Disinfection quarantine control system, disinfection quarantine control method, disinfection quarantine control apparatus, and storage medium
阅读说明：本技术 消毒检疫控制系统、消毒检疫控制方法、设备及存储介质 (Disinfection quarantine control system, disinfection quarantine control method, disinfection quarantine control apparatus, and storage medium ) 是由 张国财 沈岗 郭智敏 于 2020-08-24 设计创作，主要内容包括：本申请属于机器人技术领域,涉及消毒检疫控制系统、方法、消毒检疫设备及计算机可读存储介质。消毒检疫控制系统包括：工控模块、检疫模块、运动控制模块、消毒模块及伺服驱动模块。工控模块与运动控制模块和检疫模块均相连,用于接收工作任务信号后,开启路径规划功能以及下发工作指令至运动控制模块和/或检疫模块；运动控制模块与伺服驱动模块和消毒模块均相连,用于接收工作指令后,控制伺服驱动模块进行移动驱动操作,以及控制消毒模块进行消杀操作；检疫模块,用于接收工作指令后,开启检疫功能和/或身份识别功能以获取并反馈检疫信息。因此,本申请不仅能够使得消毒检疫机器人的智能性得到提升,还能够提升硬件的集成度、降低成本。(The application belongs to the technical field of robots, and relates to a disinfection and quarantine control system, a disinfection and quarantine control method, disinfection and quarantine equipment and a computer-readable storage medium. The disinfection quarantine control system comprises: the system comprises an industrial control module, a quarantine module, a motion control module, a disinfection module and a servo drive module. The industrial control module is connected with the motion control module and the quarantine module and is used for starting a path planning function and issuing a work instruction to the motion control module and/or the quarantine module after receiving a work task signal; the motion control module is connected with the servo drive module and the disinfection module and is used for controlling the servo drive module to carry out movement drive operation and controlling the disinfection module to carry out disinfection operation after receiving a working instruction; and the quarantine module is used for starting a quarantine function and/or an identity recognition function to acquire and feed back quarantine information after receiving the working instruction. Therefore, the intelligent of the disinfection and quarantine robot can be improved, and the integration level and the cost of hardware can be improved.)
1. A disinfection quarantine control system, comprising: the system comprises an industrial control module, a quarantine module, a motion control module, a disinfection module and a servo drive module;
the industrial control module is connected with the motion control module and the quarantine module and is used for starting a path planning function and issuing a work instruction to the motion control module and/or the quarantine module after receiving a work task signal;
the motion control module is connected with the servo driving module and the disinfection module and is used for controlling the servo driving module to carry out movement driving operation and controlling the disinfection module to carry out disinfection operation after receiving the working instruction;
and the quarantine module is used for starting a quarantine function and/or an identity recognition function to acquire and feed back quarantine information after receiving the working instruction, wherein the quarantine information comprises at least one of body temperature information, mask wearing information and personnel identity information.
2. The disinfection and quarantine control system according to claim 1, wherein the quarantine module comprises a first industrial control unit, a camera device and a body temperature detection device;
the disinfection module comprises a liquid spraying unit and/or a wiping unit;
the liquid spraying unit comprises an electromagnetic valve driving circuit, an electromagnetic valve, a flow detection circuit, a liquid level detection circuit and a booster pump;
the wiping unit comprises a push rod motor driving circuit, a push rod motor and a push rod motor position detection circuit.
3. A disinfection and quarantine control method is characterized by comprising the following steps:
acquiring a work task, wherein the work task comprises at least one of a disinfection task and a quarantine task;
acquiring working position information according to the working task;
performing movement control operation according to the working position information;
and moving to a position corresponding to the working position information, and controlling a quarantine module to acquire quarantine information and/or controlling a disinfection module to sterilize, wherein the quarantine information comprises at least one of body temperature information, mask wearing information and personnel identity information.
4. The disinfection quarantine control method according to claim 3, wherein the step of performing the movement control operation according to the working position information includes:
planning a path according to the working position information to obtain a working path;
and correspondingly controlling the motion control module according to the working path so that the motion control module controls the travelling mechanism to correspondingly move.
5. The disinfection and quarantine control method according to claim 3, wherein the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the operation of acquiring the quarantine information comprises the steps of:
and moving to a position corresponding to the working position information, and controlling the quarantine module to perform the acquisition operation and/or the identity recognition operation on the quarantine information.
6. The disinfection and quarantine control method according to claim 5, wherein the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the operation of acquiring the quarantine information and/or the operation of identifying the identity comprises the following steps:
detecting the body temperature of a person to be detected to acquire body temperature information; and/or
Carrying out mask detection on the person to be detected to obtain mask wearing information; and/or
And carrying out face recognition on the person to be detected so as to obtain the person identity information of the person to be detected.
7. The disinfection and quarantine control method according to claim 6, wherein the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the acquisition operation and/or the identification operation on the quarantine information is followed by the steps of:
when the body temperature information accords with abnormal body temperature information, performing abnormal guide operation on the person to be tested; and/or
When the mask wearing information does not meet the mask wearing requirements, outputting corresponding prompt information and/or controlling a mask distribution mechanism to perform mask distribution operation; and/or
And outputting personnel management prompt information when the personnel identity information of the personnel to be detected is not registered.
8. The disinfection and quarantine control method according to claim 7, wherein the step of performing the abnormal guidance operation on the person to be tested when the body temperature information conforms to the abnormal body temperature information includes:
when the body temperature information accords with the abnormal body temperature information, acquiring the abnormal body temperature detection times of the person to be detected in a preset time period;
judging whether the detection frequency of the abnormal body temperature exceeds a preset frequency or not;
if not, outputting rest guide prompt information, and returning to the step of detecting the body temperature of the person to be detected to acquire body temperature information;
if so, performing isolation guide operation to guide the person to be tested to reach a specified isolation area, and/or performing isolation information management operation.
9. The disinfection and quarantine control method according to claim 3, wherein the step of moving to the position corresponding to the working position information and controlling the disinfection module to perform disinfection and sterilization operation comprises the steps of:
performing obstacle detection operation to judge whether an obstacle exists in the moving direction;
if so, stopping moving and controlling the disinfection module to stop the disinfection operation, and performing obstacle detection operation again after a preset time length so as to perform obstacle avoidance operation when an obstacle still exists in the moving direction, or continue the disinfection operation when the obstacle does not exist in the moving direction, or
Stopping moving and controlling the disinfection module to weaken the killing operation, and performing the obstacle detection operation again after the preset duration so as to perform the obstacle avoidance operation when an obstacle still exists in the moving direction, or enhance the killing operation when the obstacle does not exist in the moving direction;
if not, controlling the disinfection module to perform disinfection operation in the process of moving to the position corresponding to the working position information;
the control of the disinfection module to perform the disinfection and killing operation comprises the control of a liquid spraying unit in the disinfection module to spray liquid and the control of a wiping unit in the disinfection module to wipe the sprayed area.
10. The disinfection and quarantine control method according to claim 3, wherein the step of moving to the position corresponding to the working position information and controlling the disinfection module to perform disinfection and sterilization operation comprises the steps of:
acquiring a killing adjustment factor, wherein the killing adjustment factor comprises at least one of the area of a killing area and the moving speed;
and adjusting the liquid spraying amount of the disinfection module according to the disinfection adjustment factor.
Technical Field
The present application relates to the field of robotics, and in particular, to a disinfection and quarantine control system, a disinfection and quarantine control method, a disinfection and quarantine apparatus, and a computer-readable storage medium.
Background
In the early 2020, a novel coronavirus pneumonia epidemic situation is developed in China, and viruses are mainly spread through air droplets and physical contact. In order to effectively kill viruses and reduce the contact probability of human bodies and viruses, a plurality of science and technology companies begin to put out epidemic prevention robot products, and mainly add disinfection and quarantine devices on the basis of the original service robot.
