驱动轮体的工作模式设置为遥控模式，以使所述驱动轮体只响应所述移动终端的控制指令。
在本公开较佳的实施例中，所述语音装置包括对讲机构和语音播报机构；
所述对讲机构通过所述无线传输装置与所述移动终端电信号连接，所述语音播报机构与所述处理器电连接。
在本公开较佳的实施例中，所述驱动轮体包括承载主体、移动轮、驱动电机和电机驱动器；
所述移动轮、所述驱动电机和所述电机驱动器设置于所述承载主体上，所述驱动电机与所述移动轮传动连接，配置成驱动所述移动轮的至少一个行走或转向；所述电机驱动器与所述处理器电连接，所述电机驱动器与所述驱动电机连接，所述电机驱动器配置成根据所述处理器的行进指令控制所述驱动电机运行；
所述承载主体远离所述移动轮的一侧与所述体温热像装置和所述消毒装置连接。
本公开提供的一种紫外光巡检机器人，包括：体温热像装置、消毒装置、语音装置和移动装置；体温热像装置、消毒装置和语音装置均设置于移动装置上，其中，体温热像装置能够对行人进行体温检测，且体温热像装置与语音装置电连接，语音装置配置成对体温检测信息进行语音播报，通过利用体温热像装置能够实时对体温异常的人群进行区分，并且利用语音装置对工作人员进行提醒，使得不会错过有发热情况的人员；同时利用移动装置带动消毒装置对外部环境进行杀毒消菌；实现了具体区域的人员温度检测和消毒，缓解了现有技术中存在的消毒机器人的功能单一，无法满足复杂环境使用需求的技术问题。
附图说明
为了更清楚地说明本公开具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的紫外光巡检机器人的结构示意图；
图2为本公开实施例提供的紫外光巡检机器人的整体结构示意图；
图3为本公开实施例提供的紫外光巡检机器人的移动装置的结构图；
图4为本公开实施例提供的紫外光巡检机器人的流程框图。
图标：100-体温热像装置；200-消毒装置；201-固定立柱；202-紫外线灯管；300-语音装置；411-地测距传感器阵列组；421-前向避障传感器阵列组；431-前向测距传感器阵列组；441-激光雷达检测装置；451-机体惯性测量模块；461-驱动轮角度读取模块；471-处理器；402-驱动轮体；412-承载主体；422-移动轮；432-电机驱动器；442-驱动电机；500-无线传输装置；600-移动终端。
具体实施方式
下面将结合实施例对本公开的技术方案进行清楚和完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
如图1-图4所示，本实施例提供的一种紫外光巡检机器人，包括：体温热像装置100、消毒装置200、语音装置300和移动装置；体温热像装置100、消毒装置200和语音装置300均设置于移动装置上；体温热像装置100配置成对行人进行体温检测，语音装置300与体温热像装置100电连接，语音装置300配置成对体温热像装置100采集的异常体温信息进行语音播报。
需要说明的是，本实施例提供的紫外光巡检机器人可以对商场、车站、办公场所或生产场所等具有人员流动大，人员密集场所移动式区域性消毒；并且有上述区域在类似于疫情期间，对过往人员的体温检测需求高，因此本实施例提供的紫外光巡检机器人能够在白天人员流动大的情况下，通过体温热像装置100对过往人群进行体温检测，同时利用语音装置300能够对体温异常的人员进行语音提示，当夜晚或者控制人流的时段，利用移动装置带动消毒装置200对整个区域内进行移动消毒；其中，紫外光巡检机器人利用机器人作为载体，在机器人内部安装消毒装置200，消毒装置200能够产生消毒介质，增加了消毒的覆盖面和均匀性，进而能够有效且无死角地杀灭空气中的致病微生物，其中，紫外光巡检机器人能够根据设定的路线自动、高效且精准的对特定区域内进行消毒防疫。
