Hospital guidance and temperature measurement composite robot

Abstract

The invention discloses a hospital guide and temperature measurement composite robot, which is applied to the technical field of medical instruments and comprises a chassis assembly (1), an interaction device (3) and a temperature measurement camera device (4) which are mounted on the chassis assembly (1) through a support frame (2), and a hospital guide control device connected with the chassis assembly (1), the interaction device (3) and the temperature measurement camera device (4), the hospital guide control device is internally provided with hospital guide routes from all the paths to all the service points in the service area, and the hospital guide control device can control the chassis assembly (1) to move to the target position according to the current position and the hospital guide route corresponding to the input target position. The hospital guide and temperature measurement composite robot integrates the functions of temperature measurement, hospital guide and the like, the hospital service efficiency can be improved, the risk of cross infection can be reduced, and the pressure of workers can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a compound robot for guiding patients and measuring temperature. Background Art

[0002] In today's medical field, hospitals are accelerating towards a new stage of unmanned, intelligent and automated development. Intelligent devices are gradually replacing some manual labor, which has become an inevitable trend in hospital development. However, in the current hospital operation, there are still many aspects that need to be optimized urgently.

[0003] Currently, most of the guiding work in hospitals mainly relies on nurses. Nurses need to patiently and carefully explain the destination departments of the guiding to patients. This process not only consumes a large amount of manpower, but also may increase the risk of cross-infection due to the presence of infectious patients among patients. At the same time, in the fever clinic, the work of measuring the body temperature of fever patients is mostly completed by medical staff using temperature measuring instruments. This method is difficult to completely achieve non-contact temperature measurement, further exacerbating the infection risk.

[0004] In view of this, how to design a robot that integrates the functions of temperature measurement and guiding, so that it can complete the temperature measurement test while providing guiding services to patients, is an urgent problem that needs to be solved by those skilled in the art at present. Summary of the Invention

[0005] The purpose of the present invention is to provide a compound robot for guiding patients and measuring temperature. The compound robot for guiding patients and measuring temperature integrates functions such as temperature measurement and guiding, can improve the service efficiency of hospitals, reduce the risk of cross-infection, and also reduce the pressure on staff.

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] A compound robot for guiding patients and measuring temperature, including a chassis assembly, an interaction device and a temperature measurement and imaging device installed on the chassis assembly through a support frame, and a guiding control device connected to the chassis assembly, the interaction device and the temperature measurement and imaging device. The guiding control device is provided with guiding routes from various paths to various service points within the service area. The guiding control device can control the chassis assembly to move to the target position according to the current position and the guiding route corresponding to the input target position.

[0008] Optionally, when the temperature measurer is within the temperature measurement area, the temperature measurement and imaging device includes:

[0009] A temperature measurement camera for detecting temperature;

[0010] A range detection mechanism for detecting the angle range between the temperature measurement camera and the optimal temperature measurement point of the temperature measurer;

[0011] An adjustment mechanism connected to the temperature measurement camera and the range detection mechanism, and used to control the temperature measurement camera to adjust to a position directly facing the optimal temperature measurement point when the angle range between the optimal temperature measurement point and the temperature measurement camera is greater than a preset range.

[0012] Optionally, the adjustment mechanism includes:

[0013] An altitude measurement unit for detecting the horizontal height difference between the optimal temperature measurement point of the temperature measurer and the temperature measurement camera;

[0014] A lifting mechanism connected to the altitude measurement unit and used to control the temperature measurement camera to vertically expand and contract to a level equal to the optimal temperature measurement point when the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera is greater than a preset height.

[0015] Optionally, a vertical chute is provided in the support frame, and the lifting mechanism includes:

[0016] A sliding rod inserted into the vertical chute and connected to the temperature measurement camera at the upper end;

[0017] A lifting unit provided at the bottom of the support frame and connected to the lower end of the sliding rod, and used to control the sliding rod to vertically move along the chute when the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera is greater than a preset height, so that the temperature measurement camera is level with the optimal temperature measurement point.

[0018] Optionally, the adjustment mechanism further includes:

[0019] An angle measurement unit for detecting the horizontal angle between the temperature measurement camera and the optimal temperature measurement point when the temperature measurement camera is level with the optimal temperature measurement point;

[0020] A rotation mechanism connected to the angle measurement unit and used to control the temperature measurement camera to rotate to be directly opposite to the optimal temperature measurement point when the horizontal angle between the temperature measurement camera and the optimal temperature measurement point is greater than a preset angle.

[0021] Optionally, the chassis assembly moves linearly along the guiding route, and the guiding control device includes:

[0022] A roadblock detection mechanism for detecting whether there is an overlapping area between the first edge of the chassis assembly and the second edge of the obstacle ahead or between the second edge of the chassis assembly and the first edge of the obstacle ahead;

[0023] An avoidance mechanism connected to the roadblock judgment mechanism and used to control the chassis assembly to bypass the obstacle when the roadblock detection mechanism detects an overlapping area.

[0024] Optionally, the avoidance mechanism includes:

[0025] A ranging unit for calculating respectively a first distance between a first edge of the chassis assembly and a second edge of an obstacle ahead or a second distance between a second edge of the chassis assembly and a first edge of the obstacle ahead;

[0026] A roadblock side determination unit connected to the ranging unit for determining that a side edge of the chassis assembly corresponding to the smaller value of the first distance and the second distance is the roadblock side;

[0027] A distance acquisition unit connected to the ranging unit for determining that the smaller value of the first distance and the second distance is the roadblock coincidence distance;

[0028] A first avoidance unit connected to the roadblock side determination unit and the distance acquisition unit for controlling the chassis assembly to move laterally in a direction away from the roadblock side by a distance exceeding the roadblock coincidence distance.

[0029] Optionally, the avoidance mechanism further includes:

[0030] A length measurement unit for measuring a length distance between the chassis assembly and the obstacle ahead along the forward direction;

[0031] An angle calculation unit connected to the length measurement unit and the distance acquisition unit for calculating an angle between the hypotenuse and the central axis of the chassis assembly with the length distance and the roadblock coincidence distance as the right-angle sides;

[0032] A second avoidance unit connected to the angle calculation unit and the roadblock side for controlling the chassis assembly to tilt and move toward the roadblock side at an angle calculated by the angle calculation unit.