However, most robots with disinfection and quarantine functions simply superimpose the disinfection device and the quarantine device on some original robots with mobile functions, so that various functions of the robots need to be controlled independently, and corresponding operations are mostly needed to be performed manually when various functions of the robots are used (for example, the working place of the robots needs to be manually set, and after the robots reach the working place, the quarantine function or the disinfection function needs to be controlled manually again), so that the existing robots with disinfection and quarantine functions cannot independently complete a whole set of disinfection and quarantine work, and the intelligent degree is low.
In view of the above problems, those skilled in the art have sought solutions.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
The technical problem to be solved by the present application is to provide a disinfection and quarantine control system, a disinfection and quarantine control method, a disinfection and quarantine device, and a computer-readable storage medium, aiming at the defects of the prior art, so that the disinfection and quarantine robot is more intelligent and the use experience is more excellent.
The application is realized as follows:
the application provides a disinfection quarantine control system includes: the system comprises an industrial control module, a quarantine module, a motion control module, a disinfection module and a servo drive module. The industrial control module is connected with the motion control module and the quarantine module and is used for starting a path planning function and issuing a work instruction to the motion control module and/or the quarantine module after receiving the work task signal. The motion control module is connected with the servo driving module and the disinfection module and is used for controlling the servo driving module to carry out moving driving operation and controlling the disinfection module to carry out disinfection operation after receiving a working instruction. And the quarantine module is used for starting a quarantine function and/or an identity recognition function to acquire and feed back quarantine information after receiving the working instruction, wherein the quarantine information comprises at least one item of body temperature information, mask wearing information and personnel identity information.
Furthermore, the quarantine module comprises a first industrial control unit, a camera device and a body temperature detection device. The disinfection module comprises a liquid spraying unit and/or a wiping unit. Wherein, the liquid spraying unit comprises an electromagnetic valve driving circuit, an electromagnetic valve and a booster pump. Wherein, the wiping unit comprises a push rod motor driving circuit and a push rod motor.
Further, the liquid spraying unit further comprises at least one of a flow detection circuit and a liquid level detection circuit. The wiping unit further includes a push rod motor position detection circuit.
Further, the electromagnetic valve driving circuit is used for controlling the first electromagnetic valve and the second electromagnetic valve which are connected with each other to spray liquid, and comprises a first coupler, a second coupler, a double-MOS tube N-channel chip, a first diode, a second diode, a first capacitor, a second capacitor, a first inductance element, a second inductance element, a first grounding resistor, a second grounding resistor, a third grounding resistor, a fourth grounding resistor, a first terminal and a second terminal. The AN interface of the first coupler is connected with a disinfection control board in the motion control module to receive a first control signal, the CAT interface of the first coupler is grounded through a first grounding resistor, the VO interface of the first coupler is connected with the G2 interface of the double-MOS tube N-channel chip, the VO interface of the first coupler is grounded through a third grounding resistor, the GND interface of the first coupler is grounded, and the VCC interface of the first coupler receives a first reference voltage. The AN interface of the second coupler is connected with the disinfection control board to receive a second control signal, the CAT interface of the second coupler is grounded through a second ground resistor, the VO interface of the second coupler is connected with the G1 interface of the N-channel chip of the double MOS tube, the VO interface of the second coupler is grounded through a fourth ground resistor, the GND interface of the second coupler is grounded, and the VCC interface of the second coupler receives a first reference voltage. The S1 interface and the S2 interface of the double-MOS tube N-channel chip are both grounded, two D2 interfaces of the double-MOS tube N-channel chip are connected in parallel with a Q1 node, and two D1 interfaces of the double-MOS tube N-channel chip are connected in parallel with a Q2 node. The first terminal has a first input connected to the cathode of the first diode via the first inductor element and then connected to node Q1 via the anode of the first diode, a second input connected to node Q1, and a first terminal for connection to the first solenoid valve. The first capacitor is connected with the cathode and the anode of the first diode, and the cathode of the first diode receives a first reference voltage. A first input of the second terminal is connected to the cathode of the second diode via the second inductor element and then to the node Q2 via the anode of the second diode, a second input of the second terminal is connected to the node Q2, and a second terminal is used for connecting the second solenoid valve. The second capacitor is connected with the cathode and the anode of the second diode, and the cathode of the second diode receives the first reference voltage.
Further, the electromagnetic valve driving circuit further comprises a third capacitor and a fourth capacitor. The VCC interface of the first coupler is also grounded through a third capacitor. The VCC interface of the second coupler is also grounded through a fourth capacitor.
Further, the push rod motor driving circuit is used for controlling the push rod motor and comprises a third coupler, a fourth coupler, a fifth coupler, a sixth coupler, a first PMOS tube, a second PMOS tube, a first NMOS tube, a second NMOS tube, a fifth grounding resistor, a sixth grounding resistor, a seventh grounding resistor, an eighth grounding resistor, a ninth grounding resistor, a tenth grounding resistor, an eleventh grounding resistor, a twelfth grounding resistor, a first resistor, a second resistor, a third resistor, a fourth resistor, a third diode, a fourth diode, a fifth diode, a sixth diode and a third terminal. The first interface of the third coupler is connected with a disinfection control board in the motion control module to receive a third control signal, the second interface of the third coupler is grounded through a fifth grounding resistor, the third interface of the third coupler is connected with the G interface of the first PMOS tube through a first resistor, the third interface of the third coupler is grounded through a sixth grounding resistor, and the fourth interface of the third coupler receives a second reference voltage. Three S interfaces of the first PMOS tube receive third reference voltage, four D interfaces of the first PMOS tube receive the third reference voltage through a cathode of a third diode after being connected with an anode of the third diode, and the four D interfaces of the first PMOS tube are connected with a node Q3. The first interface of the fourth coupler is connected with the disinfection control board to receive a fourth control signal, the second interface of the fourth coupler is grounded through a seventh grounding resistor, the third interface of the fourth coupler is connected with the G interface of the first NMOS tube through a second resistor, the third interface of the fourth coupler is grounded through an eighth grounding resistor, and the fourth interface of the fourth coupler receives a second reference voltage. Three S interfaces of the first NMOS tube are connected to the node Q3 through the cathode of the fourth diode after being connected with the anode of the fourth diode, and four D interfaces of the first NMOS tube are connected to the node Q3. The first interface of the fifth coupler is connected with the disinfection control board to receive a fifth control signal, the second interface of the fifth coupler is grounded through a ninth grounding resistor, the third interface of the fifth coupler is connected with the G interface of the second PMOS tube through a third resistor, the third interface of the fifth coupler is grounded through a tenth grounding resistor, and the fourth interface of the fifth coupler receives a second reference voltage. Three S interfaces of the second PMOS tube receive third reference voltage, four D interfaces of the second PMOS tube receive the third reference voltage through the cathode of the fifth diode after being connected with the anode of the fifth diode, and the four D interfaces of the second PMOS tube are also connected with a node Q4. The first interface of the sixth coupler is connected with the disinfection control board to receive a sixth control signal, the second interface of the sixth coupler is grounded through an eleventh grounding resistor, the third interface of the sixth coupler is connected with the G interface of the second NMOS tube through a fourth resistor, the third interface of the sixth coupler is grounded through a twelfth grounding resistor, and the fourth interface of the sixth coupler receives a second reference voltage. Three S interfaces of the second NMOS tube are connected to the node Q4 through the cathode of the sixth diode after being connected with the anode of the sixth diode, and four D interfaces of the second NMOS tube are connected to the node Q4. The second access port of the third terminal is connected with a node Q3, the first access port of the third terminal is connected with a node Q4, and the third terminal is used for connecting a push rod motor.
Furthermore, the industrial control module comprises a second industrial control unit. The first industrial control unit and the second industrial control unit are both x86 industrial control boards.
