Hospital guidance and temperature measurement composite robot

Abstract

The utility model 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] This utility model relates to the field of medical device technology, and in particular to a triage and temperature measurement composite robot. Background Technology

[0002] In today's healthcare field, hospitals are rapidly moving towards a new stage of development characterized by unmanned, intelligent, and automated operations. The gradual replacement of manual labor by intelligent equipment has become an inevitable trend in hospital development. However, many aspects of current hospital operations still require optimization.

[0003] Currently, most of the patient guidance work in hospitals relies on nurses. Nurses must patiently and meticulously explain the destination department to patients, a process that not only consumes a lot of manpower but also increases the risk of cross-infection if some patients have infectious diseases. Meanwhile, in fever clinics, temperature checks for feverish patients are mostly done by medical staff using temperature measuring instruments. This method cannot completely achieve contactless temperature measurement, further exacerbating the risk of infection.

[0004] Therefore, how to design a robot that integrates temperature measurement and patient guidance functions, so that it can perform temperature measurement while providing patient guidance services, is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide a triage and temperature measurement composite robot that integrates temperature measurement and triage functions, which can improve hospital service efficiency, reduce the risk of cross-infection, and reduce the pressure on staff.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] A triage and temperature measurement composite robot includes a chassis assembly, an interactive device and a temperature measurement camera mounted on the chassis assembly via a support frame, and a triage control device connected to the chassis assembly, the interactive device and the temperature measurement camera. The triage control device has triage routes within the service area from various paths to various service points. The triage control device can control the chassis assembly to move to the target location based on the current location and the triage route corresponding to the input target location.

[0008] Optionally, the person having their temperature checked is located within the temperature measurement area, and the temperature measurement camera device includes:

[0009] A temperature-measuring camera used to detect temperature;

[0010] A range detection mechanism for detecting the optimal temperature measurement point angle between the temperature measuring camera and the person being measured;

[0011] An adjustment mechanism connected to the temperature measuring camera and the range detection mechanism, used to control the temperature measuring camera to adjust to a position directly opposite 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.

[0012] Optionally, the adjustment mechanism includes:

[0013] A height measurement unit used to detect the difference in horizontal height between the optimal temperature measurement point of the person being measured and the temperature measurement camera;

[0014] A lifting mechanism connected to the height measuring unit, used to control the vertical extension and retraction of the temperature measuring camera to the same height as the optimal temperature measuring point when the horizontal height difference between the optimal temperature measuring point and the temperature measuring camera is greater than a preset height.

[0015] Optionally, the support frame is provided with a vertical sliding groove, and the lifting mechanism includes:

[0016] A sliding rod inserted into the vertical groove and whose upper end is connected to the temperature measuring camera;

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

[0018] Optionally, the adjustment mechanism further includes:

[0019] An angle measuring unit is used to detect 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.

[0020] A rotating mechanism connected to the angle measuring unit, used to control the temperature measuring camera to rotate directly to face 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.

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

[0022] A road obstacle 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 in front, or between the second edge of the chassis assembly and the first edge of the obstacle in front;

[0023] A mechanism connected to the obstacle detection mechanism, used to control the chassis assembly to avoid the obstacle when the obstacle detection mechanism detects an overlapping area.

[0024] Optionally, the obstacle avoidance mechanism includes:

[0025] The ranging unit is used to calculate either a first distance between the first edge of the chassis assembly and the second edge of the obstacle in front, or a second distance between the second edge of the chassis assembly and the first edge of the obstacle in front.

[0026] The obstacle-side determination unit is connected to the ranging unit and is used to determine the side edge of the chassis assembly corresponding to the smaller of the first distance and the second distance values ​​as the obstacle side.

[0027] A distance acquisition unit, connected to the ranging unit, is used to determine the smaller of the first distance and the second distance as the obstacle overlap distance;

[0028] The first obstacle avoidance unit is connected to the obstacle side judgment unit and the distance acquisition unit, and is used to control the chassis assembly to move laterally in a direction away from the obstacle side by a distance exceeding the overlap distance of the obstacle.

[0029] Optionally, the obstacle avoidance mechanism further includes:

[0030] A length measuring unit used to measure the distance between the chassis assembly and an obstacle in front along the forward direction;

[0031] 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 centerline of the chassis assembly, with the length distance and the road obstacle overlap distance as the right angle sides;

[0032] A second obstacle avoidance unit connected to the angle calculation unit and the obstacle side, used to control the chassis assembly to tilt and move toward the obstacle side at the angle calculated by the angle calculation unit.

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

[0034] Optionally, the chassis assembly is equipped with anti-tilt directional wheels at both the front and rear ends of its central axis.