可选地，体温热像装置100可以为体温热像仪，利用红外热成像原理，通过非接触探测红外能量(热量)，并将其转换为电信号，进而在显示器上生成热图像和温度值，并可以对温度值进行计算的一种检测设备。本实施例中，利用移动装置移动至人流经过点，体温热像装置100的摄像头对准人流，通过预设有温度阈值，当流动人员从摄像头前经过，自动识别人脸并测温，当检测的人体体温过高触发报警，报告体温异常。
本实施例提供的一种紫外光巡检机器人，包括：体温热像装置100、消毒装置200、语音装置300和移动装置；体温热像装置100、消毒装置200和语音装置300均设置于移动装置上，其中，体温热像装置100能够对行人进行体温检测，且体温热像装置100与语音装置300电连接，语音装置300配置成对体温检测信息进行语音播报，通过利用体温热像装置100能够实时对体温异常的人群进行区分，并且利用语音装置300对工作人员进行提醒，使得不会错过有发热情况的人员；同时利用移动装置带动消毒装置200对外部环境进行杀毒消菌；实现了具体区域的人员温度检测和消毒，缓解了现有技术中存在的功能单一，无法满足复杂环境使用需求的技术问题。
在上述实施例的基础上，进一步地，在本公开较佳的实施例中，移动装置包括控制总成和驱动轮体402；控制总成配置成获取环境信息，且控制总成与驱动轮体402电连接，控制总成配置成控制驱动轮体402的行走路线，驱动轮体402配置成带动消毒装置200对外部环境进行杀毒消菌；体温热像装置100和语音装置300分别与控制总成电连接，体温热像装置100配置成将检测的行人温度信息传输至控制总成处，控制总成预设有体温阈值，控制总成对应控制语音装置300的启闭。
本实施例中，由于紫外光巡检机器人在消毒过程中，并不是站定不动的，从而可以通过控制总成和驱动轮体402的电信号连接，从而在控制系统预设多个操作程序，通过控制总成获取外部环境信息，利用驱动轮体402带动消毒装置200和体温热像装置100在限定的区域内进行移动。
由于每次限定的体温阈值不同，因此通过控制总成预先设置有体温阈值，例如：当体温热像装置100检测的人员体温超过37.3°时，此时可以通过语音装置300进行报警，进一步地，工作人员对体温疑似的人员进行二次筛查确认。
在本公开较佳的实施例中，控制总成包括对地测距传感器阵列组411、前向避障传感器阵列组421、前向测距传感器阵列组431、激光雷达检测装置441、机体惯性测量模块451、驱动轮角度读取模块461和处理器471；对地测距传感器阵列组411位于驱动轮体402靠近地面的一侧，配置成检测驱动轮体402是否悬空；前向避障传感器阵列组421、前向测距传感器阵列组431和激光雷达检测装置441均位于驱动轮体402的前侧周壁上，前向避障传感器阵列组421配置成检测驱动轮体402的前侧是否存在障碍物；前向测距传感器阵列组431配置成检测位于驱动轮体402的前侧的障碍物与驱动轮体402之间的距离；激光雷达检测装置441配置成检测位于驱动轮体402的前侧方位的环境信息；机体惯性测量模 块451和驱动轮角度读取模块461均设置于驱动轮体402的内部，机体惯性测量模块451配置成读取驱动轮体402的姿态变化数据，驱动轮角度读取模块461配置成读取驱动轮体402的转动角度数据；对地测距传感器阵列组411、前向避障传感器阵列组421、前向测距传感器阵列组431、激光雷达检测装置441、机体惯性测量模块451和驱动轮角度读取模块461分别与处理器471电信号连接，处理器471配置成接收对地测距传感器阵列组411、前向避障传感器阵列组421、前向测距传感器阵列组431、激光雷达检测装置441、机体惯性测量模块451和驱动轮角度读取模块461输出的信息，处理器471对应控制驱动轮体402的动作。