Furthermore, the industrial control module further comprises a plurality of sensing devices for providing a plurality of sensing information for the industrial control module. The plurality of sensing devices include laser sensors, ultrasonic sensors, inertial measurement devices, flow detection sensors, level sensors, and/or push rod motor position detection devices.
Furthermore, the system also comprises a human-computer interaction module, and the human-computer interaction module is connected with the industrial control module. The industrial control module comprises a wireless communication unit.
The application also provides a disinfection and quarantine control method, which comprises the following steps: and acquiring a work task, wherein the work task comprises at least one of a disinfection task and a quarantine task. And acquiring the working position information according to the working task. And performing movement control operation according to the working position information. And moving to a position corresponding to the working position information, controlling the quarantine module to acquire quarantine information and/or controlling the disinfection module to sterilize, wherein the quarantine information comprises at least one of body temperature information, mask wearing information and personnel identity information.
Further, the step of obtaining the work task includes: and acquiring the work task sent by the control end through the wireless communication technology. Or acquiring the work task according to the setting operation of the user aiming at the human-computer interaction module.
Further, the working position information comprises first working position information and/or second working position information. The step of obtaining the work position information according to the work task comprises the following steps: first working position information is obtained according to the disinfection task. And/or obtaining second work position information according to the quarantine task.
Further, the step of performing the movement control operation according to the working position information includes: and planning a path according to the working position information to obtain a working path. And correspondingly controlling the motion control module according to the working path so that the motion control module controls the travelling mechanism to correspondingly move.
Further, the step of moving to the position corresponding to the working position information and controlling the quarantine module to carry out the operation of acquiring the quarantine information comprises the following steps: and moving to the position corresponding to the working position information, and controlling a quarantine module to carry out acquisition operation and/or identity identification operation on the quarantine information.
Further, the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the acquisition operation and/or the identification operation of the quarantine information comprises the following steps: and detecting the body temperature of the person to be detected to acquire body temperature information. And/or carrying out mask detection on the person to be detected so as to obtain mask wearing information. And/or carrying out face recognition on the person to be detected so as to acquire the person identity information of the person to be detected.
Further, after the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the acquisition operation and/or the identification operation on the quarantine information, the method comprises the following steps: and when the body temperature information accords with the abnormal body temperature information, performing abnormal guide operation on the person to be tested. And/or when the mask wearing information does not meet the mask wearing requirements, outputting corresponding prompt information, and/or controlling a mask distribution mechanism to perform mask distribution operation. And/or when the personnel identity information of the personnel to be detected is not registered, outputting personnel management prompt information.
Further, when the body temperature information accords with the abnormal body temperature information, the step of conducting abnormal guiding operation on the person to be tested comprises the following steps: and when the body temperature information accords with the abnormal body temperature information, acquiring the abnormal body temperature detection times of the person to be detected in a preset time period. And judging whether the detection frequency of the abnormal body temperature exceeds a preset frequency. If not, outputting rest guide prompt information, and returning to the step of detecting the body temperature of the person to be detected to acquire body temperature information. If so, performing isolation guide operation to guide the person to be tested to reach the designated isolation area, and/or performing isolation information management operation.
Further, the step of moving to the position corresponding to the working position information and controlling the disinfection module to perform disinfection operation comprises the following steps: an obstacle detection operation is performed to determine whether an obstacle exists in the moving direction. If so, stopping moving and controlling the disinfection module to stop the killing operation, and performing the obstacle detection operation again after a preset time length so as to perform obstacle avoidance operation and the killing operation when the obstacle still exists in the moving direction, or continuing the killing operation when the obstacle does not exist in the moving direction, or stopping moving and controlling the disinfection module to weaken the killing operation, and performing the obstacle detection operation again after the preset time length so as to perform the obstacle avoidance operation when the obstacle still exists in the moving direction, or enhancing the killing operation when the obstacle does not exist in the moving direction; . If not, the disinfection module is controlled to perform disinfection operation in the process of moving to the position corresponding to the working position information. Wherein, the control of the disinfection module for disinfection and sterilization comprises the control of a liquid spraying unit in the disinfection module for spraying liquid and the control of a wiping unit in the disinfection module for wiping the sprayed area.
Further, in the step of controlling the sterilizing module to perform sterilizing operation, the method further comprises: and acquiring the residual amount of liquid in the liquid storage unit in the disinfection module in real time. And when the residual amount of the liquid is lower than a preset residual threshold value, stopping the killing operation, and planning a liquid adding path to correspondingly control the motion control module so that the motion control module controls the travelling mechanism to correspondingly move. After the liquid adding is finished, the motion control module is correspondingly controlled to return to the starting point position of the liquid adding path, and the disinfection module is controlled to continue to perform disinfection operation.
Further, the step of moving to the position corresponding to the working position information and controlling the disinfection module to perform disinfection operation includes: and acquiring a killing adjustment factor, wherein the killing adjustment factor comprises at least one of the area of a killing area and the moving speed. And adjusting the liquid spraying amount of the disinfection module according to the disinfection adjustment factor.
The application also provides a disinfection and quarantine equipment, which comprises a control device, wherein the control device comprises a processor and a memory. The processor is adapted to execute a computer program stored in the memory to implement the steps of the disinfection quarantine control method as described above.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the disinfection and quarantine control method as described above.
The application provides a disinfection and quarantine control system, a disinfection and quarantine control method, a disinfection and quarantine device and a computer readable storage medium. The disinfection and quarantine control system can enable a robot applying the disinfection and quarantine control system or the disinfection and quarantine control method to independently complete a whole set of disinfection and quarantine work when receiving a work task signal, so that the disinfection and quarantine control system can realize more intellectualization of the disinfection and quarantine robot, and the disinfection and quarantine control system can place the collection of various information and the processing of control instructions in an industrial control module, and can avoid the phenomenon that the traditional disinfection and quarantine robot formed by simply stacking hardware lacks the overall design plan to cause hardware redundancy (for example, each functional module of the disinfection and quarantine robot formed by simply stacking hardware comprises an independent controller, so that the controller redundancy can be caused), therefore, the disinfection and quarantine control system can enable the disinfection and quarantine robot to have the phenomenon of high hardware integration level, Low cost.
In order to make the aforementioned and other objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic view of a first configuration of a disinfection and quarantine control system provided in a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a solenoid valve driving circuit according to a first embodiment of the present application;
fig. 3 is a schematic structural diagram of a flow detection circuit according to a first embodiment of the present application;
FIG. 4 is a schematic diagram of a liquid level detection circuit according to a first embodiment of the present application;
fig. 5A is a schematic circuit structure diagram of a first control unit in a push rod motor driving circuit according to a first embodiment of the present application;
fig. 5B is a schematic circuit structure diagram of a second control unit in the push rod motor driving circuit according to the first embodiment of the present application;
fig. 6 is a schematic structural diagram of a push rod motor position detection circuit according to a first embodiment of the present application;
FIG. 7 is a schematic view of a first process of a disinfection and quarantine control method provided in a second embodiment of the present application;
FIG. 8 is a second flow chart of the disinfection quarantine control method provided by the second embodiment of the present application;
FIG. 9 is a schematic flow chart of quarantine operations provided by a second embodiment of the present application;
fig. 10 is a schematic structural diagram of a control device according to a third embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The first embodiment:
fig. 1 is a first structural schematic diagram of a disinfection quarantine control system provided in a first embodiment of the present application. Fig. 2 is a schematic structural diagram of a solenoid valve driving circuit according to a first embodiment of the present application. Fig. 3 is a schematic structural diagram of a flow rate detection circuit according to a first embodiment of the present application. Fig. 4 is a schematic structural diagram of a liquid level detection circuit provided in the first embodiment of the present application. Fig. 5A is a schematic circuit structure diagram of a first control unit in a push rod motor driving circuit according to a first embodiment of the present application. Fig. 5B is a schematic circuit structure diagram of a second control unit in the push rod motor driving circuit according to the first embodiment of the present application. Fig. 6 is a schematic structural diagram of a push rod motor position detection circuit according to a first embodiment of the present application. For a clear description of the disinfection quarantine control system provided in the first embodiment of the present application, please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5A, fig. 5B and fig. 6.