[0035] The battery assembly is installed in the center of the chassis assembly. The battery assembly includes a base plate and a battery body fixed to the base plate. The bottom surface of the base plate is provided with a slider. The surface of the chassis assembly is provided with a transverse track. The slider is connected to the transverse track and can slide along the transverse track to adjust the left and right balance of the chassis assembly.

[0036] The beneficial effects of this utility model are that the triage and temperature measurement composite robot provided by this utility model includes a chassis assembly, a support frame, an interactive device, a temperature measurement camera device, and a triage control device.

[0037] The chassis assembly, as the basic support of the robot, supports all other important components of the robot and serves as the platform for the robot's movement. It can move autonomously according to the preset guidance route, thereby ensuring that the robot can move flexibly within the service area.

[0038] The support frame is mounted on the chassis assembly, serving as a connection and support, and securely mounting the interactive device and temperature measurement camera above the chassis assembly, ensuring that these devices can maintain stable operation during robot movement.

[0039] Interactive devices are components that enable robots to exchange information and interact with patients or other people. Through these devices, patients can input their target location, and the robot can then provide corresponding guidance services and answer patients' questions, providing an important interface for human-computer interaction.

[0040] The temperature measurement and imaging device has both temperature measurement and imaging functions. The temperature measurement function can detect the body temperature of people and generate a temperature report, which can be used for preliminary screening of patients with fever in medical settings. The imaging function can be used to capture images of the surrounding environment and people's faces, helping robots to better identify people and the environment, and providing visual support for services such as patient guidance.

[0041] The patient guidance control device is the core control unit of the robot, connected to the chassis assembly, interactive device, and temperature measurement camera. It pre-stores patient guidance routes from various paths to service points within the service area, essentially containing a detailed map of the entire service area. When a patient inputs their target location via the interactive device, the patient guidance control device can quickly plan a suitable route from the pre-stored routes based on the current location and the input target location, and accordingly control the chassis assembly to move, accurately guiding the user to the target location.

[0042] This utility model provides a combined patient guidance and temperature measurement robot that fully integrates mobile platform, interaction, temperature measurement camera, and intelligent control technologies. It integrates temperature measurement and patient guidance functions into a single robot, enabling efficient and accurate patient guidance services within the service area. It also features temperature measurement capabilities and can even generate instant temperature reports. This provides convenience to users, improves service efficiency and quality, reduces waiting time, and enhances the medical experience. Through contactless temperature measurement, it effectively reduces the risk of cross-infection, ensuring the health and safety of users and staff. Furthermore, it reduces the workload of staff, allowing them to focus more on their core duties. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic diagram of the structure of the triage and temperature measurement composite robot provided in a specific embodiment of this utility model;

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

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

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

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

[0049] Figure 6 A schematic diagram of the supporting framework;

[0050] Figure 7 This is a schematic diagram of an interactive device;

[0051] Figure 8 This is a schematic diagram of a temperature measuring camera device.

[0052] Figure label:

[0053] 1-Chassis assembly; 2-Support frame; 3-Interactive device; 4-Temperature measuring camera device; 11-Drive wheel; 12-Fender; 13-Terminal block; 14-Suspension assembly; 15-Universal wheel; 16-Component mounting plate; 17-Power supply; 18-Wireless client; 19-Charging assembly mounting plate and protection plate; 110-Charging assembly; 111-Secondary component mounting plate; 112-Core controller; 113-Switch; 114-Main vertical brace; 115-Driver; 116-Secondary vertical brace; 117-Laser mounting plate; 118-Camera; 119 - Camera mounting 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 Drive wheel protection plate; 128 Anti-tilt directional wheel mounting plate; 129 Small protection plate; 130 Battery body; 131 Large protection plate; 21 Secondary platform mounting plate; 22 Frame body; 23 Front cover; 24 Screen mounting plate; 41 Head base; 42 Ear cover; 43 Front cover; 45 Temperature measuring camera. Detailed Implementation

[0054] The core of this utility model is to provide a triage and temperature measurement composite robot. This triage and temperature measurement composite robot integrates functions such as temperature measurement and triage, which can improve hospital service efficiency, reduce the risk of cross-infection, and reduce the pressure on staff.

[0055] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0056] Please refer to Figures 1 to 8 This is a schematic diagram of the overall structure of the triage and temperature measurement composite robot and a schematic diagram of the structure of each component provided in a specific embodiment of this utility model.

[0057] In one specific embodiment, the triage and temperature measurement composite robot provided by this utility model includes a chassis assembly 1, an interactive device 3 and a temperature measurement camera 4 mounted on the chassis assembly 1 via a support frame 2, and a triage control device connected to the chassis assembly 1, the interactive device 3 and the temperature measurement camera 4. The triage control device has triage routes from various paths to various service points within the service area. The triage control device can control the chassis assembly 1 to move to the target position according to the current position and the triage route corresponding to the input target position.