本实施例中，通过利用装设于驱动轮体402的不同位置上的对地测距传感器阵列组411、前向避障传感器阵列组421和前向测距传感器阵列组431可为处理器471提供整个机器人所处的环境或者行进路径周围环境内的各个方位上的环境数据，以便通过对这些数据的融合计算处理，使处理器471能够绘制出机器人移动过程中的实时环境地图，并可在参考机体惯性测量模块451、激光雷达检测装置441以及驱动轮角度读取模块461所提供的数据后实现对机器人的实时定位并规划出机器人的行进路径；基于此，通过对整个机器人的结构优化以及功能器件的配置可实现对未知环境感知与地图的建立以及障碍物检测与避障导航等等智能化自动控制功能。需要说明的是，处理器471可以利用激光SLAM算法完成对全局环境地图的构建及定位。
其中，处理器471可以为多种，例如：MCU，计算机，PLC控制器等，较佳地，处理器471为MCU；微控制单元(Microcontroller Unit；MCU)，又称单片微型计算机或者单片机，是把中央处理器的频率与规格做适当缩减，并将内存、计数器、USB、A/D转换、UART、PLC或DMA等周边接口，甚至LCD驱动电路都整合在单一芯片上，形成芯片级的计算机，为不同的应用场合做不同组合控制。
优选地，处理器471采用STM32F103C8T6单片机，此单片机处理能力强，内部资源丰富，运行稳定。
可选地，对地测距传感器阵列组411可以由多个嵌装于驱动轮体402的底部的边沿处的红外传感器组合而成；前向避障传感器阵列组421可以由多个沿驱动轮体402的内支撑骨架的周向方向环绕的前方侧分布并嵌装于驱动轮体402的周身壁板的红外传感器组合而成；前向测距传感器阵列组431可以由多个沿驱动轮体402的内支撑骨架的周向方向环绕的前方侧分布并嵌装于驱动轮体402的周身壁板的超声波传感器组合而成。通过利用红外 传感器和超声波传感器的特点可实现对障碍物的检测以及距离测量的功能，以确保处理器471对相关数据提取的准确性，从而保证整个机器人运动的精密性。
在本公开较佳的实施例中，还包括无线传输装置500；处理器471通过无线传输装置500与移动终端600电信号连接。
其中，无线通信装置可以采用蓝牙通信模块，也可以采用无线网络信号，例如：wifi模块、4G或5G模块等；可选地，处理器471可以通过无线通信模块与移动终端600实现信号互通；通过无线通信模块可以实现处理器471向移动终端600传输数据信号，也可以通过移动终端600向处理器471发送操控指令。
可选地，移动终端600可以为操控手柄、手机或者具有通信功能的电子设备等。
在本公开较佳的实施例中，处理器471包括主控芯片；移动终端600与主控芯片电信号连接，主控芯片可配置成控制驱动轮体402，并将驱动轮体402的工作模式设置为遥控模式，以使驱动轮体402只响应移动终端600的控制指令。
具体地，无线通信装置可以通过光纤基于处理器471的通信协议与移动终端600进行通信，从而可以通过主控芯片将处理器471设置为遥控模式(远程模式)，这时处理器471不响应自身按键以及自动控制的操作，只接收从通信端口过来的数据采集或控制指令。
在本公开较佳的实施例中，语音装置300包括对讲机构和语音播报机构；对讲机构通过无线传输装置500与移动终端600电信号连接，语音播报机构与处理器471电连接。
其中，语音播报机构可以包括扬声器，对讲机构可以包括麦克风，利用扬声器可以直接将警报信息向工作人员进行语音播报，麦克风可以实现人员与后台工作人员的及时对话。
