Medical gas system intelligent inspection robot and inspection path planning method thereof

Abstract

The invention discloses a medical gas system intelligent inspection robot and an inspection path planning method thereof.The medical gas system intelligent inspection robot comprises an inspection robot body, a Z-shaped plate is fixedly installed at one end of the inspection robot body, four sets of stand columns are fixedly installed on the upper surface of the inspection robot body, and a frame is fixedly installed on the upper surfaces of the stand columns of the inspection robot body; an air flow guide mechanism is fixedly installed in the frame, and a path planning mechanism is fixedly installed in the Z-shaped plate and the frame. Through the design of the air guide mechanism and the path planning mechanism, the inspection robot body can autonomously plan the inspection path and correspondingly adjust the change of the environment, so that the robot can independently complete the inspection task, the requirement of manual intervention is reduced, the air can be continuously circulated in the air detection process, and the inspection efficiency is improved. Retention of gas in the exhaust outlet is reduced, more accurate gas concentration measurement is provided, and the gas detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gas monitoring, and in particular to an intelligent inspection robot for a medical gas system and an inspection path planning method thereof. Background Art

[0002] Medical gases are gases used in medical, emergency and clinical environments. They are usually used for treatment, diagnosis, anesthesia and various life-supporting functions. These gases are used in medical equipment or provided to patients in gas, aerosol and other forms.

[0003] For example, the patent with the national authorized patent announcement number CN105511470A discloses an intelligent patrol robot, including a patrol robot body and a driving mechanism, the driving mechanism is connected to the wheels to drive the robot body to move, the robot body is installed with an imaging detection box and a lighting device through a bracket, the imaging detection box is provided with a visible light camera, an infrared thermal imager and an infrared visible light dual-channel video server, the obstacle detector is located at the front of the body, two radio frequency signal receivers are provided around the bracket, two infrared receivers are provided on both sides of the robot body, and the robot body is provided with a temperature and humidity sensor, a gas detector and a vehicle controller. The intelligent patrol robot described in the present invention determines the position of the robot body by sensing the signal strength of the signal transmitter in multiple directions of the detection area through the radio frequency signal receiver; the walking direction and posture of the robot are corrected by whether the infrared receiver receives the infrared signal from the outside.

[0004] However, the above-mentioned intelligent inspection robot cannot automatically plan the path for inspection during the gas detection inspection process, and must rely on manual control or a preset fixed path. This results in the robot being unable to adjust the path according to real-time environmental changes, and may miss certain areas that require key inspection. In addition, in a complex or dynamic environment, such as when new obstacles appear, the robot cannot adjust the path in time to avoid obstacles or perform inspection more effectively.

[0005] Moreover, during inspections, the air cannot be adsorbed and diverted for adequate detection, which will cause the gas sensor to be unable to receive enough sample gas, which will reduce the sensor's detection sensitivity to gas concentration, resulting in inaccurate detection results and difficulty in identifying low-concentration gases or rapidly changing gas concentrations. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent inspection robot for a medical gas system and an inspection path planning method thereof, so as to solve the problem in the above-mentioned background technology that in the process of gas detection inspection, the path cannot be automatically planned for inspection and the air cannot be adsorbed and diverted for sufficient detection, which will cause the gas sensor to be unable to receive enough sample gas.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A medical gas system intelligent inspection robot and an inspection path planning method thereof, comprising: an inspection robot body, a Z-shaped plate fixedly mounted on one end of the inspection robot body, four groups of columns fixedly mounted on the upper surface of the inspection robot body, a frame fixedly mounted on the upper surface of the columns of the inspection robot body, an air guide mechanism fixedly mounted in the frame, and a path planning mechanism fixedly mounted in the Z-shaped plate and the frame;

[0009] The path planning mechanism adopts SLAM (Simultaneous Localization and Mapping) technology, which can obtain information about the surrounding environment through the path planning mechanism, and then use the positioning algorithm to determine the current position of the inspection robot body, and build a map at the same time. On this basis, the Dijkstra algorithm is used to determine the optimal inspection path to cover the key areas of the entire medical gas room and minimize the inspection time and energy consumption;

[0010] Among them, the air guide mechanism can continuously inhale the air in the inspection area and discharge it from the filter port during the inspection of the inspection robot body. The filter port is connected and installed at one end of the frame, and while discharging the air from the filter port, it can detect whether the air in this area contains medical gas.