The application first embodiment provides a disinfection quarantine control system, includes: an industrial control module M1, a motion control module M2, a disinfection module M3, a servo drive module M4 and a quarantine module M5.
The industrial control module M1 is connected to both the motion control module M2 and the quarantine module M5, and is configured to start a path planning function and issue a work instruction to the motion control module M2 and/or the quarantine module M5 after receiving a work task signal.
In one embodiment, the industrial control module M1 may include a second industrial control unit therein. Preferably, the second industrial control units are all x86 industrial control boards. Specifically, the second industrial control unit is a main controller of the disinfection and quarantine control system provided in this embodiment, and is configured to process at least one of a system decision instruction (i.e., a work instruction), collection of various information (e.g., collection of sensing information of a sensing device, collection of quarantine information, and the like), running various applications, performing remote communication with a control end (or a backend management end), running a SLAM algorithm (included in a path planning function), and the like. Wherein, SLAM algorithm (simultaneouslocalization and Mapping), also known as CML (Current Mapping and Localization), is instant to position and map and construct, and can realize by running SLAM algorithm: a robot is placed at an unknown position in an unknown environment, and the robot gradually draws a complete map of the environment while moving, wherein the complete map (a continuous map) refers to every corner where a room can enter without being obstructed.
In one embodiment, the industrial control module M1 may implement an application processing function and a navigation positioning function. The application processing function is a function of processing collected information by various application programs.
In an embodiment, the industrial control module M1 may further include a wireless communication unit, so that the disinfection and quarantine control system provided by the present embodiment has a remote communication function.
In an embodiment, referring to fig. 2, the industrial control module M1 may also be connected with the human-computer interaction module M10, so that the disinfection and quarantine control system provided by the embodiment has a human-computer interaction function. The man-machine interaction module M10 may be, but is not limited to, a touch display screen.
In other embodiments, the human-computer interaction module M10 may be integrated in the industrial control module M1.
The motion control module M2 is connected to the servo drive module M4 and the disinfection module M3, and is configured to control the servo drive module M4 to perform a moving drive operation (see fig. 1, for example, the servo drive module M4 drives the in-wheel motor L1 and the in-wheel motor L2 to move) after receiving a work instruction, and control the disinfection module M3 to perform a disinfection operation.
In one embodiment, the motion control module M2 may include an ARM control board electrically connected to the second industrial control unit of the upper industrial control module M1, and electrically connected to the lower servo drive module M4 and the sterilization module M3. The ARM control board has the advantages of low power consumption, low cost, high performance and the like.
In one embodiment, the motion control module M2 may further include a disinfection control board, which may be included in or connected to the ARM control board. The disinfection control board may be, but is not limited to, a MCU.
In one embodiment, the sterilization module M3 may include a liquid spray unit and/or a wiping unit therein.
In one embodiment, the liquid spraying unit may include a solenoid valve driving circuit, a solenoid valve, among others.
In one embodiment, the liquid spraying unit includes a solenoid valve driving circuit for controlling the first solenoid valve and the second solenoid valve connected to each other to spray the liquid.
In an embodiment, referring to fig. 2, the solenoid valve driving circuit included in the liquid spray unit may include a first coupler U1, a second coupler U2, a dual MOS transistor N-channel chip U11, a first diode D1, a second diode D2, a first capacitor C1, a second capacitor C2, a first inductive element FB1, a second inductive element FB2, a first ground resistor R1, a second ground resistor R2, a third ground resistor R3, a fourth ground resistor R4, a first terminal J1, and a second terminal J2.
In one embodiment, referring to fig. 2, the liquid spraying unit includes a solenoid valve driving circuit having a connection structure as follows:
the AN interface of the first coupler U1 is connected to the disinfection control board in the motion control module M2 to receive the first control signal PWM1, the CAT interface of the first coupler U1 is grounded through a first ground resistor R1, the VO interface of the first coupler U1 is connected to the G2 interface of the dual-MOS-transistor N-channel chip U11, the VO interface of the first coupler U1 is grounded through a third ground resistor R3, the GND interface of the first coupler U1 is grounded, and the VCC interface of the first coupler U1 receives the first reference voltage (e.g., 12V).
The AN interface of the second coupler U2 is connected with the disinfection control board to receive a second control signal PWM2, the CAT interface of the second coupler U2 is grounded through a second ground resistor R2, the VO interface of the second coupler U2 is connected with the G1 interface of the double-MOS tube N-channel chip U11, the VO interface of the second coupler U2 is grounded through a fourth ground resistor R4, the GND interface of the second coupler U2 is grounded, and the VCC interface of the second coupler U2 receives a first reference voltage.
The S1 interface and the S2 interface of the double-MOS tube N-channel chip U11 are both grounded, two D2 interfaces of the double-MOS tube N-channel chip U11 are connected in parallel to a Q1 node, and two D1 interfaces of the double-MOS tube N11 are connected in parallel to a Q2 node.
The first capacitor C1 is connected to the cathode and the anode of the first diode D1, and the cathode of the first diode D1 receives the first reference voltage.
The
The second capacitor C2 is connected to the cathode and the anode of the second diode D2, and the cathode of the second diode D2 receives the first reference voltage.
In an embodiment, specifically, the electromagnetic valve driving circuit can control two electromagnetic valves to realize the control of the spraying of the liquid, and the circuit has a simple structure and is low in cost.
In an embodiment, the first control signal PWM1 and the second control signal PWM2 may be pulse modulated signals.
In one embodiment, the solenoid driver circuit further comprises a third capacitor C3 and a fourth capacitor C4. The VCC interface of the first coupler U1 is also connected to ground through a third capacitor C3. The VCC interface of the second coupler U2 is also connected to ground through a fourth capacitor C4.
In an embodiment, the electromagnetic valve driving circuit can adjust the voltage output by the VO interface of the first coupler U1 and the voltage output by the VO interface of the second coupler U2 according to the duty ratios of PWM1 and PWM2 output by the disinfection control board, so as to adjust the voltage of the G1 interface of the dual MOS transistor N-channel chip U11, and the voltage of the G1 interface can control S1, G1, S2 and G2 to be fully turned on or not to be fully turned on, so as to adjust the liquid flow rate by controlling the pressure difference between the two interfaces of the first terminal J1 and the second terminal J2.
In one embodiment, the first coupler U1 and the second coupler U2 in the solenoid valve driving circuit are both photocouplers, preferably TLP 155E.
In an embodiment, the liquid spraying unit may further include at least one of a flow rate detection circuit, a liquid level detection circuit, and a booster pump.
In one embodiment, referring to fig. 3, the flow rate detection circuit in the liquid spray unit includes a sensor connection terminal J3 for connecting a flow rate detection sensor (not shown in the figure). The
In one embodiment, referring to fig. 4, the level detection circuit in the liquid spray unit includes a sensor connection terminal J4 for connection to a level sensor (not shown). The
In an embodiment, a plurality of level detection circuits and a plurality of level sensors may be included in the liquid spray unit. For example, 4 level sensors are installed in the liquid storage device of the liquid spraying unit, the second interfaces of 4 liquid level detection circuits respectively connected with the 4 level sensors are respectively connected with the GPIO interface of the disinfection control board, and each liquid level sensor outputs high level or low level according to the existence of liquid, so that the disinfection control board can calculate the liquid surplus information of the liquid storage device according to the level condition combination of the 4 liquid level detection circuits and feed back the liquid surplus information to the industrial control module M1.