[0033] Optionally, the roadblock detection mechanism includes a camera, a laser scanner, and a pressure sensor provided on the same side of the chassis assembly. The camera, the laser scanner, and the pressure sensor are respectively provided on the upper, middle, and lower side walls of the chassis assembly. The pressure sensor is built into an anti-collision strip. The roadblock detection mechanism and the charging assembly are respectively located at the front end and the rear end of the chassis assembly.

[0034] Optionally, anti-tilt orientation wheels are provided at both the front end and the rear end of the central axis of the chassis assembly.

[0035] The battery assembly is installed at the central position of the chassis assembly. The battery assembly includes a bottom plate and a battery body fixed to the bottom plate. A slider is provided on the bottom surface of the bottom plate. A transverse track is provided on the surface of the chassis assembly. The slider is connected in the transverse track and can slide along the transverse track to adjust the left-right balance of the chassis assembly.

[0036] The beneficial effects of the present invention are as follows. The provided diagnosis guidance and temperature measurement composite robot includes a chassis assembly, a support frame, an interaction device, a temperature measurement and camera device, and a diagnosis guidance control device.

[0037] As the basic support part of the robot, the chassis assembly bears other important components of the robot and is the moving platform of the whole robot. It can move autonomously according to the preset diagnosis guidance route, thus ensuring that the robot can move flexibly within the service area.

[0038] The support frame is installed on the chassis assembly and plays a role in connection and support. It firmly installs the interaction device and the temperature measurement and camera device above the chassis assembly to ensure that these devices can work stably during the movement of the robot.

[0039] The interaction device is a component for the robot to communicate and interact with patients or other personnel. Through the interaction device, patients can input their target positions, and the robot will provide corresponding diagnosis guidance services according to this, answer patients' questions, and provide an important interface for human-machine interaction.

[0040] The temperature measurement and camera device has the functions of temperature measurement and camera shooting. The temperature measurement function can detect the body temperature of personnel and generate a temperature measurement report, which can be used for preliminary screening of fever patients in medical scenarios, etc.; the camera shooting function can be used to shoot image information such as the surrounding environment and people's faces, assist the robot to better identify people and the environment, and provide visual support for services such as diagnosis guidance.

[0041] The diagnosis guidance control device is the core control unit of the robot and is connected to the chassis assembly, the interaction device, and the temperature measurement and camera device. It pre-stores the diagnosis guidance routes from each path to each service point within the service area, that is, stores a detailed map of the entire service area. When a patient inputs a target position through the interaction device, the diagnosis guidance control device can quickly plan a suitable route from the pre-stored diagnosis guidance routes based on the current position and the input target position, and control the chassis assembly to move accordingly, accurately guiding the user to the target position.

[0042] The diagnosis guidance and temperature measurement composite robot provided by the present invention fully integrates technologies such as a mobile platform, interaction, temperature measurement and camera shooting, and intelligent control. It integrates the functions of temperature measurement and diagnosis guidance on the same robot, realizes providing efficient and accurate diagnosis guidance services for personnel within the service area, and at the same time has functions such as temperature measurement, and even issues a temperature measurement report immediately. It brings convenience to users, improves service efficiency and quality, reduces the waiting time of users, and enhances the medical experience; through non-contact temperature measurement, it can effectively reduce the risk of cross-infection and ensure the health and safety of users and staff; in addition, it can also reduce the work pressure of staff and enable them to devote more energy to their core jobs. Brief Description of the Drawings

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a schematic structural diagram of a guiding and temperature-measuring composite robot provided by a specific embodiment of the present invention;

[0045] Figure 2 It is a schematic structural diagram of the chassis assembly;

[0046] Figure 3 It is a schematic internal structure diagram of the chassis assembly;

[0047] Figure 4 It is a schematic diagram of the battery assembly;

[0048] Figure 5 It is a schematic diagram of the bottom of the chassis assembly;

[0049] Figure 6 It is a schematic diagram of the support frame;

[0050] Figure 7 It is a schematic diagram of the interaction device;

[0051] Figure 8 It is a schematic diagram of the temperature-measuring and imaging device.

[0052] Reference numerals:

[0053] 1 - Chassis assembly; 2 - Support frame; 3 - Interaction device; 4 - Temperature-measuring and imaging device; 11 - Driving wheel; 12 - Fender; 13 - Terminal block; 14 - Suspension assembly; 15 - Universal wheel; 16 - Component fixing plate; 17 - Power supply; 18 - Wireless client; 19 - Charging assembly fixing plate and protection plate; 110 - Charging assembly; 111 - Secondary component fixing plate; 112 - Core controller; 113 - Switch; 114 - Main vertical strut; 115 - Driver; 116 - Secondary vertical strut; 117 - Laser fixing plate; 118 - Camera; 119 - Camera fixing plate; 120 - Antenna module; 121 - Laser scanner; 122 - Battery assembly; 123 - Universal wheel cover; 124 - Chassis; 125 - Anti-tilt directional wheel; 126 - Outer cover; 127 - Driving wheel protection plate; 128 - Anti-tilt directional wheel fixing plate; 129 - Small protection plate; 130 - Battery body; 131 - Large protection plate; 21 - Secondary platform fixing plate; 22 - Frame body; 23 - Front cover; 24 - Screen mounting plate; 41 - Head base; 42 - Ear outer cover; 43 - Front end outer cover; 45 - Temperature-measuring camera. Specific Embodiment

[0054] The core of the present invention is to provide a combined guiding and temperature - measuring robot. This combined guiding and temperature - measuring robot integrates functions such as temperature measurement and guiding, which can improve the service efficiency of the hospital, reduce the risk of cross - infection, and also reduce the pressure on staff.

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0056] Please refer to Figures 1 to 8 , which is the overall schematic diagram of the combined guiding and temperature - measuring robot provided by a specific embodiment of the present invention and the structural schematic diagrams of each component.

[0057] In a specific embodiment, the combined guiding and temperature - measuring robot provided by the present invention includes a chassis assembly 1, an interaction device 3 and a temperature - measuring and imaging device 4 installed on the chassis assembly 1 through a support frame 2, and a guiding control device connected to the chassis assembly 1, the interaction device 3 and the temperature - measuring and imaging device 4. The guiding control device is provided with guiding routes from each path to each service point within the service area. The guiding control device can control the chassis assembly 1 to move to the target position according to the current position and the guiding route corresponding to the input target position.