[0058] In the above structure, the triage and temperature measurement composite robot includes a chassis assembly 1, a support frame 2, an interaction device 3, a temperature measurement camera device 4, and a triage control device.

[0059] The chassis assembly, as the basic support of the robot, supports all other important components of the robot and serves as the platform for the robot's movement. It can move autonomously according to the preset guidance route, thereby ensuring that the robot can move flexibly within the service area.

[0060] The support frame is mounted on the chassis assembly 1, serving as a connection and support, and securely mounting the interactive device 3 and the temperature measuring camera device 4 above the chassis assembly 1, ensuring that these devices can maintain stable operation during robot movement.

[0061] Interactive devices are components that allow robots to exchange information and interact with patients or other personnel. Through interactive device 3, patients can input their target location, such as the department or examination room they wish to visit. The robot then provides corresponding guidance services and answers patients' questions, providing an important interface for human-computer interaction. Interactive devices can be touchscreens, voice interaction modules, and indicator lights, capable of facial recognition, touchscreen operation, and audible prompts to meet the needs of different patients and enhance the user experience.

[0062] The temperature measurement and imaging device has both temperature measurement and imaging functions. The temperature measurement function can detect the body temperature of people and generate a temperature report, which can be used for preliminary screening of patients with fever in medical settings. The imaging function can be used to capture images of the surrounding environment and people's faces, helping robots to better identify people and the environment, and providing visual support for services such as patient guidance.

[0063] The patient guidance control device is the core control unit of the robot, connected to the chassis assembly 1, the interaction device 3, and the temperature measuring camera device 4. It pre-stores patient guidance routes from various paths to service points within the service area, essentially storing a detailed map of the entire service area. When a patient inputs their target location via the interaction device 3, the patient guidance control device can quickly plan a suitable route from the pre-stored routes based on the current location and the input target location, and accordingly control the chassis assembly 1 to move, accurately guiding the user to the target location.

[0064] This utility model provides a combined patient guidance and temperature measurement robot that fully integrates mobile platform, interaction, temperature measurement camera, and intelligent control technologies. It integrates temperature measurement and patient guidance functions into a single robot, enabling efficient and accurate patient guidance services within the service area. It also features temperature measurement capabilities and can even generate instant temperature reports. This robot is well-suited for use in public places such as hospital lobbies, fever clinics, inpatient wards, community health service centers, nursing homes, airports, and train stations. This provides convenience to users, improves service efficiency and quality, reduces waiting time, and enhances the medical experience. Through contactless temperature measurement, it effectively reduces the risk of cross-infection, ensuring the health and safety of users and staff. Furthermore, it reduces the workload of staff, allowing them to focus more on their core duties.

[0065] Based on the above specific embodiments, the person being measured is located within the temperature measurement area, and the temperature measurement camera device 4 includes:

[0066] A temperature-measuring camera used to detect temperature;

[0067] A range detection mechanism for determining the optimal temperature measurement angle between a temperature-measuring camera and the person being measured.

[0068] An adjustment mechanism connected to a temperature measuring camera and a range detection mechanism, used to control the temperature measuring camera to adjust to a position directly opposite 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.

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

[0070] As a core component of temperature detection, the temperature-measuring camera can detect the temperature of people in the temperature measurement area, quickly capture the infrared radiation emitted by the human body, and convert it into temperature data to achieve non-contact temperature measurement. This avoids the risk of cross-infection that may be caused by traditional contact temperature measurement methods, and the temperature measurement speed is fast and accurate.

[0071] Range detection mechanisms are used to detect the angular relationship between the temperature-measuring camera and the optimal temperature-measuring point on the subject. The optimal temperature-measuring point is typically a specific area of ​​the subject's face, such as the forehead or eyes, as the temperature from these areas more accurately reflects the true body temperature. Range detection mechanisms use a series of sensors and algorithms to monitor the angular deviation between the temperature-measuring camera and the optimal temperature-measuring point in real time, ensuring that the camera is aimed at the key areas of the subject's body at the best angle, thereby improving the accuracy of temperature measurement.

[0072] The adjustment mechanism is connected to the temperature measuring camera and the range detection mechanism. When the range detection mechanism detects that the angle between the optimal temperature measuring point and the temperature measuring camera exceeds the preset reasonable range, the adjustment mechanism will automatically start, controlling the temperature measuring camera to adjust its angle so that it is directly facing the optimal temperature measuring point. This automatic adjustment function allows the temperature measuring camera device 4 to adapt to people of different heights and postures, without requiring the person to actively adjust their posture, thus improving the convenience and efficiency of temperature measurement.