[0011] Preferably, a charging contact is fixedly installed at one end of the inspection robot body, and the charging contact is electrically connected to the battery inside the inspection robot body. The charging contact can contact and electrically connect with the charging port of the charging pile, and the charging pile is arranged in the medical gas storage room.

[0012] Preferably, the path planning mechanism includes a camera, which is fixedly mounted at one end of the Z-shaped plate and electrically connected to a battery inside the inspection robot body, the signal transmission end of the camera is connected to a signal receiving end of a controller, the controller is fixedly mounted in a frame, and a SLAM (Simultaneous Localization and Mapping) algorithm is integrated in the controller.

[0013] Preferably, the signal receiving end of the controller is connected to the signal transmitting end of four groups of radar sensors, and the four groups of radar sensors are fixedly installed at the four corners of the frame, so that the four groups of radar sensors can jointly achieve 360° all-round environmental perception capability.

[0014] Preferably, the models of the radar sensor and controller are Velodyne VLP-16 and NVIDIA Jetson Nano respectively.

[0015] Preferably, the inspection robot body can identify the location of the charging pile through a camera during the inspection process. When the battery is low, the inspection robot body can use SLAM technology and the current environment map to automatically calculate the optimal path to the charging pile. When calculating the path, the inspection robot body will consider the surrounding obstacles in real time until it safely reaches the charging pile and completes contact charging.

[0016] Preferably, the air guide mechanism includes a U-shaped cylinder, which is fixedly installed in a frame, an impeller is rotatably installed in the U-shaped cylinder, a baffle cover is removably installed on the upper surface of the U-shaped cylinder, an air suction port is provided on the upper surface of the baffle cover, and the air suction port can be connected to the expansion port provided on the upper surface of the top cover, the top cover is removably installed on the upper surface of the frame, two sets of exhaust ports are provided at one end of the U-shaped cylinder, and the exhaust ports are connected and docked with the filter port.

[0017] Preferably, a motor is fixedly installed between the inspection robot body and the frame, and the output shaft of the motor passes through the frame and the U-shaped cylinder and is fixedly connected to the impeller.

[0018] Preferably, a gas sensor is provided in the air duct of the exhaust port, and the signal transmitting end of the gas sensor is connected to the signal receiving end of the controller, so that the impeller can suck the air in the inspection area into the U-shaped cylinder from the expansion port and discharge it from the exhaust port during the inspection of the inspection robot body, and at the same time the air is discharged from the exhaust port, the gas sensor can detect whether the air in this area contains medical gas.

[0019] Preferably, the gas sensor is of model Figaro TGS.

[0020] This embodiment provides an inspection path planning method for an intelligent inspection robot for a medical gas system, comprising the following steps:

[0021] S1. Environmental perception and map construction: The inspection robot captures the surrounding environment information through radar sensors and cameras, and uses SLAM (simultaneous localization and mapping) technology to build a three-dimensional map of the environment. In the process, it obtains and updates its own position and posture information in real time;

[0022] S2, multi-dimensional data integration: The data collected by the camera and radar sensors are transmitted to the controller, which integrates the visual information and distance information to form a more complete environment model, providing a basis for path planning;

[0023] S3, Path Planning: Based on the constructed environment map, the controller uses a global or local path planning algorithm (such as Dijkstra algorithm, A* algorithm, dynamic window method DWA or time elastic band TEB algorithm) to calculate the optimal path from the starting point to the end point. The choice of path planning algorithm depends on whether the environmental information is known in advance and the need for real-time environmental changes;

[0024] S4. Real-time map update and path adjustment: During the inspection process, the inspection robot uses SLAM technology combined with data from cameras and radar sensors to continuously update its own location information and environmental map. If the environment changes (such as new obstacles appearing), the map is adjusted in real time and the optimal path is recalculated;

[0025] S5, Autonomous movement and path execution: Based on the calculated optimal path, the controller issues instructions to drive the inspection robot to achieve autonomous movement. During the movement, the inspection robot continuously collects new environmental data and monitors its own motion status. Once a deviation is found, the direction or path is adjusted immediately to ensure accurate completion of the inspection task.