[0058] In the above structure, the combined guiding and temperature - measuring robot includes a chassis assembly 1, a support frame 2, an interaction device 3, a temperature - measuring and imaging device 4 and a guiding control device.

[0059] The chassis assembly, as the basic support part of the robot, bears other important components of the robot and is the platform for the entire robot to move. It can move autonomously according to the preset guiding route, thus ensuring that the robot can move flexibly within the service area.

[0060] The support frame is installed on the chassis assembly 1, playing a role of connection and support, and firmly installing the interaction device 3 and the temperature - measuring and imaging device 4 above the chassis assembly 1 to ensure that these devices can work stably during the movement of the robot.

[0061] The interaction device is a component for the robot to communicate and interact with patients or other people. Through the interaction device 3, patients can input their target locations, such as departments, examination rooms, etc. they want to go to, and the robot will provide corresponding guiding services for patients accordingly, answer patients' questions, and provide an important interface for human-computer interaction. The interaction device can be a touch screen, a voice interaction module, an indicator light, etc., which can perform face recognition, touch screen operation, and emit prompt sounds to meet the needs of different patients and improve the user experience.

[0062] The temperature measurement and camera device has temperature measurement and camera functions. The temperature measurement function can detect the body temperature of people and generate a temperature measurement report, which can be used for preliminary screening of fever patients, etc. in medical scenarios; the camera function can be used to capture image information such as the surrounding environment and people's faces, assist the robot to better identify people and the environment, and provide visual support for services such as guiding.

[0063] The guiding control device is the core control unit of the robot, connected to the chassis assembly 1, the interaction device 3, and the temperature measurement and camera device 4. It has pre-stored the guiding routes from various paths to each service point within the service area, that is, it stores a detailed map of the entire service area. When a patient inputs the target location through the interaction device 3, the guiding control device can quickly plan a suitable route from the pre-stored guiding routes based on the current location and the input target location, and control the movement of the chassis assembly 1 accordingly to accurately guide the user to the target location.

[0064] The guiding and temperature measurement composite robot provided by the present invention fully integrates technologies such as mobile platforms, interaction, temperature measurement and camera, and intelligent control. It integrates the temperature measurement and guiding functions on the same robot, realizes providing efficient and accurate guiding services for people within the service area, and at the same time has functions such as temperature measurement, and can even issue a temperature measurement report immediately. It can be well applied to public places such as hospital outpatient halls, fever clinics, inpatient departments, etc. in hospitals, community health service centers, nursing homes, airports, and stations. This brings convenience to users, improves service efficiency and quality, reduces the waiting time of users, and enhances the medical experience; through non-contact temperature measurement, the risk of cross-infection can be effectively reduced, and the health and safety of users and staff can be guaranteed; in addition, it can also reduce the work pressure of staff, enabling them to devote more energy to their core jobs.

[0065] Based on the above various specific embodiments, when the temperature measurer is within the temperature measurement area, the temperature measurement and camera device 4 includes:

[0066] A temperature measurement camera for detecting temperature;

[0067] A range detection mechanism for detecting the angle of the best temperature measurement point between the temperature measurement camera and the temperature measurer;

[0068] An adjustment mechanism connected to a temperature measurement camera and a range detection mechanism, which is used to control the temperature measurement camera to adjust to a position directly facing the optimal temperature measurement point when the angle range between the optimal temperature measurement point and the temperature measurement camera is greater than a preset range.

[0069] In a specific embodiment, the temperature measurement camera device 4 includes a temperature measurement camera, a range detection mechanism, and an adjustment mechanism, and accurately measures the temperature of the person being measured within the temperature measurement area.

[0070] As the core component for temperature detection, the temperature measurement camera can detect the temperature of the person being measured within the temperature measurement area, quickly capture the infrared radiation emitted by the human body, and convert it into temperature data, realizing non-contact temperature measurement, avoiding the risk of cross-infection that may be brought by traditional contact temperature measurement methods, and having a fast temperature measurement speed and accurate temperature measurement.

[0071] The range detection mechanism is used to detect the angular relationship between the temperature measurement camera and the optimal temperature measurement point of the person being measured. The optimal temperature measurement point is usually a specific part of the person's face, such as the forehead or eyes, etc. The temperature of these parts can more accurately reflect the true body temperature of the human body. The range detection mechanism uses a series of sensors or algorithms to continuously monitor the angular deviation between the temperature measurement camera and the optimal temperature measurement point, ensuring that the temperature measurement camera can align with the key temperature area of the person being measured at the optimal angle, thereby improving the accuracy of temperature measurement.

[0072] The adjustment mechanism is connected to the temperature measurement camera and the range detection mechanism. When the range detection mechanism detects that the angle between the optimal temperature measurement point and the temperature measurement camera exceeds the preset reasonable range, the adjustment mechanism will be automatically activated to control the temperature measurement camera to adjust its angle so that it is directly facing the optimal temperature measurement point. This automatic adjustment function enables the temperature measurement camera device 4 to adapt to people being measured with different heights and postures, without the need for the person being measured to actively adjust their posture, improving the convenience and efficiency of temperature measurement.

[0073] In a specific implementation manner, when the person being measured enters the temperature measurement area, the temperature measurement camera is first activated to start detecting the temperature of the human body. At the same time, the range detection mechanism continuously monitors the angular relationship between the temperature measurement camera and the optimal temperature measurement point of the person being measured. If the range detection mechanism finds that the current angle exceeds the preset reasonable range, it will transmit this information to the adjustment mechanism. The adjustment mechanism automatically controls the temperature measurement camera to adjust its angle based on the received information until the temperature measurement camera is directly facing the optimal temperature measurement point, thereby ensuring that the temperature measurement camera can accurately measure the temperature of the person being measured at the optimal angle.

[0074] In this embodiment, through the collaborative work of the range detection mechanism and the adjustment mechanism, it is ensured that the temperature measurement camera always aligns with the best temperature measurement point of the person being measured at the best angle, effectively avoiding the temperature measurement error caused by angle deviation, and improving the accuracy and reliability of temperature measurement. It can adapt to people being measured with different heights and postures, and the person being measured does not need to actively adjust their posture. The temperature measurement process is more natural and convenient, reducing the discomfort and inconvenience of the person being measured, and improving the user experience.