为能够最大限度地优化整个机器人的自主移动性能，在本公开较佳的实施例中，驱动轮体402包括承载主体412、移动轮422、驱动电机442和电机驱动器432；移动轮422、驱动电机442和电机驱动器432设置于承载主体412上，驱动电机442与移动轮422传动连接，配置成驱动移动轮422的至少一个行走或转向；电机驱动器432与处理器471电连接，电机驱动器432与驱动电机442连接，电机驱动器432配置成根据处理器471的行进指令控制驱动电机442运行；承载主体412远离移动轮422的一侧与体温热像装置100和消毒装置200连接。
其中，驱动电机442能够带动移动轮422进行移动，并且为了能够将处理器471的电信号直接输送至驱动电机442的位置，电机驱动器432与驱动电机442连接，电机驱动器 432配置成根据处理器471的行进指令控制驱动电机442运行；其中，为了将驱动轮角度读取模块461进行信息解读和传送，通过在驱动电机442的本体上装设，并与驱动轮角度读取模块461相连的编码器，利用编码器可以使得处理器471能够通过驱动轮角度读取模块461以读取编码器的脉冲的方式来获取驱动电机442乃至移动轮422的转动角度。
在本公开较佳的实施例中，消毒装置200包括消毒雾化机构和紫外灯消毒机构中的至少一种。
其中，消毒雾化机构可以将消毒液进行雾化处理，并且通过出风口将消毒液喷洒在空气中。
在本公开较佳的实施例中，紫外灯消毒机构包括固定立柱201和紫外线灯管202；固定立柱201与驱动轮体402固定连接，紫外线灯管202设置有多个，多个紫外线灯管202沿着固定立柱201的圆周方向均匀布置。
其中，紫外线灯管202可以使用短波的UVC紫外线进行消毒杀菌，几分钟内就破坏病菌的DNA和RNA使其死亡，可以有效达到消杀效果；以高水平消毒模式，可以对环境物表(光滑表面，粗糙多孔表面)的芽孢以及各种多重耐药菌完全达到高水平消毒要求的99.9999％杀灭效果。
本实施例中，固定立柱201上的紫外线灯管202的数量可以采用多个根紫外线灯管202，多根紫外线灯管202呈360度环绕在固定立柱201上；优选地，紫外线灯管202的数量为六根，六根紫外线灯管202的总功率能够达到180W，累计光照强度达到270uw/cm 2，单点消毒时间最快10分钟。
在本公开较佳的实施例中，体温热像装置100位于固定立柱201远离驱动轮体402的一端，且体温热像装置100与固定立柱201连接。
可选地，固定立柱201与驱动轮体402固定连接，例如：焊接、铆接、插接等，并且在固定立柱201的高处安装有体温热像装置100，体温热像装置100可以通过转动座与固定立柱201连接，进而能够保证体温热像装置100的全方面检测。
另外，本实施例提供的紫外光巡检机器人内部具有电池，电池可以充电，可选地，电池采用锂电池；为了保证紫外光巡检机器人的安全性，可以在驱动轮体402上设置有急停按钮，当紫外光巡检机器人运行轨迹出现问题时，可以通过人为摁下急停按钮完成紫外光巡检机器人的稳定停止。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (10)

  1. 一种紫外光巡检机器人，其特征在于，包括：体温热像装置、消毒装置、语音装置和移动装置；
    所述体温热像装置、消毒装置和语音装置均设置于所述移动装置上；所述体温热像装置配置成对行人进行体温检测，所述语音装置与所述体温热像装置电连接，所述语音装置配置成对所述体温热像装置采集的异常体温信息进行语音播报。
  2. 根据权利要求1所述的紫外光巡检机器人，其特征在于，所述移动装置包括控制总成和驱动轮体；所述控制总成配置成获取环境信息，且所述控制总成与所述驱动轮体电连接，所述控制总成配置成控制所述驱动轮体的行走路线，所述驱动轮体配置成带动所述消毒装置对外部环境进行杀毒消菌；