[0073] In one specific implementation, when a person enters the temperature measurement area, the temperature-measuring camera is activated first to begin detecting the person's temperature. Simultaneously, a range detection mechanism monitors the angular relationship between the temperature-measuring camera and the optimal measurement point on the person in real time. If the range detection mechanism detects that the current angle exceeds a preset reasonable range, it transmits this information to an adjustment mechanism. Based on the received information, the adjustment mechanism automatically controls the temperature-measuring camera to adjust its angle until the camera is directly aligned with the optimal measurement point, thereby ensuring that the temperature-measuring camera can accurately measure the person's temperature at the optimal angle.

[0074] In this embodiment, the coordinated operation of the range detection mechanism and the adjustment mechanism ensures that the temperature measuring camera is always aligned with the optimal temperature measurement point of the person being measured at the best angle. This effectively avoids measurement errors caused by angle deviations, improving the accuracy and reliability of temperature measurement. It adapts to people of different heights and postures, and the person being measured does not need to actively adjust their posture, making the temperature measurement process more natural and convenient, reducing discomfort and inconvenience for 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 used to detect the difference in horizontal height between the optimal temperature measurement point of the person being measured and the temperature measurement camera;

[0077] A lifting mechanism connected to the height measurement unit, used to control the vertical extension and retraction of the temperature measurement camera to be at the same height as the optimal temperature measurement point when the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera is greater than the preset height.

[0078] In one specific embodiment, the height measurement unit is used to detect the horizontal height difference between the optimal 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 optimal temperature measurement point and the temperature measurement camera exceeds a preset height threshold, it controls the temperature measurement camera to extend and retract vertically, adjusting it to the same height as the optimal temperature measurement point. The lifting mechanism and other driving components may include mechanical parts such as motors, lead screws, and guide rails. The motor drives the lead screw to rotate, and through the cooperation of the lead screw and the guide rail, the temperature measurement camera can be smoothly raised and lowered in the vertical direction.

[0080] In one specific implementation, when a person enters the temperature measurement area, the height measurement unit begins to detect the horizontal height difference between the optimal temperature measurement point and the temperature measurement camera. If the height measurement unit detects a height difference exceeding a preset height range, it transmits this information to the lifting mechanism. The lifting mechanism receives the height difference data from the height measurement unit and compares it with the preset height range. If the height difference exceeds the preset range, the lifting mechanism activates, raising or lowering the temperature measurement camera until it reaches the same height as the optimal temperature measurement point.

[0081] In this embodiment, by adjusting the lifting mechanism, the temperature measuring camera is ensured to be aligned with the optimal temperature measuring point, thereby obtaining more accurate temperature measurement results; it can automatically adapt to the optimal temperature measuring point height for people of different heights, without requiring the person to actively adjust their posture, thus improving the convenience and efficiency of temperature measurement.

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

[0083] A sliding rod inserted into a vertical groove and connected at its upper end to a temperature measuring camera;

[0084] A lifting unit located at the bottom of the support frame 2 and connected to the lower end of the slide rod, used to control the slide rod to move vertically along the slide groove so that the temperature measuring camera is level with the optimal temperature measuring point when the horizontal height difference between the optimal temperature measuring point and the temperature measuring camera is greater than the preset height.

[0085] In one specific embodiment, the support frame 2 is provided with a vertical slide groove, which provides a path and constraint for the vertical movement of the lifting mechanism, ensuring that the slide bar can move smoothly and accurately in the vertical direction. The vertical slide groove is installed at a specific position on the support frame 2, and its position and size are determined according to the installation requirements and temperature measurement range of the temperature measuring camera. It is usually located at the front or middle of the support frame 2 so that the temperature measuring camera can face the temperature measuring area.

[0086] The upper end of the slide rod is connected to the temperature measuring camera, which can be achieved through threaded connection, snap-fit ​​connection, or flange connection to ensure a secure and reliable connection between the temperature measuring camera and the slide rod. The slide rod is inserted into the vertical groove and can slide vertically within the groove. Its surface is smooth and has a certain degree of rigidity to reduce sliding resistance and ensure the stability of movement.

[0087] The lifting unit is located at the bottom of the support frame 2, typically installed near the bottom of the vertical slide rail. The lifting unit connects to the lower end of the slide rod using threaded connections, pin connections, or other methods to ensure reliable and effective force transmission, allowing the lifting unit to directly drive the vertical movement of the slide rod. The lifting unit may be driven by a motor-driven lead screw, rack and pinion transmission, or other drive methods. The motor, as the power source, receives a control signal and drives the lead screw or gear to rotate. Through the meshing of the lead screw with the nut on the slide rod or the gear with the rack, the rotational motion is converted into the vertical linear motion of the slide rod.