[0075] Based on the above specific embodiments, the adjustment mechanism includes:

[0076] A height measurement unit for detecting the horizontal height difference between the best temperature measurement point of the person being measured and the temperature measurement camera;

[0077] A lifting mechanism connected to the height measurement unit and used to control the vertical telescopic movement of the temperature measurement camera to the same height as the best temperature measurement point when the horizontal height difference between the best temperature measurement point and the temperature measurement camera is greater than the preset height.

[0078] In a specific embodiment, the height measurement unit is used to detect the horizontal height difference between the best temperature measurement point of the person being measured and the temperature measurement camera.

[0079] The lifting mechanism is connected to the height measurement unit. When the height measurement unit detects that the horizontal height difference between the best temperature measurement point and the temperature measurement camera exceeds the preset height threshold, it controls the vertical telescopic movement of the temperature measurement camera to adjust it to the same height as the best temperature measurement point. Driving components such as the lifting mechanism can include mechanical components such as motors, lead screws, and guide rails. The motor drives the rotation of the lead screw, and through the cooperation of the lead screw and the guide rail, the stable lifting and lowering of the temperature measurement camera in the vertical direction are achieved.

[0080] In a specific implementation manner, after the person being measured enters the temperature measurement area, the height measurement unit starts to detect the horizontal height difference between the best temperature measurement point and the temperature measurement camera. If the height measurement unit detects that the height difference exceeds the preset height range, it will transmit this information to the lifting mechanism. The lifting mechanism receives the height difference data transmitted by the height measurement unit and compares it with the preset height range. If the height difference exceeds the preset range, the lifting mechanism is activated to drive the temperature measurement camera to rise or fall until it reaches the same height as the best temperature measurement point.

[0081] In this embodiment, through the adjustment of the lifting mechanism, it is ensured that the temperature measurement camera can be flush with the best temperature measurement point, thereby obtaining more accurate temperature measurement results; it can automatically adapt to the height of the best temperature measurement point of people being measured with different heights, and the person being measured does not need to actively adjust their posture, improving the convenience and efficiency of temperature measurement.

[0082] Based on the above specific embodiments, a vertical chute is provided inside the support frame 2, and the lifting mechanism includes:

[0083] A slide bar inserted into the vertical chute and connected to the temperature measurement camera at the upper end;

[0084] An elevating unit disposed at the bottom of the support frame 2 and connected to the lower end of the sliding rod, which is used to control the vertical movement of the sliding rod along the chute when the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera is greater than a preset height, so that the temperature measurement camera is flush with the optimal temperature measurement point.

[0085] In a specific embodiment, a vertical chute is provided inside the support frame 2, which provides a path and constraint for the vertical movement of the elevating mechanism to ensure that the sliding rod can move smoothly and accurately in the vertical direction. The vertical chute is installed at a specific position of the support frame 2, and its position and size are determined according to the installation requirements and temperature measurement range of the temperature measurement camera. Usually, it is located at the front or middle of the support frame 2 so that the temperature measurement camera can face the temperature measurement area.

[0086] The upper end of the sliding rod is connected to the temperature measurement camera, and can be connected by means of threaded connection, snap connection or flange connection, etc., to ensure a firm and reliable connection between the temperature measurement camera and the sliding rod. The sliding rod is inserted into the vertical chute and can slide vertically in the chute. Its surface is smooth and has a certain rigidity to reduce the sliding resistance and ensure the stability of the movement.

[0087] The elevating unit is disposed at the bottom of the support frame 2, usually installed near the bottom of the vertical chute. The elevating unit is connected to the lower end of the sliding rod, and can be connected by means of threaded connection, pin connection, etc., to ensure reliable and effective force transmission, so that the elevating unit can directly drive the vertical movement of the sliding rod. The elevating unit may be a motor-driven lead screw, a gear-rack drive or other drive methods. The motor is used as the power source. After receiving the control signal, it drives the lead screw or gear to rotate, and through the engagement of the lead screw with the nut on the sliding rod or the gear with the rack, the rotational movement is converted into the vertical linear movement of the sliding rod.

[0088] In a specific embodiment, after the temperature measurer enters the temperature measurement area, the height measurement unit detects the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera. When the height measurement unit detects that the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera exceeds the preset height, the height measurement unit transmits the information to the elevating unit. The elevating unit receives the control signal, starts and controls the sliding rod to move vertically along the vertical chute until the temperature measurement camera is adjusted to the height flush with the optimal temperature measurement point, and then the elevating unit stops working.

[0089] In this embodiment, through the cooperation of the vertical chute and the sliding rod, a stable vertical movement path is provided for the temperature measurement camera; the elevating unit adjusts the height of the temperature measurement camera in real time according to the feedback of the height measurement unit to ensure that it can always align with the optimal temperature measurement point of the temperature measurer at the optimal height, further improving the accuracy and reliability of the temperature measurement.

[0090] Based on the above various specific embodiments, the adjustment mechanism further includes:

[0091] An angle measuring unit for detecting the horizontal angle between the temperature measuring camera and the optimal temperature measuring point when the temperature measuring camera is at the same height as the optimal temperature measuring point;

[0092] A rotating mechanism connected to the angle measuring unit and used to control the rotation of the temperature measuring camera until it is directly facing the optimal temperature measuring point when the horizontal angle between the temperature measuring camera and the optimal temperature measuring point is greater than a preset angle.

[0093] In a specific embodiment, after the temperature measuring camera is vertically adjusted to the same height as the optimal temperature measuring point, the angle measuring unit is activated to detect the horizontal angle between the two. The angle measuring unit can use technologies such as optical sensors and angle encoders to measure the horizontal rotation angle of the temperature measuring camera.

[0094] The rotating mechanism is connected to the angle measuring unit. The rotating mechanism receives the angle deviation data transmitted by the angle measuring unit and compares it with the preset angle range. If the angle deviation exceeds the preset range, the rotating mechanism is activated to drive the rotation of the temperature measuring camera until the temperature measuring camera is directly facing the optimal temperature measuring point. The rotating mechanism usually consists of mechanical components such as motors, gear transmission devices, or rotating shafts. The motor drives the rotating shaft or gears, and through the transmission device, the horizontal rotation of the temperature measuring camera is achieved.