    所述体温热像装置和所述语音装置分别与所述控制总成电连接，所述体温热像装置配置成将检测的行人温度信息传输至所述控制总成处，所述控制总成预设有体温阈值，所述控制总成对应控制所述语音装置的启闭。
  3. 根据权利要求2所述的紫外光巡检机器人，其特征在于，所述消毒装置包括消毒雾化机构和紫外灯消毒机构中的至少一种。
  4. 根据权利要求3所述的紫外光巡检机器人，其特征在于，所述紫外灯消毒机构包括固定立柱和紫外线灯管；
    所述固定立柱与所述驱动轮体固定连接，所述紫外线灯管设置有多个，多个所述紫外线灯管沿着所述固定立柱的圆周方向均匀布置。
  5. 根据权利要求4所述的紫外光巡检机器人，其特征在于，所述体温热像装置位于所述固定立柱远离所述驱动轮体的一端，且所述体温热像装置与所述固定立柱连接。
  6. 根据权利要求2所述的紫外光巡检机器人，其特征在于，所述控制总成包括对地测距传感器阵列组、前向避障传感器阵列组、前向测距传感器阵列组、激光雷达检测装置、机体惯性测量模块、驱动轮角度读取模块和处理器；
    所述对地测距传感器阵列组位于所述驱动轮体靠近地面的一侧，配置成检测所述驱动轮体是否悬空；所述前向避障传感器阵列组、所述前向测距传感器阵列组和所述激光雷达检测装置均位于所述驱动轮体的前侧周壁上，所述前向避障传感器阵列组配置成检测所述驱动轮体的前侧是否存在障碍物；所述前向测距传感器阵列组配置成检测位于所述驱动轮 体的前侧的障碍物与所述驱动轮体之间的距离；所述激光雷达检测装置配置成检测位于所述驱动轮体的前侧方位的环境信息；所述机体惯性测量模块和所述驱动轮角度读取模块均设置于所述驱动轮体的内部，所述机体惯性测量模块配置成读取所述驱动轮体的姿态变化数据，所述驱动轮角度读取模块配置成读取驱动轮体的转动角度数据；
    所述地测距传感器阵列组、前向避障传感器阵列组、前向测距传感器阵列组、激光雷达检测装置、机体惯性测量模块和所述驱动轮角度读取模块分别与所述处理器电信号连接，所述处理器配置成接收所述地测距传感器阵列组、前向避障传感器阵列组、前向测距传感器阵列组、激光雷达检测装置、机体惯性测量模块和所述驱动轮角度读取模块输出的信息，所述处理器对应控制所述驱动轮体的动作。
  7. 根据权利要求6所述的紫外光巡检机器人，其特征在于，还包括无线传输装置；
    所述处理器通过所述无线传输装置与移动终端电信号连接。
  8. 根据权利要求7所述的紫外光巡检机器人，其特征在于，所述处理器包括主控芯片；所述移动终端与所述主控芯片电信号连接，所述主控芯片可配置成控制所述驱动轮体，并将所述驱动轮体的工作模式设置为遥控模式，以使所述驱动轮体只响应所述移动终端的控制指令。
  9. 根据权利要求8所述的紫外光巡检机器人，其特征在于，所述语音装置包括对讲机构和语音播报机构；
    所述对讲机构通过所述无线传输装置与所述移动终端电信号连接，所述语音播报机构与所述处理器电连接。
  10. 根据权利要求6-9中任一项所述的紫外光巡检机器人，其特征在于，所述驱动轮体包括承载主体、移动轮、驱动电机和电机驱动器；
    所述移动轮、所述驱动电机和所述电机驱动器设置于所述承载主体上，所述驱动电机与所述移动轮传动连接，配置成驱动所述移动轮的至少一个行走或转向；所述电机驱动器与所述处理器电连接，所述电机驱动器与所述驱动电机连接，所述电机驱动器配置成根据所述处理器的行进指令控制所述驱动电机运行；
    所述承载主体远离所述移动轮的一侧与所述体温热像装置和所述消毒装置连接。
PCT/CN2020/096160 2020-03-17 2020-06-15 紫外光巡检机器人 WO2021184561A1 (zh)

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