In an embodiment, the wiping unit may include a push rod motor driving circuit and a push rod motor, and the push rod motor driving circuit may control the push rod motor so that the disinfection quarantine control system provided in this embodiment implements a disinfection wiping function.
In one embodiment, the push rod motor driving circuit may include a first control unit, a second control unit, and a third terminal (for connecting the push rod motor). Specifically, the first control unit is connected with the second interface of the third terminal, and the second control unit is connected with the first interface of the third terminal.
In an embodiment, referring to fig. 5A, the first control unit of the push rod motor driving circuit may include a third coupler U3, a fourth coupler U4, a first PMOS transistor U12, a first NMOS transistor U13, a fifth ground resistor R5, a sixth ground resistor R6, a seventh ground resistor R7, an eighth ground resistor R8, a first resistor R21, a second resistor R22, a third diode D3, and a fourth diode D4.
In one embodiment, referring to fig. 5A, the first control unit circuit connection structure of the push rod motor driving circuit is as follows:
wherein, the first interface of the third coupler U3 is connected with the disinfection control board in the motion control module M2 to receive a third control signal PA1, the second interface of the third coupler U3 is grounded through a fifth ground resistor R5, the third interface of the third coupler U3 is connected with the G interface of the first PMOS transistor U12 through a first resistor R21, the third interface of the third coupler U3 is also grounded through a sixth ground resistor R6, and the fourth interface of the third coupler U3 receives a second reference voltage (for example, 5V).
Three S interfaces of the first PMOS transistor U12 all receive a third reference voltage (for example, 24V), four D interfaces of the first PMOS transistor U12 all receive the third reference voltage through the cathode of the third diode D3 after being connected to the anode of the third diode D3, and four D interfaces of the first PMOS transistor U12 are also connected to the Q3 node.
The first interface of the fourth coupler U4 is connected with the disinfection control board to receive a fourth control signal PA2, the second interface of the fourth coupler U4 is grounded through a seventh grounding resistor R7, the third interface of the fourth coupler U4 is connected with the G interface of the first NMOS tube U13 through a second resistor R22, the third interface of the fourth coupler U4 is also grounded through an eighth grounding resistor R8, and the fourth interface of the fourth coupler U4 receives a second reference voltage.
Three S interfaces of the first NMOS tube U13 are connected to the anode of the fourth diode D4 and then connected to the node Q3 through the cathode of the fourth diode D4, and four D interfaces of the first NMOS tube U13 are connected to the node Q3.
Wherein the node Q3 is connected with the second interface of the third terminal J5.
In an embodiment, referring to fig. 5B, the second control unit of the push rod motor driving circuit may include a fifth coupler U5, a sixth coupler U6, a second PMOS transistor U14, a second NMOS transistor U15, a ninth ground resistor R9, a tenth ground resistor R10, an eleventh ground resistor R11, a twelfth ground resistor R12, a third resistor R23, a fourth resistor R24, a fifth diode D5, and a sixth diode D6.
In one embodiment, referring to fig. 5B, the circuit connection structure of the second control unit of the push rod motor driving circuit is as follows:
the first interface of the fifth coupler U5 is connected with the disinfection control board to receive a fifth control signal PA4, the second interface of the fifth coupler U5 is grounded through a ninth ground resistor R9, the third interface of the fifth coupler U5 is connected with the G interface of the second PMOS transistor U14 through a third resistor R23, the third interface of the fifth coupler U5 is also grounded through a tenth ground resistor R10, and the fourth interface of the fifth coupler U5 receives a second reference voltage.
Three S interfaces of the second PMOS tube U14 all receive a third reference voltage, four D interfaces of the second PMOS tube U14 all receive the third reference voltage through the cathode of the fifth diode D5 after being connected with the anode of the fifth diode D5, and four D interfaces of the second PMOS tube U14 are also connected with a node Q4.
The first interface of the sixth coupler U6 is connected with the disinfection control board to receive a sixth control signal PA3, the second interface of the sixth coupler U6 is grounded through an eleventh ground resistor R11, the third interface of the sixth coupler U6 is connected with the G interface of the second NMOS tube U15 through a fourth resistor R24, the third interface of the sixth coupler U6 is also grounded through a twelfth ground resistor R12, and the fourth interface of the sixth coupler U6 receives a second reference voltage.
Three S interfaces of the second NMOS tube U15 are connected to the anode of the sixth diode D6 and then connected to the node Q4 through the cathode of the sixth diode D6, and four D interfaces of the second NMOS tube U15 are connected to the node Q4.
Wherein the node Q4 is connected with the 1 st interface of the third terminal J5.
In one embodiment, the third coupler U3, the fourth coupler U4, the fifth coupler U5, and the sixth coupler U6 are all photo-couplers.
In one embodiment, the third control signal PA1, the fourth control signal PA2, the fifth control signal PA4, and the sixth control signal PA3 may be pulse modulation signals.
In an embodiment, the push rod motor driving circuit controls the corresponding coupler to be opened and closed according to the levels of PA1, PA2, PA3 and PA4 output by the disinfection control board, wherein a first PMOS transistor U12 and a second NMOS transistor are simultaneously turned on and off, and a second PMOS transistor and the first NMOS transistor are simultaneously turned on and off, so that positive and negative reversal of pressurization on two ends of the push rod motor is completed, and the telescopic control of the push rod motor is realized.
In one embodiment, the wiping unit may include a plurality of pusher motor driving circuits and a plurality of pusher motors. For example, the wiping unit includes 2 push rod motor driving circuits, that is, a left push rod motor driving circuit and a right push rod motor driving circuit.
In an embodiment, the wiping unit may further include a push rod motor position detection circuit.
In one embodiment, referring to fig. 6, the push rod motor position detection circuit in the wiping unit includes a sensor connection terminal J6 for connection to a push rod motor position detection device (not shown in the figures). The
In one embodiment, the wiping unit may include a plurality of pusher motor position detecting circuits and a plurality of pusher motor position detecting means therein. For example, the wiping unit includes 2 pusher motor position detection circuits and 2 two pusher motor position detection means.
In one embodiment, the disinfection module M3 includes a liquid spray unit and a wiper unit that can clean and disinfect the floor, door handles, buttons, and other public areas.
The quarantine module M5 is configured to, after receiving the work instruction, start a quarantine function and/or an identity recognition function to acquire and feed back quarantine information, where the quarantine information includes at least one of body temperature information, mask wearing information, and personnel identity information.
In one embodiment, the quarantine module M5 may integrate a mask recognition function, a body temperature detection camera, and a quarantine control unit, and is responsible for face mask recognition and body temperature detection, so as to process the acquired data to obtain and feed back quarantine information to the industrial control module M1.
In one embodiment, the quarantine module M5 may include a first industrial control unit, an image pickup device, and a body temperature detection device. Wherein, the first industrial control unit is preferably an x86 industrial control board.
In one embodiment, the disinfection and quarantine control system provided by this embodiment may further include a plurality of sensing devices for providing a plurality of sensing information to the industrial control module M1. The plurality of sensing devices may include, but are not limited to, at least one of laser sensors, ultrasonic sensors, inertial measurement devices, obstacle avoidance sensors, infrared distance measurement devices, safety edges, flow detection sensors, level sensors, push rod motor position detection devices, and the like. For example, referring to fig. 1, the disinfection and quarantine control system provided by this embodiment may include a laser tube sensor M6, an ultrasonic sensor M7, and an inertial measurement device M8, wherein the ultrasonic sensor M7, the inertial measurement device M8, a mobile mileage calculation device (shown in fig. 1), and an infrared distance measurement device (not shown in fig. 1) are connected to the motion control module M2, so that the motion control module can acquire and feed back various corresponding sensing information (such as obstacle information, robot position information, mobile mileage information, etc.) to the industrial control module M1, so that the industrial control module can adjust navigation positioning and a working path.