[0095] In a specific implementation manner, after the temperature measurer enters the temperature measuring area, the height measuring unit detects the horizontal height difference between the optimal temperature measuring point and the temperature measuring camera. If the height difference exceeds the preset value, the height measuring unit transmits the information to the lifting unit. The lifting unit is activated to drive the sliding rod to move along the vertical chute, causing the temperature measuring camera to rise and fall. Until the temperature measuring camera is at the same height as the optimal temperature measuring point, the lifting unit stops working. When the temperature measuring camera is at the same height as the optimal temperature measuring point, the angle measuring unit detects the horizontal angle between the two. If the horizontal angle exceeds the preset value, the angle measuring unit transmits the information to the rotating mechanism. The rotating mechanism is activated to control the horizontal rotation of the temperature measuring camera until it is directly facing the optimal temperature measuring point.

[0096] In this embodiment, through the coordinated adjustment of the lifting mechanism and the rotating mechanism, it is ensured that the temperature measuring camera can accurately align with the optimal temperature measuring point of the temperature measurer in three-dimensional space, effectively avoiding temperature measurement errors caused by position and angle deviations, and improving the accuracy and reliability of temperature measurement.

[0097] Based on the above various specific embodiments, the chassis assembly 1 moves linearly along the guiding route. The guiding control device includes:

[0098] A roadblock detection mechanism for detecting whether there is an overlapping area between the first edge of the chassis assembly 1 and the second edge of the front obstacle or between the second edge of the chassis assembly 1 and the first edge of the front obstacle;

[0099] An avoidance mechanism connected to the roadblock judgment mechanism and used to control the chassis assembly 1 to bypass the obstacle when the roadblock detection mechanism detects an overlapping area.

[0100] In a specific embodiment, the roadblock detection mechanism can adopt various sensor technologies, such as a laser scanner 121, an ultrasonic sensor, a camera 118, etc. By combining image processing and distance measurement algorithms, it can continuously monitor the relative position relationship between the edge of the robot chassis assembly 1 and the edge of an obstacle, and determine whether there is an overlapping area. Specifically, it can detect whether there is a horizontal overlapping area between the first edge of the chassis assembly 1 and the second edge of the obstacle in front, or between the second edge of the chassis assembly 1 and the first edge of the obstacle in front.

[0101] The avoidance mechanism is connected to the roadblock detection mechanism. When the roadblock detection mechanism detects an overlapping area, it controls the chassis assembly 1 to bypass the obstacle. The avoidance mechanism can dynamically adjust the avoidance path according to the real-time detection data, optimize the movement path of the robot, and improve the task execution efficiency.

[0102] In a specific implementation manner, during the movement of the robot along the guiding route, the roadblock detection mechanism continuously monitors the front environment, and continuously monitors the relative position relationship between the edge of the chassis assembly 1 and the edge of the obstacle in front, and determines whether there is an overlapping area. When the roadblock detection mechanism detects an overlapping area, the avoidance mechanism is activated to ensure that the robot can timely detect the obstacle and effectively avoid it, maintaining smooth movement.

[0103] Based on the above various specific embodiments, the avoidance mechanism includes:

[0104] A ranging unit for respectively calculating a first distance between the first edge of the chassis assembly 1 and the second edge of the obstacle in front or a second distance between the second edge of the chassis assembly 1 and the first edge of the obstacle in front;

[0105] A roadblock side determination unit connected to the ranging unit and used to determine that the side edge of the chassis assembly 1 corresponding to the smaller value of the first distance and the second distance is the roadblock side;

[0106] A distance acquisition unit connected to the ranging unit and used to determine that the smaller value of the first distance and the second distance is the roadblock overlapping distance;

[0107] A first avoidance unit connected to the roadblock side determination unit and the distance acquisition unit and used to control the chassis assembly 1 to move laterally in a direction away from the roadblock side by a distance exceeding the roadblock overlapping distance.

[0108] In a specific embodiment, during the movement of the robot, the ranging unit respectively calculates a first distance between the first edge of the chassis assembly 1 and the second edge of the obstacle in front, and a second distance between the second edge of the chassis assembly 1 and the first edge of the obstacle in front.

[0109] The roadblock side determination unit receives the first distance and the second distance data transmitted by the distance measurement unit, and determines which side of the robot chassis assembly 1 is closer to the obstacle by comparing the magnitudes of the two distances, that is, determines the roadblock side.

[0110] The distance acquisition unit receives the distance data transmitted by the distance measurement unit, and finds the smaller distance value as the roadblock coincidence distance, which represents the minimum distance between the roadblock side of the robot chassis and the obstacle.

[0111] The first avoidance unit receives the roadblock side information determined by the roadblock side determination unit and the roadblock coincidence distance determined by the distance acquisition unit, and controls the chassis assembly 1 to move laterally in the direction away from the roadblock side, and the moving distance is slightly greater than the roadblock coincidence distance to ensure that the robot can completely avoid the obstacle.

[0112] In this embodiment, through precise measurement and determination, the minimum distance between the robot and the obstacle and the roadblock side can be effectively identified, and the chassis assembly 1 is controlled to move laterally beyond the roadblock coincidence distance to ensure that there is a sufficient safety distance between the robot and the obstacle and reduce the collision risk.

[0113] On the basis of the above various specific embodiments, the avoidance mechanism further includes:

[0114] A length measurement unit for measuring the length distance between the chassis assembly 1 and the front obstacle along the forward direction;

[0115] An angle calculation unit connected to the length measurement unit and the distance acquisition unit, and used to calculate the angle between the hypotenuse and the central axis of the chassis assembly 1 with the length distance and the roadblock coincidence distance as the right-angled sides;

[0116] A second avoidance unit connected to the angle calculation unit and the roadblock side, and used to control the chassis assembly 1 to tilt and move towards the roadblock side at the angle calculated by the angle calculation unit.

[0117] In a specific embodiment, during the movement of the robot, the length measurement unit continuously monitors the length distance between the chassis assembly 1 and the front obstacle, especially when encountering an obstacle, providing data support for subsequent angle calculation. It should be noted that in this application, distance measurement components such as the height measurement unit, the distance measurement unit, and the length measurement unit can use non-contact distance measurement technologies such as laser ranging, ultrasonic ranging, or infrared ranging, and these technologies can quickly and accurately measure the distance between two objects.