[0088] In one specific implementation, after the person being measured 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 a preset height, the height measurement unit transmits the information to the lifting unit. Upon receiving the control signal, the lifting unit starts and controls the slide bar to move vertically along the vertical groove until the temperature measurement camera is adjusted to the same height as the optimal temperature measurement point, at which point the lifting unit stops operating.

[0089] In this embodiment, the vertical slide and slide bar work together to provide a stable vertical movement path for the temperature measuring camera; the lifting unit adjusts the height of the temperature measuring camera in real time according to the feedback from the height measuring unit to ensure that it can always be aligned with the optimal temperature measuring point of the person being measured at the optimal height, thereby further improving the accuracy and reliability of temperature measurement.

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

[0091] An angle measuring unit is used to detect 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, used to control the temperature measuring camera to rotate directly to face 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 one specific embodiment, after the temperature-measuring camera is vertically adjusted to be at the same height as the optimal temperature measurement 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. It receives angular deviation data from the unit and compares it to a preset angle range. If the angular deviation exceeds the preset range, the rotating mechanism activates, rotating the temperature measuring camera until it is directly aligned with the optimal temperature measurement point. The rotating mechanism typically consists of mechanical components such as a motor, gear transmission, or rotating shaft. The motor drives the rotating shaft or gears, which in turn enable the horizontal rotation of the temperature measuring camera through the transmission mechanism.

[0095] In one specific implementation, after the person being measured 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. If the height difference exceeds a preset value, the height measurement unit transmits the information to the lifting unit. The lifting unit is activated, moving the slide bar along the vertical slide groove, causing the temperature measurement camera to rise and fall. The lifting unit stops operating when the temperature measurement camera is aligned with the optimal temperature measurement point. When the temperature measurement camera is aligned with the optimal temperature measurement point, the angle measurement unit detects the horizontal angle between them. If the horizontal angle exceeds a preset value, the angle measurement unit transmits the information to the rotation mechanism. The rotation mechanism is activated, controlling the temperature measurement camera to rotate horizontally until it is directly aligned with the optimal temperature measurement point.

[0096] In this embodiment, the coordinated adjustment of the lifting mechanism and the rotating mechanism ensures that the temperature measuring camera can accurately align with the optimal temperature measuring point of the person being measured 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 specific embodiments, the chassis assembly 1 moves linearly along the patient guidance route, and the patient guidance control device includes:

[0098] A road obstacle detection mechanism used to detect whether there is an 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;

[0099] Connected to the obstacle detection mechanism, it controls the chassis assembly 1 to avoid obstacles when the obstacle detection mechanism detects overlapping areas.

[0100] In one specific embodiment, the obstacle detection mechanism can employ various sensor technologies, such as a laser scanner 121, an ultrasonic sensor, and a camera 118, combined with image processing and distance measurement algorithms, to monitor the relative positional relationship between the edge of the robot chassis assembly 1 and the edge of the obstacle in real time, and determine whether there is an overlapping area. Specifically, it can detect whether there is a lateral 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 obstacle avoidance mechanism is connected to the obstacle detection mechanism. When the obstacle detection mechanism detects an overlapping area, it controls the chassis assembly 1 to avoid the obstacle. The obstacle avoidance mechanism can dynamically adjust the avoidance path based on real-time detection data, optimize the robot's movement path, and improve task execution efficiency.

[0102] In one specific implementation, as the robot moves along the guidance route, the obstacle detection mechanism continuously monitors the environment ahead, real-time monitoring the relative positional relationship between the edge of the chassis assembly 1 and the edge of the obstacle ahead, and determining whether there is an overlapping area. When the obstacle detection mechanism detects an overlapping area, the avoidance mechanism is activated to ensure that the robot can promptly detect and effectively avoid obstacles, maintaining smooth movement.

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

[0104] The ranging unit is used to calculate either the first distance between the first edge of the chassis assembly 1 and the second edge of the obstacle in front, or the second distance between the second edge of the chassis assembly 1 and the first edge of the obstacle in front.

[0105] The obstacle-side determination unit, connected to the ranging unit, is used to determine the side edge of the chassis assembly 1 corresponding to the smaller of the first distance and the second distance values ​​as the obstacle side;

[0106] The distance acquisition unit, connected to the ranging unit, is used to determine the smaller of the first distance and the second distance values ​​as the obstacle overlap distance.

[0107] The first obstacle avoidance unit, connected to the obstacle side judgment unit and the distance acquisition unit, is used to control the chassis assembly 1 to move laterally in a direction away from the obstacle side by a distance exceeding the obstacle overlap distance.

[0108] In one specific embodiment, during the robot's movement, the ranging unit 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 obstacle-side judgment unit receives the first and second distance data from the ranging unit. By comparing the magnitudes of the two distances, it determines which side of the robot chassis assembly 1 is closer to the obstacle, thus identifying the obstacle side.