[0026] S6. Inspection task completed: Through the above steps, the inspection robot body can autonomously and efficiently complete the inspection task of the medical gas storage room or other designated areas.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Through the design of the inspection robot body, frame, charging contacts, charging piles, air guide mechanism and path planning mechanism, the inspection robot body can obtain information about the surrounding environment through the SLAM (Simultaneous Localization and Mapping) technology integrated in the path planning mechanism, and then use the positioning algorithm to determine the current position of the inspection robot body, and build a map at the same time. On this basis, the Dijkstra algorithm is used to determine the optimal inspection path to cover the key areas of the entire medical gas room, which enables the inspection robot body to quickly adapt to the new environment and ensure accurate navigation in complex layouts. The SLAM technology enables the inspection robot body to dynamically update the map and re-plan the path to adapt to environmental changes (such as new obstacles), improve the robot's adaptability in complex and changing environments, ensure continuous and effective inspections, and thus improve the positioning accuracy of the inspection robot body in the medical gas room, reduce positioning errors, and improve the reliability of inspections. In addition, if the battery is too low during the inspection, it will automatically identify the charging piles passing on the path and use the SLAM technology and the current environmental map to automatically calculate the optimal distance to the charging pile. Optimal path. When calculating the path, the inspection robot body will take the surrounding obstacles into consideration in real time, and the charging contacts of the inspection robot body will be in contact with the charging pile for charging after safely reaching the charging pile, thereby avoiding stopping due to power exhaustion, extending the effective operation time of the inspection robot body, and improving the overall work efficiency. In addition, the air diversion mechanism can be started together during the inspection process, and the air diversion mechanism can inhale and discharge the air in the detection area, thereby ensuring that the air diversion mechanism obtains fresh air samples, which helps to reduce the internal retention of gas in the air diversion mechanism, provides more accurate gas concentration measurement, improves the accuracy of gas detection, and makes the detection results more reliable. In addition, through continuous air flow, it can ensure that the air diversion mechanism can detect lower concentrations of gas, which is crucial for identifying potential gas leaks or harmful gases, thereby increasing the sensitivity to hazardous gases and ensuring timely alarms when problems occur.

[0029] 2. Through the design of cameras, radar sensors and controllers, the inspection robot body can obtain visual and distance information of the environment through cameras and radar sensors when in use, and transmit these data to the controller. The controller uses SLAM technology (i.e., simultaneous positioning and mapping) to process the collected sensor data, generate a map of the environment, and locate it according to the known map information. In this way, the inspection robot body knows its position in the environment, and then the controller can use the map information and the current position of the inspection robot body to determine the best inspection path through the path planning algorithm. The path planning algorithm can consider various factors, such as covering all areas that need to be inspected, avoiding obstacles, etc. Once the inspection path is determined, the inspection robot body will start to move along the path. At the same time, the camera and radar sensor will continuously detect environmental changes and the appearance of obstacles. If new obstacles appear or the environment changes, the controller will re-plan the path to adapt to the new situation, so that the inspection robot body can autonomously plan the inspection path, locate its own position, and make corresponding adjustments to the changes in the environment. This means that the robot can complete the inspection task independently, reducing the need for human intervention.

[0030] 3. Through the design of the U-shaped cylinder, impeller, air suction port, air exhaust port, motor and gas sensor, the inspection robot body can start the motor to drive the impeller to rotate in the U-shaped cylinder during the inspection process, and the rotating impeller will suck the air into the U-shaped cylinder through the expansion port and the air suction port, and the air in the U-shaped cylinder will be discharged to the outside from the exhaust port through the rotation of the impeller, thereby realizing air circulation, and a gas sensor is provided in the exhaust port, so that the gas composition in the exhausted air can be monitored in real time. Through timely detection and monitoring, potential safety hazards can be discovered in advance to ensure the safety of the inspection process, and the circulation of air helps to reduce the retention of gas inside the exhaust port, providing more accurate gas concentration measurement, improving the accuracy of gas detection, making the detection result more reliable, and through continuous air flow, it can ensure that the gas sensor can detect lower concentrations of gas. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of the intelligent inspection robot for medical gas systems of the present invention;