[0118] The angle calculation unit receives the length distance data transmitted by the length measurement unit and the roadblock coincidence distance data transmitted by the distance acquisition unit, and calculates the angle between the hypotenuse and the central axis of the chassis assembly 1 through the Pythagorean theorem or trigonometric functions.

[0119] The second avoidance unit receives the angle data from the angle calculation unit and the obstacle side information determined by the obstacle side judgment unit, and controls the chassis assembly 1 to tilt toward the obstacle side. The moving angle is the angle calculated by the angle calculation unit, ensuring that the robot can safely avoid obstacles.

[0120] In this embodiment, through precise measurement and calculation, the distance and angle relationship between the robot and the obstacle can be effectively identified, and the chassis assembly 1 can be controlled to tilt and move, thereby ensuring that there is a sufficient safety distance between the robot and the obstacle and reducing the risk of collision.

[0121] Based on the above-mentioned specific embodiments, the roadblock detection mechanism includes a camera 118, a laser scanner 121 and a pressure sensor arranged on the same side of the chassis assembly 1, the camera 118, the laser scanner 121 and the pressure sensor are respectively arranged on the upper, middle and lower side walls of the chassis assembly 1, the pressure sensor is built into the anti-collision strip, and the roadblock detection mechanism and the charging assembly are respectively located at the front and rear ends of the chassis assembly 1.

[0122] In a specific embodiment, the roadblock detection mechanism includes a camera 118, a laser scanner 121 and a pressure sensor, which are respectively installed on the upper, middle and lower side walls of the chassis assembly 1 to form an all-round obstacle detection system.

[0123] The camera 118 is used to capture visual information in front of the robot and identify the shape, size and position of obstacles. The camera 118 can provide high-resolution image data to help the robot perform visual analysis and path planning. Usually, a high-definition camera is used, combined with an image recognition algorithm, which can identify and track obstacles in real time and provide a visual basis for obstacle avoidance decisions.

[0124] The laser scanner 121 is used to measure the distance between the robot and the obstacle and provide accurate distance measurement data. The laser scanner 121 can quickly scan the environment ahead and generate a profile of the obstacle to help the robot determine the position and shape of the obstacle. The laser scanner 121 calculates the distance by emitting a laser beam and measuring the flight time of the reflected light, and has the characteristics of high precision, high resolution and fast response.

[0125] The pressure sensor is used to detect the pressure change when the robot contacts the obstacle and provide feedback information of physical contact. When the robot collides slightly with the obstacle, the pressure sensor can detect the pressure change in time and convert the pressure signal into an electrical signal, which is transmitted to the control unit to realize real-time monitoring of the collision. The pressure sensor is built into the anti-collision bar, which has a buffering and protective effect on the pressure sensor.

[0126] In this embodiment, the roadblock detection mechanism realizes the omnidirectional detection of obstacles, and can effectively identify obstacles at different heights and positions. It can judge the position and distance of obstacles in real time, and combine the physical contact feedback of the pressure sensor to control the robot to perform obstacle avoidance actions through the avoidance mechanism, ensuring that the robot safely avoids obstacles.

[0127] On the basis of the above various specific embodiments, anti-tilt directional wheels 125 are provided at both the front end and the rear end of the central axis of the chassis assembly 1.

[0128] During the movement of the robot, the anti-tilt directional wheels 125 always keep in contact with the ground and provide stable supporting force. When the robot brakes or starts, the anti-tilt directional wheels 125 can effectively prevent the robot from tilting forward and backward, especially when passing through elevator gaps or uneven ground, playing an auxiliary stabilizing role.

[0129] On the basis of the above various specific embodiments, the battery assembly is installed at the central position of the chassis assembly 1. The battery assembly includes a bottom plate and a battery body fixed on the bottom plate. A slider is provided on the bottom surface of the bottom plate, and a transverse track is provided on the surface of the chassis assembly 1. The slider is connected in the transverse track and can slide along the transverse track to adjust the left-right balance of the chassis assembly 1.

[0130] In a specific implementation manner, the battery assembly is installed at the central position of the chassis assembly 1 to maintain the center of gravity balance of the robot and improve its stability during movement. The battery body is fixed on the bottom plate, and the battery body provides power support for the robot. The bottom plate is the support structure of the battery assembly, fixed on the chassis assembly 1, providing a stable installation foundation.

[0131] A slider is provided on the bottom surface of the bottom plate, and a transverse track is provided on the surface of the chassis assembly 1. The slider is connected in the transverse track and can slide along the transverse track, thereby realizing that the battery assembly can slide left and right on the chassis assembly 1.

[0132] According to the actual use situation of the robot, such as load distribution or terrain conditions, the operator or the automatic control system can adjust the position of the battery assembly. By sliding the slider in the transverse track, the battery assembly can move left and right on the chassis assembly 1, thereby adjusting the center of gravity position of the robot and ensuring the left-right balance of the robot under different conditions, which can effectively improve the stability and adaptability of the robot.

[0133] In a specific embodiment, the guide and temperature measurement composite robot includes: a chassis assembly 1; a support frame 2; an interaction device 3, a temperature measurement and imaging device 4, as Figure 1 shown, ensuring the stable operation, efficient interaction and accurate temperature measurement of the robot in a complex environment.

[0134] The chassis assembly 1 provides strong power and support, including the following structures:

[0135] The drive wheel 11 is fixed to the suspension assembly 14 by bolts. It integrates a motor and a wheel, providing traction for the robot and serving as the power source for the robot to move.

[0136] The fender 12 is fixed to the chassis 124 by bolts, blocking dust for the drive wheel 11 and the drive wheel shaft to prevent dust from entering and affecting the normal operation of the drive wheel 11.

[0137] The terminal block 13 facilitates the wiring harness assembly and signal jump connection.

[0138] The suspension assembly 14 is used to fix the drive wheel 11. The shock-absorbing spring in the middle can filter vibrations, enabling the robot to operate smoothly and improving the stability when passing obstacles.