In one embodiment, the servo driving module M4 in the disinfection and quarantine control system provided by this embodiment can drive at least one hub motor (e.g., two hub motors) in the traveling mechanism to realize the movement driving operation.
In one embodiment, the disinfection and quarantine control system provided by the embodiment can further comprise a safety contact edge to achieve the function of collision prevention.
In an embodiment, referring to fig. 1, the disinfection and quarantine control system provided in this embodiment may further include a power management module, configured to implement detection of electric quantity, so that the industrial control module performs automatic charging control operation when the disinfection and quarantine robot is insufficient in electric quantity.
The application first embodiment provides a disinfection quarantine control system, includes: the system comprises an industrial control module, a quarantine module, a motion control module, a disinfection module and a servo drive module. The industrial control module is connected with the motion control module and the quarantine module and is used for starting a path planning function and issuing a work instruction to the motion control module and/or the quarantine module after receiving the work task signal. The motion control module is connected with the servo driving module and the disinfection module and is used for controlling the servo driving module to carry out moving driving operation and controlling the disinfection module to carry out disinfection operation after receiving a working instruction. And the quarantine module is used for starting a quarantine function and/or an identity recognition function to acquire and feed back quarantine information after receiving the working instruction, wherein the quarantine information comprises at least one item of body temperature information, mask wearing information and personnel identity information. Therefore, the disinfection and quarantine control system provided by the first embodiment of the application can autonomously complete a set of disinfection and quarantine work when receiving a work task signal, so that the disinfection and quarantine control system provided by the first embodiment of the application can enable the disinfection and quarantine robot to have higher intelligence compared with the prior art, and the disinfection and quarantine control system provided by the first embodiment of the application can place the collection of various information and the processing of control instructions in the industrial control module, thereby avoiding the phenomenon that the traditional disinfection and quarantine robot formed by simply stacking hardware lacks the overall design plan to cause hardware redundancy (for example, each functional module of the disinfection and quarantine robot formed by simply stacking hardware comprises an independent controller, so that the controller redundancy can be caused), and therefore, the disinfection and quarantine control system provided by the first embodiment of the application can enable the disinfection and quarantine robot to have the hardware integrated high-level, Low cost.
Second embodiment:
fig. 7 is a schematic view of a first process of a disinfection and quarantine control method according to a second embodiment of the present application.
Fig. 8 is a second flow chart of the disinfection quarantine control method provided in the second embodiment of the present application. Fig. 9 is a schematic flow chart of quarantine operation provided by the second embodiment of the present application. For a clear description of the disinfection quarantine control method provided in the second embodiment of the present application, please refer to fig. 7, fig. 8 and fig. 9.
The disinfection quarantine control method provided by the second embodiment of the application comprises the following steps:
and S11, acquiring a work task, wherein the work task comprises at least one of a disinfection task and a quarantine task.
In one embodiment, at step S11: the step of acquiring the work task may include, but is not limited to: and acquiring the work task sent by the control end through the wireless communication technology. Or acquiring the work task according to the setting operation of the user aiming at the human-computer interaction module.
In one embodiment, the control end may be a management background, which may be a management terminal or a management server.
And S12, acquiring the work position information according to the work task.
In one embodiment, at step S12: the step of obtaining the work location information according to the work task may include, but is not limited to: sensing information is acquired by the sensing device, the sensing information including at least one of image information, area information of an environmental region corresponding to the image information, obstacle information, and the like. And acquiring current working environment information according to the sensing information. And selecting a working area from the working environment information according to the working task to acquire working position information.
Further, in one embodiment, at step S12: before the step of acquiring the work position information according to the work task, the steps may include, but are not limited to: and constructing a work map by a positioning navigation technology. In the step of acquiring the current working environment information according to the sensed information, there may be, but not limited to, including: and acquiring current working environment information according to the sensing information and the working map.
In an embodiment, the work map building technology of some existing mobile robots, such as a sweeping robot, may be referred to, but not limited to, a specific embodiment of building a work map by using a positioning navigation technology.
In other embodiments, the work task may include preset work position information.
In one embodiment, the operating position information comprises first operating position information and/or second operating position information. The step of obtaining the work position information according to the work task comprises the following steps: first working position information is obtained according to the disinfection task. And/or obtaining second work position information according to the quarantine task.
In one embodiment, the work location included in the first work location information obtained from the disinfection task, such as a hallway area, a door handle area, an elevator button area, a doorway area, a trash can area, and the like.
In an embodiment, the second work location information obtained according to the quarantine task includes a work location, for example, a corridor area, an entrance area, or the like.
In one embodiment, the first working position information obtained according to the disinfection task and the second working position information obtained according to the quarantine task may be the same or different.
And S13, performing movement control operation according to the working position information.
In one embodiment, the step of performing the movement control operation according to the operation position information includes: and planning a path according to the working position information to obtain a working path. And correspondingly controlling the motion control module according to the working path so that the motion control module controls the travelling mechanism to correspondingly move.
In an embodiment, the step of performing path planning according to the working location information to obtain the working path may include, but is not limited to: and planning a path according to the working position information to plan a working path with the shortest distance.
In an embodiment, in the step of correspondingly controlling the motion control module according to the working path so that the motion control module controls the traveling mechanism to correspondingly move, the motion control module may control the servo driving module to drive the hub motor in the traveling mechanism to move.
And S14, moving to a position corresponding to the working position information, and controlling the quarantine module to acquire quarantine information and/or controlling the disinfection module to sterilize, wherein the quarantine information comprises at least one of body temperature information, mask wearing information and personnel identity information.
In one embodiment, at step S14: the step of moving to the position corresponding to the working position information, controlling the quarantine module to perform the operation of acquiring the quarantine information, and/or controlling the disinfection module to perform the disinfection operation may include, but is not limited to: and in the process of moving to the position corresponding to the working position information or after moving to the position corresponding to the working position information, controlling the quarantine module to carry out the acquisition operation of the quarantine information and/or controlling the disinfection module to carry out the disinfection operation.
In one embodiment, referring to fig. 8, step S11 may be, but is not limited to: step S111: and acquiring a work task, wherein the work task comprises a disinfection task and a quarantine task. Step S14 may be, but is not limited to: and S141, in the process of moving to the position corresponding to the working position information, controlling the quarantine module to acquire quarantine information and controlling the disinfection module to sterilize.
In one embodiment, the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the operation of acquiring the quarantine information includes: and moving to the position corresponding to the working position information, and controlling a quarantine module to carry out acquisition operation and/or identity identification operation on the quarantine information.
In an embodiment, the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the operation of obtaining and/or identifying the quarantine information may include, but is not limited to, the following steps: and detecting the body temperature of the person to be detected to acquire body temperature information. And/or carrying out mask detection on the person to be detected so as to obtain mask wearing information. And/or carrying out face recognition on the person to be detected so as to acquire the person identity information of the person to be detected.
In one embodiment, after the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the acquisition operation and/or the identification operation on the quarantine information, the method includes: and when the body temperature information accords with the abnormal body temperature information, performing abnormal guide operation on the person to be tested. And/or when the mask wearing information does not meet the mask wearing requirements, outputting corresponding prompt information, and/or controlling a mask distribution mechanism to perform mask distribution operation. And/or when the personnel identity information of the personnel to be detected is not registered, outputting personnel management prompt information.
