【摘要】 研发一款远程视频巡查库房中病案霉变痕迹、虫害痕迹及库房渗水痕迹的机器人。机器人采用四轮行走形式，2个后轮由2台步进电机分别驱动。机器人上安装垂直升降丝杆，其滑块上安装水平伸缩丝杆，一台筒形病案检查摄像机安装在水平丝杆滑块上，2根丝杆均由步进电机驱动，另有2台360°球形摄像机保证机器人行走无盲区。设计用户手机端HMI，点击HMI上按钮，通过物联网-4G-4G网关数据链向机器人上的PLC发出指令，控制机器人把病案检查摄像机移动到检查位置。3台摄像机视频通过另一条4G-物联网数据链传到用户电脑屏幕显示。实验验证远程控制系统及信号传输数据链切实可行，可在电脑上远程视频察看库房病案存储状况，确保病案安全。更多还原

【Abstract】 A robot for remote inspection of medical records in a warehouse for signs of mold, insect infestation, and water seepage is developed. The robot adopts the form of four-wheel walking, and the two rear wheels are driven by two stepper motors respectively. A vertical lifting screw is installed on the robot, a horizontal telescopic screw is installed on the slider, a barrel-shaped medical record examination camera is installed on the horizontal screw slider, and both screws are driven by stepper motors. another two 360° spherical cameras ensure that the robot walks without blind areas. This paper designs the HMI of the user’s mobile phone, and one needs to click the button on the HMI, send instructions to the PLC on the robot through the data link of the Internet of things-4G-4G gateway, and control the robot to move the medical record inspection camera to the inspection position. The videos of the three cameras are transmitted to the user’s computer screen through another 4G-Internet of things data link. The experimental results show that the remote control system and signal transmission data chain are feasible, and the storage status of medical records can be viewed remotely on the computer to ensure the safety of medical records.更多还原