[0139] The caster wheel 15 is connected to the drive wheel through the suspension assembly 14 to form a hinge mechanism, providing support for the robot. It can flexibly change according to the movement of the robot, improving the movement stability.

[0140] The component fixing plate 16 is fixed to the chassis 124 by bolts and is used to install the power supply 17 and the wireless client 18. There are long holes on both sides in the middle, facilitating wire routing; there is a margin on both sides at the upper part, which can be used for fixing secondary development components.

[0141] The power supply 17 provides power for low-voltage electrical components.

[0142] The wireless client 18 outputs wireless signals and connects to an external network.

[0143] The charging assembly fixing plate and the protection plate 19 provide a fixing function for the charging assembly 110. The rear protection plate protects the I / O line of the charging port and has process holes, allowing other components on the chassis 124 to be installed without disassembling the charging assembly fixing plate and the protection plate 19.

[0144] The charging assembly 110 is fixed to the charging assembly fixing plate and the protection plate 19, providing a charging function for the robot.

[0145] The secondary component fixing plate 111 is fixed to the main vertical support 114 and the secondary vertical support 116. Specifically, there are welding studs on the main vertical support 114 and the secondary vertical support 116. The secondary component fixing plate 111 can be directly placed on the corresponding welding studs and then bolted and locked, which is convenient for installation and fixation. Especially when replacing the battery below, it can be directly lifted, improving the assembly efficiency.

[0146] The core controller 112 provides control functions for the robot. It is located at the rear of the robot, and the outer cover 126 can be directly removed for wiring debugging, facilitating the work of debuggers.

[0147] The switch 113 is used for network connection. It is installed on the connection piece, and the connection piece is fixed to the main vertical support 114 by bolts. The installation position is relatively outside the robot, facilitating wiring and debugging.

[0148] The main vertical support 114 is used to support the components above the chassis. The lower end is connected to the chassis 124 by bolts. It has a large cross-sectional size and is located in the middle, capable of stabilizing the center of gravity and supporting the main load.

[0149] The driver 115 is used to drive the drive wheel 11 and control the rotation of the drive wheel 11, thereby realizing actions such as the forward and backward movement of the robot.

[0150] The auxiliary vertical support 116 is used to support the components above the chassis 124. The lower end is connected to the chassis 124 by bolts. It has a relatively small cross-sectional size, is used to support the front-side components and fix the wire trough, and the foremost auxiliary vertical support 116 is used to fix the laser fixing plate 117.

[0151] The laser fixing plate 117 has the laser scanner 121 fixed below it and is installed in a hanging manner. The laser fixing plate 117 can be formed by bending sheet metal and welding reinforcing ribs, having a certain rigidity. There are hole positions left at the rear and it is installed on the auxiliary vertical support 116; the camera 118 is installed above it. The laser fixing plate 117 can be formed by welding 3mm-thick 6-series aluminum plates, with stable load-bearing and high levelness, and a groove is opened at the rear to leave space for the camera 118 to route the wire; the antenna module 120 is installed on the left side without occupying the space of the chassis 124.

[0152] The camera 118 is used to identify images and input real-time image information.

[0153] The camera fixing plate 119 is used to fix the camera 118, and the lower end is connected to the laser fixing plate 117 by bolts.

[0154] The antenna module 120 is used to receive and transmit signals. The antenna is fixed on the antenna bracket, and the whole is fixed on the laser fixing plate 117.

[0155] The laser scanner 121 is used to scan the objects around the operating environment of the robot.

[0156] The battery assembly 122 provides energy for the robot and is installed at the central position of the chassis 124, playing a role in stabilizing the center of gravity. The battery assembly 122 includes a battery body 130, a large protection board 131, and a small protection board 129. The large protection board 131 provides overall protection and is connected to the auxiliary vertical support 116 by bolts at the front. The small protection board 129 is connected in parallel with the large protection board 131 and fixed by bolts, and the lower end is fixedly connected to the chassis 124 by bolts.

[0157] The universal wheel cover 123 installs the universal wheel 15, playing a role in fixing and protecting the universal wheel 15, and a shock-absorbing spring is installed below to play a shock-absorbing role.

[0158] The chassis 124 is used to assemble various components. The mounting holes for installing the charging assembly fixing plate and the protection plate 19 at the front and rear are common and can be installed according to the on-site usage requirements. The charging port can be installed at the front or rear.

[0159] The anti-tilt directional wheels 125 are distributed at the front and rear ends of the central axis of the chassis 124 to prevent the robot from tilting forward and backward when braking or starting; when passing through the elevator gap, they play a role in assisting in passing through the gap.

[0160] The outer cover 126 is installed by splicing and merging at the front and rear, which is convenient for maintenance, installation, disassembly, and does not require disassembling the upper outer cover, providing a more convenient and rapid installation and disassembly method.

[0161] The drive wheel protection plate 127 prevents obstacles below from hitting the drive wheel main shaft and the suspension assembly 14, and process holes are opened to facilitate the assembly or disassembly of other components on the chassis 124.

[0162] The anti-tilt directional wheel fixing plate 128 is used to fix the rear anti-tilt directional wheel 125 and is bolted to the chassis 124.

[0163] The overall chassis assembly 1 is reasonably designed, and the components cooperate with each other to jointly provide functions such as stable and reliable support, power, control, and protection for the guide and temperature measurement composite robot, ensuring that the robot can operate smoothly and efficiently in a complex service area and complete tasks such as guiding and temperature measurement.

[0164] The support frame 2 includes the following structures:

[0165] The secondary platform fixing plate 21 is used to fix the support frame 2 and the outer cover 126, and is bolted and fixed to the main vertical strut 114 and the secondary vertical strut 116 below.

[0166] The frame body 22 is welded by square steel pipes and has a certain strength. Its main function is to support the robot body.

[0167] The front cover 23 mainly serves for decoration.

[0168] The screen mounting plate 24 mounts the screen and is bolted to the frame body 22 at the rear.

[0169] The interaction device 3 is a common interaction component on the market and can be a functional screen integrating a human-machine interaction interface, capable of performing face recognition, touch screen operation, and emitting prompt sounds.

[0170] The temperature measurement and camera device 4 is a common interaction component on the market and includes the following structures:

[0171] The head base 41 fixes the temperature measurement camera 45 and is bolted to the front cover 23.