In an embodiment, referring to fig. 9, when the body temperature information matches the abnormal body temperature information, the step of performing an abnormal guidance operation on the person to be measured includes: and S21, acquiring the abnormal body temperature detection times of the person to be detected in a preset time period when the body temperature information accords with the abnormal body temperature information. And S22, judging whether the abnormal body temperature detection frequency exceeds the preset frequency. And if not, the step S23 is carried out, namely the rest guiding prompt information is output, and the step of carrying out body temperature detection on the person to be detected to obtain body temperature information is returned. If yes, the process goes to step 24, where an isolation guiding operation is performed to guide the person to be tested to reach the designated isolation area, and/or an isolation information management operation is performed. For example, whether the number of times of abnormal body temperature detection within 30 minutes exceeds 1 is judged, if yes, an alarm is given to prompt and guide the person to be detected to go to a designated area, meanwhile, report information (including personnel identity information and body temperature information) is obtained and reported to a control end, the display device is controlled to display the report information, and if not, the person to be detected is prompted to rest for a moment to prepare for second body temperature detection.
In one embodiment, the step S24 of performing isolation guidance operation to guide the person to be tested to reach the designated isolation area and/or performing isolation information management operation may include, but is not limited to: and acquiring monitoring video information corresponding to the personnel identity information. And acquiring contact person information in contact with the person to be detected according to the monitoring video information. And acquiring the reported information according to the identity information, the body temperature detection information and the contact person information of the person to be detected. And reporting the report information to the control terminal. Therefore, the disinfection quarantine control method provided by the embodiment can acquire the people who contact with the abnormal body temperature person, so that the closely contacted person can be quickly screened out when the abnormal body temperature person is determined to be a virus infected person, and the prevention and control of diseases are facilitated.
In one embodiment, the monitoring video information may be, but is not limited to being, obtained from a control end (e.g., a monitoring server).
In an embodiment, the step of acquiring the contact person information contacting the person to be tested according to the monitoring video information may include, but is not limited to: and carrying out face recognition on the monitoring video information to acquire contact person information in contact with the to-be-detected person, wherein the contact person information comprises face information of the contact person.
In an embodiment, after the step of obtaining the contact person information contacting the person to be tested according to the monitoring video information, the method may include, but is not limited to: and acquiring contact information corresponding to the contact person information. And carrying out information sending operation on the reported information according to the contact information. Therefore, the disinfection quarantine control method provided by the embodiment can remind the contact person to pay attention to protection so as to ensure the health of the contact person and other people.
In an embodiment, the step of acquiring the contact information corresponding to the contact person information may include, but is not limited to: and acquiring contact information corresponding to the face of the contact person in the contact person information.
In an embodiment, when the body temperature information corresponds to the abnormal body temperature information (for example, the body temperature is higher than 37.5 ℃), the step of obtaining the number of times of detecting the abnormal body temperature of the person to be detected in a preset time period includes: and when the body temperature information accords with the abnormal body temperature information, the personnel identity information of the person to be tested and the body temperature information are stored in an associated manner. And acquiring historical detection information of the identity information of the person in a preset time period to acquire the abnormal body temperature detection times.
In one embodiment, when the mask wearing information does not meet the mask wearing requirement, outputting corresponding prompt information, and/or controlling the mask dispensing mechanism to perform a mask dispensing operation, wherein the mask wearing information does not meet the mask wearing requirement, for example, the mask does not cover the mouth and nose, the mask does not completely cover the mouth and nose, and the like. Therefore, the disinfection epidemic prevention robot that this embodiment provided can remind the gauze mask to wear the staff that awaits measuring that is unsatisfactory and wear the gauze mask, and/or when the staff that awaits measuring does not have the gauze mask, the automatic distribution gauze mask gives the staff that awaits measuring, and further, can not have the gauze mask at the staff that awaits measuring to when for the registration personnel, the automatic distribution gauze mask gives the staff that awaits measuring, in order to make things convenient for inside personnel to manage.
In one embodiment, after the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the acquisition operation and/or the identification operation on the quarantine information, the method includes: when the body temperature information of the person to be measured does not accord with the abnormal body temperature information, the mask wearing information accords with the mask wearing requirement, and the personnel identity information is registered, the information of the person to be measured is displayed through the display device (for example, the body temperature information, the person image, the registration information and the like are displayed).
In addition, in another embodiment, the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the acquisition operation and/or the identification operation on the quarantine information may include, but is not limited to: and acquiring a visible light image. And when a plurality of persons to be detected are obtained according to the visible light image, carrying out body temperature detection, mask detection and face recognition on each person to be detected so as to obtain quarantine information of each person to be detected. Therefore, the disinfection and quarantine control method provided by the embodiment can simultaneously carry out quarantine on a plurality of people to be tested.
In another embodiment, after moving to the position corresponding to the working position information and controlling the quarantine module to perform the steps of obtaining operation and/or identification operation on the quarantine information, the steps may include, but are not limited to: and judging the quarantine information of each person to be tested so as to perform corresponding prompt operation on the person to be tested of which the quarantine information meets the abnormal condition. The quarantine information meets abnormal conditions, for example, the body temperature information in the quarantine information meets abnormal body temperature information, and/or the mask wearing information does not meet mask wearing requirements, and/or personnel identity information is not registered, and the like.
In other embodiments, the step of moving to the position corresponding to the working position information and controlling the quarantine module to perform the operation of obtaining and/or identifying quarantine information may include, but is not limited to: a visible light image and a corresponding thermographic image are acquired. And acquiring quarantine information of a plurality of faces in the visible light image according to the visible light image and the thermal imaging image, wherein the quarantine information comprises body temperature information and/or mask wearing information. And carrying out face recognition on the faces to acquire registration information of the faces. And associating the registration information of the plurality of faces with the corresponding quarantine information, and outputting a monitoring result. After the visible light image and the corresponding thermal imaging image are obtained, quarantine information of a plurality of faces in the visible light image is obtained according to the visible light image and the thermal imaging image, the quarantine information comprises body temperature information and/or mask wearing information, face recognition is carried out on the faces to obtain registration information of the faces, and finally the registration information of the faces is associated with the corresponding quarantine information to output a monitoring result. Therefore, multi-target face recognition, body temperature and mask detection can be carried out, special cooperation of personnel is not needed, the monitoring process is insensitive, the personnel gathering is reduced, meanwhile, the registration information and the detection information of the personnel can be correlated according to the monitoring result, the management personnel can conveniently acquire and manage information of a large number of specific personnel, and the system can be used for epidemic prevention of places with large flow of people and access of the specific personnel, such as office building entrances, factory entrances and exits, community entrances and exits, and the like.
In other embodiments, in the step of obtaining the visible light image and the corresponding thermal imaging image, the visible light image and the corresponding thermal imaging image are respectively captured by the visible light camera and the thermal imaging camera, the thermal imaging camera generates a two-dimensional image by receiving an infrared electromagnetic wave emitted by an object, a value of each pixel point in the image is in a direct proportion relation with a surface temperature of the object, and the visible light camera receives visible light emitted from or reflected by the surface of the object to generate a two-dimensional color image. The visible light image and the thermal imaging image are acquired simultaneously, so that the human face temperature position in the visible light image corresponds to the human face temperature position in the thermal imaging image. The visible light image and the thermal imaging image may be acquired at a fixed frequency, such as once every 1 second. The visible light image and the thermal imaging image can also be acquired by adopting adjustable frequency, for example, the face difference proportion of the visible light image with preset frame number intervals can be acquired, and the frequency of acquiring the visible light image and the thermal imaging image is adjusted according to the face difference proportion, wherein the preset frame number can be 0 frame, 1 frame, 2 frame or a plurality of frames, the face difference proportion refers to the proportion that the number of different faces between two frames of images dominates the number of faces in the acquired image, the flow condition of the current people flow can be reflected, the face difference proportion is larger when the people flow is faster, the image acquisition frequency can be increased at the moment, the missing detection is avoided, the face difference proportion is smaller when the people flow is slower, the image acquisition frequency can be reduced at the moment, and the calculation load is reduced.
In another embodiment, the step of performing face recognition on a plurality of faces and acquiring registration information of the plurality of faces may include, but is not limited to: and carrying out face recognition on the faces to acquire identity information of the persons. And performing registration information matching operation on the plurality of personnel identity information to acquire registration information of a plurality of faces.