[0110] The distance acquisition unit receives distance data from the ranging unit and finds the smaller distance value as the obstacle overlap distance. This distance represents the minimum distance between the robot chassis obstacle side and the obstacle.

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

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

[0113] Based on the above specific embodiments, the obstacle avoidance mechanism also includes:

[0114] A length measuring unit used to measure the distance between chassis assembly 1 and an obstacle in front along the forward direction;

[0115] A unit connected to the length measurement unit and the distance acquisition unit, used to calculate the angle between the hypotenuse and the centerline of chassis assembly 1, using the length distance and the distance of overlap with the road obstacle as the right-angle sides;

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

[0117] In one specific embodiment, during robot movement, the length measurement unit monitors the distance between the chassis assembly 1 and obstacles in front in real time, especially when encountering obstacles, providing data support for subsequent angle calculations. It should be noted that the height measurement unit, distance measurement unit, length measurement unit, and other distance measurement components in this application can employ non-contact ranging technologies such as laser ranging, ultrasonic ranging, or infrared ranging. These technologies can quickly and accurately measure the distance between two objects.

[0118] The angle calculation unit receives the length and distance data from the length measurement unit and the road obstacle overlap distance data from the distance acquisition unit, and calculates the angle between the hypotenuse and the central axis of the chassis assembly 1 using the Pythagorean theorem or trigonometric functions.

[0119] The second obstacle 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 and move towards the obstacle side. The angle of movement 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, ensuring that there is a sufficient safe distance between the robot and the obstacle and reducing the risk of collision.

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

[0122] In one specific embodiment, the obstacle 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-around obstacle detection system.

[0123] Camera 118 is used to capture visual information in front of the robot, identifying the shape, size, and location of obstacles. Camera 118 can provide high-resolution image data to help the robot perform visual analysis and path planning. Typically employing a high-definition camera combined with image recognition algorithms, it can identify and track obstacles in real time, providing visual basis for obstacle avoidance decisions.

[0124] The laser scanner 121 is used to measure the distance between the robot and obstacles, providing accurate ranging data. The laser scanner 121 can quickly scan the environment ahead, generating a contour map of obstacles to help the robot determine their position and shape. The laser scanner 121 calculates distance by emitting a laser beam and measuring the time of flight of the reflected light, featuring high precision, high resolution, and fast response.

[0125] Pressure sensors are used to detect pressure changes when a robot comes into contact with an obstacle, providing feedback information on the physical contact. When the robot experiences a minor collision with an obstacle, the pressure sensor can promptly detect the pressure change and convert the pressure signal into an electrical signal, which is then transmitted to the control unit to achieve real-time collision monitoring. The pressure sensor is built into the anti-collision strip, which provides cushioning protection for the pressure sensor.

[0126] In this embodiment, the obstacle detection mechanism achieves omnidirectional obstacle detection, effectively identifying obstacles of different heights and positions. It determines the obstacle's position and distance in real time, and combined with physical contact feedback from pressure sensors, controls the robot to perform obstacle avoidance maneuvers through an obstacle avoidance mechanism, ensuring the robot safely avoids obstacles.

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

[0128] During robot movement, the anti-tilt directional wheels 125 remain in contact with the ground, providing stable support. When the robot brakes or starts, the anti-tilt directional wheels 125 effectively prevent the robot from tilting forward or backward, especially when passing through elevator gaps or uneven ground, playing a role in auxiliary stability.

[0129] Based on the above specific embodiments, the battery assembly is installed in the center of the chassis assembly 1. The battery assembly includes a base plate and a battery body fixed on the base plate. The bottom surface of the base plate is provided with a slider, and the surface of the chassis assembly 1 is provided with a transverse track. The slider is connected to the transverse track and can slide along the transverse track to adjust the left and right balance of the chassis assembly 1.

[0130] In one embodiment, the battery assembly is mounted at the center of the chassis assembly 1 to maintain the robot's center of gravity balance and improve its stability during movement. The battery body is fixed to the base plate and provides power support for the robot. The base plate is the supporting structure for the battery assembly, fixed to the chassis assembly 1, and provides a stable mounting foundation.

[0131] The bottom surface of the base plate is equipped with a slider, and the surface of the chassis assembly 1 is equipped with a transverse track. The slider is connected to the transverse track and can slide along the transverse track, thereby enabling the battery assembly to slide left and right on the chassis assembly 1.

[0132] Depending on the robot's actual usage, such as load distribution or terrain conditions, the operator or automatic control system can adjust the position of the battery assembly. By sliding the slider within the transverse track, the battery assembly can move left and right on the chassis assembly 1, thereby adjusting the robot's center of gravity and ensuring the robot's lateral balance under different conditions, effectively improving the robot's stability and adaptability.