[0032] Figure 2 It is a structural schematic diagram of the charging pile of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the charging contact of the present invention;

[0034] Figure 4 It is a structural schematic diagram of the Z-shaped plate of the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of the camera and radar sensor of the present invention;

[0036] Figure 6 It is a schematic diagram of the structure of the top cover and the expansion port of the present invention;

[0037] Figure 7 It is a structural schematic diagram of the air guide mechanism of the present invention.

[0038] In the figure: 1. Inspection robot body; 101. Z-shaped plate; 102. Filter port; 103. Frame; 104. Top cover; 105. Expansion port; 106. Charging contact; 2. Charging pile; 3. Air guide mechanism; 301. U-shaped cylinder; 302. Impeller; 303. Baffle; 304. Air intake port; 305. Air exhaust port; 306. Motor; 307. Gas sensor; 4. Path planning mechanism; 401. Camera; 402. Radar sensor; 403. Controller. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figure 1-Figure 7 , this embodiment provides the following technical solutions:

[0041] like Figure 1-Figure 3 As shown, an intelligent inspection robot for a medical gas system and an inspection path planning method thereof, comprising: an inspection robot body 1, a Z-shaped plate 101 is fixedly installed at one end of the inspection robot body 1, four groups of columns are fixedly installed on the upper surface of the inspection robot body 1, a frame 103 is fixedly installed on the upper surface of the columns of the inspection robot body 1, an air guide mechanism 3 is fixedly installed in the frame 103, and a path planning mechanism 4 is fixedly installed in the Z-shaped plate 101 and the frame 103;

[0042] Among them, the path planning mechanism 4 adopts SLAM (Simultaneous Localization and Mapping) technology, which can obtain information about the surrounding environment through the path planning mechanism 4, and then use the positioning algorithm to determine the current position of the inspection robot body 1, and at the same time build a map. On this basis, the Dijkstra algorithm is used to determine the optimal inspection path to cover the key areas of the entire medical gas room and minimize the inspection time and energy consumption;

[0043] Among them, the air guide mechanism 3 can continuously inhale the air in the inspection area and discharge it from the filter port 102 during the inspection process of the inspection robot body 1. The filter port 102 is connected and installed at one end of the frame 103, and while discharging the air from the filter port 102, it can detect whether the air in this area contains medical gas.

[0044] A charging contact 106 is fixedly installed at one end of the inspection robot body 1, and the charging contact 106 is electrically connected to the internal battery of the inspection robot body 1. The charging contact 106 can contact and electrically connect with the charging port of the charging pile 2, and the charging pile 2 is arranged in the medical gas storage room.

[0045] Through the design of the inspection robot body 1, the frame 103, the charging contact 106, the charging pile 2, the air guide mechanism 3 and the path planning mechanism 4, the inspection robot body 1 can use the SLAM (Simultaneous Localization and The SLAM technology enables the inspection robot body 1 to dynamically update the map and re-plan the path to adapt to environmental changes (such as new obstacles), thereby improving the robot's ability to adapt to complex and changing environments, and ensuring continuous and effective inspections. This improves the positioning accuracy of the inspection robot body 1 in the medical gas room, reduces positioning errors, and improves the reliability of inspections. If the battery is too low during the inspection, it will automatically identify the charging pile 2 passing through the path and use the SLAM technology and the current environmental map to automatically calculate the optimal path to the charging pile 2. When calculating the path, the inspection robot body 1 will take into account the surrounding obstacles in real time, and only after safely reaching the charging pile 2 can the charging contacts 106 of the inspection robot body 1 contact the charging pile 2 for charging, thereby avoiding stopping working due to power exhaustion, extending the effective operating time of the inspection robot body 1, and improving the overall work efficiency. In addition, the air guide mechanism 3 can be started together during the inspection process, and the air guide mechanism 3 can inhale and discharge the air in the detection area, thereby ensuring that the air guide mechanism 3 obtains fresh air samples, which helps to reduce the internal retention of gas in the air guide mechanism 3, provide more accurate gas concentration measurement, improve the accuracy of gas detection, and make the detection results more reliable. In addition, through continuous air flow, it can ensure that the air guide mechanism 3 can detect lower concentrations of gas, which is crucial for identifying potential gas leaks or harmful gases, thereby increasing the sensitivity to dangerous gases and ensuring timely alarms when problems occur.