In other embodiments, in the step of performing face recognition on a plurality of faces to obtain registration information of the plurality of faces, face detection is performed on the visible light image to obtain the position of each face. And then, judging whether the visible light image has a human face not bound with the body temperature information, namely whether the human face without temperature measurement exists. If the human face without the body temperature information is available, mapping the human face to a corresponding position in the thermal imaging image according to the position of the human face in the visible light image, and counting the temperature, namely acquiring the temperature of the corresponding position in the thermal imaging image as the body temperature information of the target human face according to the position of the target human face in the visible light image. And then, binding the body temperature information with the target face, and continuously detecting mask wearing information of the target face so as to mark a result of whether the target face wears the mask, namely, when the target face is detected to wear the mask, marking the target face to wear the mask, and when the target face is detected not to wear the mask, marking the target face not to wear the mask. And finally, obtaining quarantine information of the target face, wherein the quarantine information comprises body temperature information and mask wearing information.
In one embodiment, the step of moving to the position corresponding to the working position information and controlling the disinfection module to perform disinfection operation includes: an obstacle detection operation is performed to determine whether an obstacle exists in the moving direction. If so, stopping moving and controlling the disinfection module to stop the elimination and killing operation and perform warning prompt operation, and performing obstacle detection operation again after preset time length so as to perform obstacle avoidance operation and elimination and killing operation when the obstacle still exists in the moving direction, or continuing to perform elimination and killing operation when the obstacle does not exist in the moving direction, or stopping moving and controlling the disinfection module to weaken the elimination and killing operation, and performing obstacle detection operation again after preset time length so as to perform obstacle avoidance operation when the obstacle still exists in the moving direction, or enhancing the elimination and killing operation when the obstacle does not exist in the moving direction. If not, the disinfection module is controlled to perform disinfection operation in the process of moving to the position corresponding to the working position information. Wherein, the control of the disinfection module for disinfection and sterilization comprises the control of a liquid spraying unit in the disinfection module for spraying liquid and the control of a wiping unit in the disinfection module for wiping the sprayed area.
In one embodiment, an obstacle avoidance operation, such as controlling a motion control module, performs turn control. And weakening the sterilization operation, such as controlling the motion control module to adjust the liquid spraying amount of the sterilization module and the driving frequency of the push rod.
In an embodiment, the step of moving to the position corresponding to the working position information and controlling the disinfection module to perform the disinfection operation may include, but is not limited to: and acquiring a killing adjustment factor, wherein the killing adjustment factor comprises at least one of the area of a killing area and the moving speed. And adjusting the liquid spraying amount of the disinfection module according to the disinfection adjustment factor.
In one embodiment, in the step of controlling the sterilization module to perform the sterilization operation, the method further includes: and acquiring the residual amount of liquid in the liquid storage unit in the disinfection module in real time. And when the residual amount of the liquid is lower than a preset residual threshold value, stopping the killing operation, and planning a liquid adding path to correspondingly control the motion control module so that the motion control module controls the travelling mechanism to correspondingly move. After the liquid adding is finished, the motion control module is correspondingly controlled to return to the starting point position of the liquid adding path, and the disinfection module is controlled to continue to perform disinfection operation.
In an implementation manner, the disinfection and quarantine control method provided in the second embodiment of the present application can be applied, but not limited to, in disinfection and quarantine equipment, for example, in an industrial control module of the disinfection and quarantine control system in the first embodiment of the present application.
The disinfection quarantine control method provided by the second embodiment of the application comprises the following steps: and S11, acquiring a work task, wherein the work task comprises at least one of a disinfection task and a quarantine task. And S12, acquiring the work position information according to the work task. And S13, performing movement control operation according to the working position information. And S14, moving to a position corresponding to the working position information, and controlling the quarantine module to acquire quarantine information and/or controlling the disinfection module to sterilize, wherein the quarantine information comprises at least one of body temperature information, mask wearing information and personnel identity information. The disinfection and quarantine control method provided by the embodiment can be applied to disinfection and quarantine equipment to enable the disinfection and quarantine equipment to independently complete a whole set of disinfection and quarantine work when receiving a work task, the intelligence and the use experience of the disinfection and quarantine equipment are improved, and moreover, when the disinfection and quarantine control method provided by the embodiment is applied to an industrial control module of the disinfection and quarantine equipment, the phenomenon that hardware redundancy (for example, each function module of a disinfection and quarantine robot formed by simple stacking comprises an independent controller and therefore the redundancy of the controller) is caused due to the fact that the traditional disinfection and quarantine equipment formed by simple stacking of hardware lacks of the overall design and planning can be avoided.
The third embodiment:
fig. 10 is a schematic structural diagram of a control device according to a third embodiment of the present application. For a clear description of the disinfection and quarantine equipment provided by the third embodiment of the present application, please refer to fig. 10.
The third embodiment of the application provides a disinfection and quarantine equipment, which comprises a control device K1.
Specifically, the control device K1 includes: a processor a101 and a memory a201, wherein the processor a101 is configured to execute the computer program a6 stored in the memory a201 to implement the steps of the disinfection and quarantine control method described in the second embodiment.
In an embodiment, the control device K1 provided in this embodiment may include at least one processor a101 and at least one memory a 201. Wherein, at least one processor A101 may be referred to as a processing unit A1, and at least one memory A201 may be referred to as a memory unit A2. Specifically, the storage unit a2 stores a computer program A6, which, when executed by the processing unit a1, causes the control device K1 provided in this embodiment to implement the steps of the disinfection and quarantine control method described above, for example, step S11 shown in fig. 1, which is to acquire a work task including at least one of a disinfection task and a quarantine task; step S12, acquiring working position information according to the working task; step S13, performing movement control operation according to the working position information; and S14, moving to a position corresponding to the working position information, and controlling the quarantine module to acquire quarantine information and/or controlling the disinfection module to sterilize, wherein the quarantine information comprises at least one of body temperature information, mask wearing information and personnel identity information.
In one embodiment, the control device K1 provided in the present embodiment may include a plurality of memories a201 (simply referred to as memory cells A2).
Storage unit a2 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The storage unit a2 described in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
In one embodiment, the control device K1 further includes a bus connecting the various components (e.g., the processor a101 and the memory a201, the touch screen A3, etc.).
In one embodiment, the control device K1 in this embodiment may further include a communication interface (e.g., I/O interface a4) that may be used to communicate with an external device.
In an embodiment, the control device K1 provided in this embodiment may further include a communication device a 5.
In an embodiment, the control device K1 in this embodiment can be, but is not limited to, an industrial control module of the disinfection and quarantine control system provided in the first embodiment.
The control device K1 in the quarantine control apparatus provided by the third embodiment of the present application includes a memory a101 and a processor a201, and the processor a101 is configured to execute the computer program a6 stored in the memory a201 to implement the steps of the quarantine control method described in the second embodiment, so that the quarantine control apparatus provided by the present embodiment has better intelligence and good experience in use.
The third embodiment of the present application also provides a computer-readable storage medium, which stores a computer program a6, and when being executed by the processor a101, the computer program a6 implements the steps of the disinfection and quarantine control method according to the second embodiment, for example, the steps shown in fig. 7 are S11 to S14.
In an embodiment, the computer readable storage medium provided by the embodiment may include any entity or device capable of carrying computer program code, a recording medium, such as ROM, RAM, magnetic disk, optical disk, flash memory, and the like.
The third embodiment of the present application provides a computer program a6 stored in a computer-readable storage medium, which when executed by the processor a101, can achieve the purpose of improving the intelligence and the experience of using the disinfection and quarantine equipment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various information or components, these information or components should not be limited by these terms. These terms are only used to distinguish one type of information or component from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
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