[0133] In one specific embodiment, the triage and temperature measurement composite robot includes: a chassis assembly 1; a support frame 2; an interaction device 3; and a temperature measurement camera device 4, such as... Figure 1 As shown, this ensures the robot's stable operation, efficient interaction, and accurate temperature measurement in complex environments.

[0134] Chassis assembly 1 provides powerful power and support, including the following structure:

[0135] The drive wheel 11 is bolted to the suspension assembly 14 and contains a motor. It is an integrated wheel and engine that provides traction for the robot and is the power source for the robot's movement.

[0136] The mudguard 12 is fixed to the chassis 124 by bolts to block dust from entering the drive wheel 11 and drive wheel axle, preventing dust from affecting the normal operation of the drive wheel 11.

[0137] Terminal block 13 facilitates wiring harness assembly and signal patching.

[0138] The suspension assembly 14 is used to fix the drive wheel 11. The shock-absorbing spring in the middle can filter vibration, so that the robot runs smoothly and improves its stability when crossing obstacles.

[0139] The omnidirectional wheel 15 is connected to the drive wheel through the suspension assembly 14 to form an articulated mechanism, which provides support for the robot and can flexibly change according to the robot's movement, thereby improving movement stability.

[0140] The component mounting plate 16 is fixed to the chassis 124 by bolts and is used to install the power supply 17 and the wireless client 18. It has elongated holes on both sides of the middle part to facilitate wiring; the upper two sides have slack for fixing secondary development components.

[0141] Power supply 17 provides power to low-voltage electrical components.

[0142] Wireless client 18 outputs a wireless signal to connect to an external network.

[0143] The charging assembly mounting plate and 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, which can be used to install other components on the chassis 124 without disassembling the charging assembly mounting plate and protection plate 19.

[0144] The charging assembly 110 is fixed on the charging assembly mounting plate and protection plate 19 to provide charging for the robot.

[0145] The secondary component fixing plate 111 is fixed on the main vertical support 114 and the secondary vertical support 116. Specifically, there are welded studs on the main vertical support 114 and the secondary vertical support 116. The secondary component fixing plate 111 can be placed directly on the corresponding welded studs and then the bolts are tightened. The installation and fixing are convenient, especially when replacing the battery below, it can be lifted directly to improve the assembly efficiency.

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

[0147] Switch 113 is used for network connection. It is mounted on the connecting plate, which is fixed to the main vertical support 114 by bolts. The installation position is relatively outside the robot for easy wiring and debugging.

[0148] The main vertical brace 114 is used to support the components above the chassis. Its lower end is connected to the chassis 124 by bolts. It has a large cross-sectional size and is centrally located, which can stabilize the center of gravity and support 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 enabling the robot to move forward, backward and other actions.

[0150] The secondary vertical brace 116 is used to support the components above the chassis 124. Its lower end is connected to the chassis 124 by bolts. It has a small cross-sectional size and is used to support the front components and fix the wire groove. The frontmost secondary vertical brace 116 is used to fix the laser fixing plate 117.

[0151] The laser mounting plate 117 holds the laser scanner 121 below, using a hanging installation method. The laser mounting plate 117 can be made of sheet metal bending and welding with reinforcing ribs, giving it a certain rigidity. It has holes at the rear for mounting on the secondary vertical support 116. The camera 118 is mounted above. The laser mounting plate 117 can be made of 3mm thick 6-series aluminum plate welded together, providing stable load-bearing capacity and high levelness. It also has a slot at the rear to provide space for the camera 118 to follow the cable. The antenna module 120 is mounted on the left side, without occupying space on the chassis 124.

[0152] Camera 118 is used to recognize images and record real-time image information.

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

[0154] 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] Laser scanner 121 is used to scan objects around the robot's operating environment.

[0156] The battery assembly 122, which provides power to the robot, is installed in the center of the chassis 124 and plays a role in stabilizing the center of gravity. The battery assembly 122 includes a battery body 130, a large protection plate 131, and a small protection plate 129. The large protection plate 131 provides overall protection and is bolted to the auxiliary vertical support 116 at the front. The small protection plate 129 is connected to the large protection plate 131 and bolted to it, and is bolted to the chassis 124 at the bottom.

[0157] The caster cover 123 is used to install the caster 15, which serves to fix and protect the caster 15. A shock-absorbing spring is installed below to absorb shock.

[0158] The chassis 124 is used to assemble various components. The mounting holes for the front and rear charging assembly mounting plates and protection plates 19 are universal and can be installed according to the site requirements. The charging port can be installed at the front or rear.

[0159] 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 or backward when braking or starting; they also assist in passing through elevator gaps.

[0160] The outer cover 126 is spliced ​​together front and back for easy maintenance, installation and disassembly. It does not require disassembling the upper outer cover, providing a more convenient and faster installation and disassembly method.