[0046] like Figure 4-Figure 6 As shown, the path planning mechanism 4 includes a camera 401, which is fixedly mounted at one end of the Z-shaped plate 101 and electrically connected to the battery inside the inspection robot body 1. The signal transmission end of the camera 401 is connected to the signal receiving end of the controller 403. The controller 403 is fixedly mounted in the frame 103, and the controller 403 is integrated with a SLAM (Simultaneous Localization and Mapping) algorithm.

[0047] The signal receiving end of the controller 403 is connected to the signal transmitting end of the four radar sensors 402, and the four radar sensors 402 are fixedly installed at the four corners of the frame 103, so that the four radar sensors 402 can jointly realize 360° all-round environmental perception capability;

[0048] The method for enabling the inspection robot body 1 to realize path planning by using the integrated SLAM (Simultaneous Localization and Mapping) technology in cooperation with the radar sensor 402 and the camera 401 includes the following steps:

[0049] S1: The inspection robot body 1 uses the radar sensor 402 and the camera 401 to capture environmental information, builds a three-dimensional map of the environment through the SLAM algorithm, and obtains its own position and posture information in the process;

[0050] S2: After obtaining the environmental map, the inspection robot body 1 will use a path planning algorithm to calculate the optimal path from the starting point to the end point. The path planning algorithm can be global or local, depending on whether the environmental information is known in advance. Common global path planning algorithms include Dijkstra algorithm and A* algorithm, while local path planning algorithms such as dynamic window method (DWA) and time elastic band (TEB) algorithm can adjust the path according to real-time environmental changes;

[0051] S3: The camera 401 and the radar sensor 402 transmit the collected data to the controller 403, and the controller 403 integrates the multi-dimensional data from the camera 401 and the radar sensor 402, and the controller 403 uses an algorithm to combine the visual information and the distance information to form a more complete environment model;

[0052] S4: Then the controller 403 can combine the data of the camera 401 and the radar sensor 402 through the SLAM technology, so that the inspection robot body 1 can continuously update its position information during the inspection. At the same time, SLAM will build a map containing environmental features. This map not only reflects the location of obstacles, but also includes the path that the robot has passed through;

[0053] S5: The map constructed by SLAM provides a comprehensive view of the environment, enabling the inspection robot body 1 to identify feasible paths and potential obstacles, and enabling the controller 403 to calculate the optimal path on the constructed map by using a path planning algorithm (such as an A* algorithm, a Dijkstra algorithm, etc.), taking into account the positions of obstacles and target points. During the inspection process, if the environment changes (for example, a new obstacle appears), the inspection robot body 1 can update the map in real time and recalculate the path;

[0054] S6: Based on the calculated path, the controller 403 will issue instructions to drive the inspection robot body 1 to achieve autonomous movement. During the inspection process, the inspection robot body 1 will continuously collect new data from the camera 401 and the radar sensor 402 to check whether its own movement is in line with expectations. If deviations are found, the direction or path can be adjusted immediately until the inspection of the medical gas storage room is completed.

[0055] The models of the radar sensor 402 and the controller 403 are Velodyne VLP-16 and NVIDIA JetsonNano respectively.

[0056] During the inspection process, the inspection robot body 1 can identify the position of the charging pile 2 through the camera 401. When the power is low, the inspection robot body 1 can use SLAM technology and the current environment map to automatically calculate the optimal path to the charging pile 2. When calculating the path, the inspection robot body 1 will consider the surrounding obstacles in real time until it safely reaches the charging pile 2 and completes contact charging.