[0172] The ear cover 42 serves a decorative purpose.

[0173] The front cover 43 protects the temperature measurement camera 45.

[0174] The temperature measurement camera 45 is used for temperature measurement and is fixed on the head base 41.

[0175] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0176] The above has introduced the diagnosis and temperature measurement composite robot provided by the present invention in detail. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather should conform to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A guiding diagnosis and temperature measurement composite robot, characterized in that, It includes a chassis assembly (1), an interaction device (3) and a temperature-measuring camera device (4) mounted on the chassis assembly (1) through a support frame (2), and a guiding diagnosis control device connected to the chassis assembly (1), the interaction device (3) and the temperature-measuring camera device (4). A guiding diagnosis route from each path to each service point within the service area is provided in the guiding diagnosis control device, and the guiding diagnosis control device can control the chassis assembly (1) to move to the target position according to the current position and the guiding diagnosis route corresponding to the input target position.

2. The guided diagnosis and temperature measurement composite robot according to claim 1, wherein, When the temperature measurer is within the temperature-measuring area, the temperature-measuring camera device (4) includes: A temperature-measuring camera for detecting temperature; A range detection mechanism for detecting the angle range between the temperature-measuring camera and the optimal temperature-measuring point of the temperature measurer; An adjustment mechanism connected to the temperature-measuring camera and the range detection mechanism, and used to control the temperature-measuring camera to adjust to a position directly facing the optimal temperature-measuring point when the angle range between the optimal temperature-measuring point and the temperature-measuring camera is greater than a preset range.

3. The guided diagnosis and temperature measurement composite robot according to claim 2, wherein The adjustment mechanism includes: An altitude measurement unit for detecting the horizontal altitude difference between the optimal temperature-measuring point of the temperature measurer and the temperature-measuring camera; A lifting mechanism connected to the altitude measurement unit and used to control the temperature-measuring camera to vertically extend or retract to the same height as the optimal temperature-measuring point when the horizontal altitude difference between the optimal temperature-measuring point and the temperature-measuring camera is greater than a preset height.

4. The guiding and temperature-measuring composite robot according to claim 3, wherein A vertical sliding groove is provided in the support frame (2), and the lifting mechanism includes: A sliding rod inserted into the vertical sliding groove and connected to the upper end of the temperature-measuring camera; A lifting unit provided at the bottom of the support frame (2) and connected to the lower end of the sliding rod, and used to control the sliding rod to vertically move along the sliding groove to make the temperature-measuring camera level with the optimal temperature-measuring point when the horizontal altitude difference from the optimal temperature-measuring point to the temperature-measuring camera is greater than a preset height.

5. The guiding diagnosis and temperature measurement composite robot according to claim 3, wherein, The adjustment mechanism further includes: An angle measurement unit for detecting the horizontal included angle between the temperature-measuring camera and the optimal temperature-measuring point when the temperature-measuring camera is at the same height as the optimal temperature-measuring point; A rotation mechanism connected to the angle measurement unit and used to control the temperature-measuring camera to rotate to directly face the optimal temperature-measuring point when the horizontal included angle between the temperature-measuring camera and the optimal temperature-measuring point is greater than a preset angle.

6. The compound robot for guiding diagnosis and temperature measurement according to claim 1, wherein The chassis assembly (1) moves linearly along the guiding diagnosis route, and the guiding diagnosis control device includes: A roadblock detection mechanism for detecting whether there is an overlapping area between the first edge of the chassis assembly (1) and the second edge of the front obstacle or between the second edge of the chassis assembly (1) and the first edge of the front obstacle; An avoidance mechanism connected to the roadblock judgment mechanism and used to control the chassis assembly to bypass the obstacle when the roadblock detection mechanism detects an overlapping area.

7. The guiding and temperature-measuring composite robot according to claim 6, characterized in that, The avoidance mechanism includes: A distance measurement unit for respectively calculating a first distance between the first edge of the chassis assembly (1) and the second edge of the front obstacle or a second distance between the second edge of the chassis assembly (1) and the first edge of the front obstacle; A roadblock side judgment unit connected to the distance measuring unit and used to determine that the side edge of the chassis assembly (1) corresponding to the smaller value of the first distance and the second distance is the roadblock side; a distance acquisition unit connected to the distance measuring unit and used to determine that the smaller value of the first distance and the second distance is the roadblock overlap distance; The first avoidance unit is connected to the roadblock side judgment unit and the distance acquisition unit, and is used to control the chassis assembly (1) to move laterally in a direction away from the roadblock side by a distance exceeding the roadblock overlap distance.

8. The guided diagnosis and temperature measurement composite robot according to claim 7, wherein, The avoidance mechanism also includes: A length measuring unit for measuring the distance between the chassis assembly (1) and a front obstacle along the forward direction; An angle calculation unit connected to the length measurement unit and the distance acquisition unit, used to calculate the angle between the hypotenuse and the central axis of the chassis assembly (1) by taking the length distance and the overlap distance of the roadblock as right-angled sides; A second avoidance unit connected to the angle calculation unit and the roadblock side, and used to control the chassis assembly (1) to move obliquely toward the roadblock side at the angle calculated by the angle calculation unit.

9. The guided diagnosis and temperature measurement composite robot according to claim 1, characterized in that, The roadblock detection mechanism comprises a camera (118), a laser scanner (121) and a pressure sensor which are arranged on the same side of the chassis assembly (1); the camera (118), the laser scanner (121) and the pressure sensor are respectively arranged on the upper, middle and lower side walls of the chassis assembly (1); the pressure sensor is built into the anti-collision strip; the roadblock detection mechanism and the charging assembly (110) are respectively located at the front end and the rear end of the chassis assembly (1).

10. The guiding and temperature-measuring composite robot according to claim 9, characterized in that, The front and rear ends of the central axis of the chassis assembly (1) are both provided with anti-tilt directional wheels (125). A battery assembly (122) is mounted at a central position of the chassis assembly (1), the battery assembly (122) comprising a bottom plate and a battery body (130) fixed to the bottom plate, a slider is provided on the bottom surface of the bottom plate, a transverse track is provided on the surface of the chassis assembly (1), the slider is connected to the transverse track and can slide along the transverse track to adjust the left-right balance of the chassis assembly (1).

Images