[0161] The drive wheel protection plate 127 prevents obstacles below from hitting the drive wheel spindle and suspension assembly 14, and has process holes 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 connected to the chassis 124 by bolts.

[0163] The entire chassis assembly has a reasonable structural design, with each component working together to provide stable and reliable support, power, control, and protection for the triage and temperature measurement composite robot. This ensures that the robot can operate smoothly and efficiently in complex service areas and complete tasks such as triage and temperature measurement.

[0164] Support frame 2 includes the following structure:

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

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

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

[0168] The screen mounting plate 24 is used to install the screen, and the rear bolts are fixed to the frame body 22.

[0169] Interactive device 3 is a common interactive component on the market. It can be a functional screen that integrates a human-computer interaction interface, capable of facial recognition, touch screen operation, and issuing prompt sounds.

[0170] The temperature measuring camera device 4 is a common interactive component on the market, including the following structure:

[0171] The head base 41 is used to fix the temperature measuring camera 45, which is bolted to the front cover 23.

[0172] Ear covers, size 42, for decorative purposes.

[0173] Front cover 43, protecting the temperature measuring camera 45.

[0174] Temperature measuring camera 45, used for temperature measurement, is fixed on head base 41.

[0175] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0176] The above provides a detailed description of the patient guidance and temperature measurement composite robot provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model. Therefore, this utility model is not limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A triage and temperature measurement composite robot, characterized in that, The system includes a chassis assembly (1), an interactive device (3) and a temperature measuring camera (4) mounted on the chassis assembly (1) via a support frame (2), and a patient guidance control device connected to the chassis assembly (1), the interactive device (3) and the temperature measuring camera (4). The patient guidance control device is equipped with patient guidance routes from various paths to various service points within the service area. The patient guidance control device can control the chassis assembly (1) to move to the target location based on the current location and the patient guidance route corresponding to the input target location.

2. The triage and temperature measurement composite robot according to claim 1, characterized in that, The person having their temperature checked is within the temperature measurement area, and the temperature measurement camera device (4) includes: A temperature-measuring camera used to detect temperature; A range detection mechanism for detecting the optimal temperature measurement point angle between the temperature measuring camera and the person being measured; An adjustment mechanism connected to the temperature measuring camera and the range detection mechanism, used to control the temperature measuring camera to adjust to a position directly opposite 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 triage and temperature measurement composite robot according to claim 2, characterized in that, The adjustment mechanism includes: A height measurement unit used to detect the difference in horizontal height between the optimal temperature measurement point of the person being measured and the temperature measurement camera; A lifting mechanism connected to the height measuring unit, used to control the vertical extension and retraction of the temperature measuring camera to the same height as the optimal temperature measuring point when the horizontal height difference between the optimal temperature measuring point and the temperature measuring camera is greater than a preset height.

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

5. The triage and temperature measurement composite robot according to claim 3, characterized in that, The adjustment mechanism also includes: An angle measuring unit is used to detect 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. A rotating mechanism connected to the angle measuring unit, used to control the temperature measuring camera to rotate directly to face 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.

6. The triage and temperature measurement composite robot according to claim 1, characterized in that, The chassis assembly (1) moves linearly along the patient guidance route, and the patient guidance control device includes: A road obstacle 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 obstacle in front, or between the second edge of the chassis assembly (1) and the first edge of the obstacle in front; A mechanism connected to the obstacle detection mechanism, used to control the chassis assembly to avoid the obstacle when the obstacle detection mechanism detects an overlapping area.

7. The triage and temperature measurement composite robot according to claim 6, characterized in that, The avoidance mechanism includes: The ranging unit is used to calculate the first distance between the first edge of the chassis assembly (1) and the second edge of the obstacle in front, or the second distance between the second edge of the chassis assembly (1) and the first edge of the obstacle in front. The obstacle side determination unit is connected to the ranging unit and is used to determine the side edge of the chassis assembly (1) corresponding to the smaller of the first distance and the second distance values ​​as the obstacle side; A distance acquisition unit, connected to the ranging unit, is used to determine the smaller of the first distance and the second distance as the obstacle overlap distance; The first obstacle avoidance unit is connected to the obstacle 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 obstacle side by a distance exceeding the overlap distance of the obstacle.

8. The triage and temperature measurement composite robot according to claim 7, characterized in that, The avoidance mechanism also includes: A length measuring unit for measuring the distance between the chassis assembly (1) and the obstacle in front 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) with the length distance and the road obstacle overlap distance as the right angle sides; A second obstacle avoidance unit connected to the angle calculation unit and the obstacle side, used to control the chassis assembly (1) to tilt towards the obstacle side at the angle calculated by the angle calculation unit.

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

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

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