[0057] Through the design of the camera 401, the radar sensor 402 and the controller 403, when in use, the inspection robot body 1 can obtain the visual and distance information of the environment through the camera 401 and the radar sensor 402, and transmit these data to the controller 403, and the controller 403 uses the SLAM technology (i.e., simultaneous positioning and mapping) to process the collected sensor data, generate a map of the environment, and locate it according to the known map information. In this way, the inspection robot body 1 knows its position in the environment, and then the controller 403 can use the map information and the current position of the inspection robot body 1 to determine the best inspection route through the path planning algorithm. Inspection path, the path planning algorithm can take into account multiple factors, such as covering all areas that need to be inspected, avoiding obstacles, etc. Once the inspection path is determined, the inspection robot body 1 will start to move along the path. At the same time, the camera 401 and the radar sensor 402 will continuously detect environmental changes and the appearance of obstacles. If new obstacles appear or the environment changes, the controller 403 will re-plan the path to adapt to the new situation, thereby enabling the inspection robot body 1 to autonomously plan the inspection path, locate its own position, and make corresponding adjustments to environmental changes. This means that the robot can complete the inspection task independently, reducing the need for manual intervention.

[0058] like Figure 7As shown, the air guide mechanism 3 includes a U-shaped cylinder 301, which is fixedly installed in the frame 103, and an impeller 302 is rotatably installed in the U-shaped cylinder 301. A baffle 303 is removably installed on the upper surface of the U-shaped cylinder 301, and an air suction port 304 is opened on the upper surface of the baffle 303. The air suction port 304 can be connected with the expansion port 105 opened on the upper surface of the top cover 104. The top cover 104 is removably installed on the upper surface of the frame 103, and two sets of exhaust ports 305 are opened at one end of the U-shaped cylinder 301, and the exhaust ports 305 are connected and docked with the filter port 102.

[0059] A motor 306 is fixedly installed between the inspection robot body 1 and the frame 103 , and the output shaft of the motor 306 passes through the frame 103 and the U-shaped cylinder 301 and is fixedly connected to the impeller 302 .

[0060] A gas sensor 307 is arranged in the air duct of the exhaust port 305, and the signal transmitting end of the gas sensor 307 is connected to the signal receiving end of the controller 403, so that the impeller 302 can suck the air in the inspection area from the expansion port 105 into the U-shaped cylinder 301 and discharge it from the exhaust port 305 during the inspection process of the inspection robot body 1. While the air is discharged from the exhaust port 305, the gas sensor 307 can detect whether the air in this area contains medical gas.

[0061] The model of the gas sensor 307 is Figaro TGS.

[0062] Through the design of the U-shaped cylinder 301, the impeller 302, the air suction port 304, the air exhaust port 305, the motor 306 and the gas sensor 307, the inspection robot body 1 can start the motor 306 to drive the impeller 302 to rotate in the U-shaped cylinder 301 during the inspection process, and the rotating impeller 302 will suck the air into the U-shaped cylinder 301 through the expansion port 105 and the air suction port 304, and the air in the U-shaped cylinder 301 will be discharged to the outside from the air exhaust port 305 through the rotation of the impeller 302, thereby realizing the circulation of air. A gas sensor 307 is provided in the exhaust port 305, so that the gas composition in the exhausted air can be monitored in real time. Through timely detection and monitoring, potential safety hazards can be discovered in advance to ensure the safety of the inspection process. The circulation of air helps to reduce the retention of gas inside the exhaust port 305, provide more accurate gas concentration measurement, improve the accuracy of gas detection, make the detection result more reliable, and through continuous air flow, it can ensure that the gas sensor 307 can detect lower concentrations of gas.

[0063] According to the above technical scheme, the working steps of this scheme are summarized and sorted out: when in use, the inspection robot body 1 can obtain the visual and distance information of the environment through the camera 401 and the radar sensor 402, and transmit these data to the controller 403, and the controller 403 uses the SLAM technology (i.e., simultaneous positioning and mapping) to process the collected sensor data, generate a map of the environment, and locate it according to the known map information. In this way, the inspection robot body 1 knows its position in the environment, and then the controller 403 can use the map information and the current position of the inspection robot body 1 to determine the best inspection path through the path planning algorithm. The path planning algorithm can consider various factors, such as covering all areas that need to be inspected, avoiding obstacles, etc. Once the inspection path is determined, the inspection robot body 1 will start to move along the path. At the same time, the camera 401 and the radar sensor 402 will continuously detect environmental changes and the appearance of obstacles. If new obstacles appear or the environment changes, the controller 403 will re-plan the path to adapt to the new situation, thereby enabling the inspection robot body 1 to The inspection route can be planned autonomously, and during the inspection process, the motor 306 can be started together to drive the impeller 302 to rotate in the U-shaped cylinder 301, and the rotating impeller 302 will suck air into the U-shaped cylinder 301 through the expansion port 105 and the air suction port 304, and the air in the U-shaped cylinder 301 will be discharged to the outside from the exhaust port 305 through the rotation of the impeller 302, thereby realizing air circulation, and a gas sensor 307 is provided in the exhaust port 305, so that the gas composition in the exhausted air can be monitored in real time, and through timely detection and monitoring, Potential safety hazards can be discovered in advance to ensure safety during the inspection process. If the battery is too low during the inspection, the robot will automatically identify the charging pile 2 passing on the path and use SLAM technology and the current environment map to automatically calculate the optimal path to the charging pile 2. When calculating the path, the inspection robot body 1 will take into account the surrounding obstacles in real time until it safely reaches the charging pile 2. The charging contacts 106 of the inspection robot body 1 can then contact the charging pile 2 for charging, thereby avoiding stopping due to exhaustion of power and extending the effective operating time of the inspection robot body 1.

[0064] In summary: the inspection robot body 1 can autonomously plan the inspection route, locate its own position, and make corresponding adjustments to environmental changes, which means that the robot can independently complete the inspection task, reducing the need for human intervention, and can continuously circulate the air during the air detection process, which helps to reduce the retention of gas inside the exhaust port 305, provide more accurate gas concentration measurement, improve the accuracy of gas detection, make the detection results more reliable, and through continuous air flow, it can ensure that the gas sensor 307 can detect lower concentrations of gas.

[0065] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent inspection robot for medical gas systems, characterized in that: include: An inspection robot body (1), wherein a Z-shaped plate (101) is fixedly mounted on one end of the inspection robot body (1), four groups of columns are fixedly mounted on the upper surface of the inspection robot body (1), a frame (103) is fixedly mounted on the upper surface of the columns of the inspection robot body (1), an air guide mechanism (3) is fixedly mounted inside the frame (103), and a path planning mechanism (4) is fixedly mounted inside the Z-shaped plate (101) and the frame (103), wherein: The path planning mechanism (4) uses SLAM technology to obtain information about the surrounding environment, and then uses a positioning algorithm to determine the current position of the inspection robot body (1), and constructs a map. On this basis, the Dijkstra algorithm is used to determine the optimal inspection path to cover the key areas of the entire medical gas room and minimize the inspection time and energy consumption; The air guide mechanism (3) can continuously inhale the air in the inspection area and discharge it from the filter port (102) during the inspection process of the inspection robot body (1); the filter port (102) is connected and installed at one end of the frame (103), and can detect whether the air in this area contains medical gas while discharging the air from the filter port (102).

2. The intelligent inspection robot for medical gas system according to claim 1, characterized in that: A charging contact (106) is fixedly mounted on one end of the inspection robot body (1), and the charging contact (106) is electrically connected to a battery inside the inspection robot body (1). The charging contact (106) can contact and electrically connect to a charging port of a charging pile (2), and the charging pile (2) is arranged in a medical gas storage room.

3. The intelligent inspection robot for medical gas system according to claim 2, characterized in that: The path planning mechanism (4) comprises a camera (401), the camera (401) is fixedly mounted on one end of the Z-shaped plate (101) and is electrically connected to a battery inside the inspection robot body (1), a signal transmission end of the camera (401) is connected to a signal receiving end of a controller (403), the controller (403) is fixedly mounted in the frame (103), and a SLAM algorithm and a Dijkstra algorithm are integrated in the controller (403).

4. The intelligent inspection robot for medical gas system according to claim 3, characterized in that: The signal receiving end of the controller (403) is connected to the signal transmitting ends of four groups of radar sensors (402), and the four groups of radar sensors (402) are fixedly installed at the four corners of the frame (103), so that the four groups of radar sensors (402) can jointly achieve 360° all-round environmental perception capability.

5. The intelligent inspection robot for medical gas system according to claim 4, characterized in that: The models of the radar sensor (402) and the controller (403) are Velodyne VLP-16 and NVIDIA Jetson Nano respectively.

6. The intelligent inspection robot for medical gas system according to claim 5, characterized in that: The inspection robot body (1) can identify the position of the charging pile (2) through the camera (401) during the inspection process. When the battery is low, the inspection robot body (1) can use SLAM technology and the current environment map to automatically calculate the optimal path to the charging pile (2). When calculating the path, the inspection robot body (1) will take into account surrounding obstacles in real time until it safely reaches the charging pile (2) and completes contact charging.

7. The intelligent inspection robot for medical gas system according to claim 6, characterized in that: The air guide mechanism (3) comprises a U-shaped cylinder (301), the U-shaped cylinder (301) is fixedly mounted in a frame (103), an impeller (302) is rotatably mounted in the U-shaped cylinder (301), a baffle (303) is detachably mounted on the upper surface of the U-shaped cylinder (301), an air suction port (304) is provided on the upper surface of the baffle (303), the air suction port (304) can be communicated with an expansion port (105) provided on the upper surface of the top cover (104), the top cover (104) is detachably mounted on the upper surface of the frame (103), two groups of air exhaust ports (305) are provided at one end of the U-shaped cylinder (301), and the air exhaust ports (305) are communicated and docked with the filter screen port (102).

8. The intelligent inspection robot for medical gas system according to claim 7, characterized in that: A motor (306) is fixedly installed between the inspection robot body (1) and the frame (103), and an output shaft of the motor (306) passes through the frame (103) and the U-shaped cylinder (301) and is fixedly connected to the impeller (302).

9. The intelligent inspection robot for medical gas system according to claim 8, characterized in that: A gas sensor (307) is arranged in the air duct of the exhaust port (305), and the signal transmitting end of the gas sensor (307) is connected to the signal receiving end of the controller (403). The impeller (302) can suck the air in the inspection area from the expansion port (105) into the U-shaped cylinder (301) and discharge it from the exhaust port (305) during the inspection process of the inspection robot body (1). When the air is discharged from the exhaust port (305), the gas sensor (307) can detect whether the air in this area contains medical gas.

10. A method for planning an inspection path of an intelligent inspection robot for a medical gas system according to claim 9, characterized in that: The following steps are involved: S1. Environmental perception and map construction: The inspection robot body (1) captures the surrounding environment information through the radar sensor (402) and the camera (401), constructs a three-dimensional map of the environment using the SLAM technology, and obtains and updates its own position and posture information in real time during the process; S2, multi-dimensional data integration: the data collected by the camera (401) and the radar sensor (402) are transmitted to the controller (403), and the controller (403) integrates the visual information and the distance information to form a more complete environment model, which provides a basis for path planning; S3, path planning: Based on the constructed environment map, the controller (403) uses a global or local path planning algorithm to calculate the optimal path from the starting point to the end point; S4, real-time map update and path adjustment: during the inspection process, the inspection robot body (1) continuously updates its own position information and environmental map by combining the data of the camera (401) and the radar sensor (402) through SLAM technology. If the environment changes, the map is adjusted in real time and the optimal path is recalculated; S5, autonomous movement and path execution: Based on the calculated optimal path, the controller (403) issues a command to drive the inspection robot body (1) to achieve autonomous movement. During the movement, the inspection robot body (1) continuously collects new environmental data and monitors its own movement state. Once a deviation is found, the direction or path is adjusted immediately to ensure accurate completion of the inspection task. S6. Inspection task completed: Through the above steps, the inspection robot body (1) can autonomously and efficiently complete the inspection task of the medical gas storage room or other designated areas.

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