CN113031609A - Automatic moving disinfection trolley based on machine vision - Google Patents
Automatic moving disinfection trolley based on machine vision Download PDFInfo
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- CN113031609A CN113031609A CN202110253883.7A CN202110253883A CN113031609A CN 113031609 A CN113031609 A CN 113031609A CN 202110253883 A CN202110253883 A CN 202110253883A CN 113031609 A CN113031609 A CN 113031609A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 26
- 238000005507 spraying Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 6
- 230000001954 sterilising effect Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 7
- 238000011161 development Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 241000711573 Coronaviridae Species 0.000 description 1
- 240000007651 Rubus glaucus Species 0.000 description 1
- 235000011034 Rubus glaucus Nutrition 0.000 description 1
- 235000009122 Rubus idaeus Nutrition 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Radar, Positioning & Navigation (AREA)
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an automatic moving disinfection trolley based on machine vision, which relates to the technical field based on machine vision and comprises a battery module, a steering engine, an ultrasonic sensor, an infrared line patrol sensor, a spraying module, an LED lamp, a motor, a USB camera, a PC module, a moving control end and a mainboard driving plate, wherein the battery module is electrically connected with the mainboard driving plate, and the steering engine is connected with the motor through the mainboard driving plate, so that the automatic moving disinfection trolley based on machine vision has the beneficial effects that: through based on ultrasonic sensor, make the dolly avoid simple uncomplicated barrier at the operation in-process, have the function of automatic obstacle avoidance, and can make the dolly follow the tracking and travel along established lane line based on six way infrared sensor, and can pass through the USB camera, pass to PC end and mobile control end with the video stream that it was shot, and look over at PC end and mobile control end, and can spray the disinfection operation, can continue discernment to special mark object and acquire, make it judge control through PC module and mobile control end.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to an automatic moving disinfection trolley based on machine vision.
Background
With the rapid development of computers and microelectronic technologies, the development of intelligent technologies is faster and faster, the intelligent degree is higher and higher, and the application range is greatly expanded. The intelligent vehicle system is based on the rapidly developed automobile electronic technology and covers a plurality of subjects such as electronics, computers, machinery, sensing technology and the like. Meanwhile, the development of the current robot technology is different day by day, and the robot technology is applied to numerous fields such as archaeology, exploration, national defense and the like. Unmanned spacecrafts, extraterrestrial exploration, intelligent production and the like do not benefit from the development of robotics. Some developed countries have designed robot competitions as a strategic means of innovative education. In a sense, the robotics reflects the level of comprehensive technical strength of a country. Meanwhile, with the development of integrated circuits, raspberry groups play an important role in the field of image processing and machine control, and mobile robots with good expansibility can be manufactured by means of embedded programming and the like in combination with strong peripheral circuits.
In 2020, various intensive public places such as schools, markets, hospitals and the like need disinfection and sterilization to keep sanitation due to the influence of new coronavirus all over the world. The automatic moving disinfection trolley based on machine vision just accords with a novel intelligent moving trolley which is produced by taking the current situation, and has huge actual value for development of intelligent automobiles in reality.
In order to disinfect large places such as hospitals and markets, an automatic moving disinfection trolley model based on machine vision is constructed, the trolley is combined with a disinfection water spraying device through an obstacle avoidance trolley, the functions of automatically spraying disinfection liquid and avoiding simple obstacles in strange environments can be achieved in a set planned line, and the functions are related to camera monitoring. Obstacle avoidance needs comprehensive coordination in multiple aspects such as a robot body, a sensing unit, an intelligent algorithm and the like, is a key index for measuring the intelligent degree of the mobile intelligent robot, and the realization of an intelligent trolley obstacle avoidance system is widely concerned by scholars at home and abroad in the process that the robot application technology increasingly meets various actual requirements.
Disclosure of Invention
The invention aims to provide an automatic moving disinfection trolley based on machine vision, aiming at overcoming the defects and shortcomings in the prior art, so that the equipment has multiple functions of automatic obstacle avoidance, tracking, real-time image transmission, intelligent disinfectant spraying, target detection and the like.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides an automatic removal disinfection dolly based on machine vision, it includes battery module 1, steering wheel 2, ultrasonic sensor 3, infrared line sensor 4 that patrols, sprays module 5, LED lamp 6, motor 7, USB camera 8, PC module 9, mobility control end 10, mainboard drive plate 11, battery module 1 and mainboard drive plate 11 electric connection, steering wheel 2 is connected with motor 7 through mainboard drive plate 11, ultrasonic sensor 3 and infrared line sensor 4 that patrols are connected mainboard drive plate 11, mainboard drive plate 11 is connected and is sprayed module 5, 6 electric connection of LED lamp is on mainboard drive plate 11, USB camera 8 sets up on mainboard drive plate 11, mainboard drive plate 11 is connected PC module 9 and mobility control end 10.
More preferably, the operation steps of the automatic moving disinfection trolley based on the machine vision specifically are as follows: starting and driving the spraying module 5 and the LED lamp 6; acquiring external information through the ultrasonic sensor 3 and the infrared line patrol sensor 4; transmitting the information to the mainboard driving board 11; the mainboard driving board 11 judges and calculates a path route; controlling the motor steering engine 2 and the motor 7 to move; and returning to the starting point and finishing driving the spraying module 5 and the LED lamp 6.
More optimally, the information acquired by the ultrasonic sensor 3 and the infrared line patrol sensor 4 comprises the distance between the external article, a preset route and the like.
More optimally, the connection mode of the mainboard driving board 11 and the PC module 9 is wifi or network cable connection, and the connection mode of the mainboard driving board 11 and the mobile control terminal 10 is wifi wireless connection mode.
More preferably, the main board driving board 11 judges the steps according to the information of the ultrasonic sensor 3 as follows: acquiring information of the ultrasonic sensor 3; calling a ranging function; judging that the distance value of the ultrasonic sensor 3 is more than 0cm and less than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 3 again; and when the distance value is larger than 25cm, the moving process is continued.
More preferably, the USB camera 8 is connected to the PC module 9 and the mobile control terminal 10 through a motherboard drive board 11.
The working principle of the invention is as follows: when the device is used, a worker can ensure that the battery module 1 is in a charged state, then the device can be normally started, when the device works, the spraying module 5 can be firstly driven to enable the spraying module 5 to spray disinfection operation, the ultrasonic sensor 3 and the infrared line patrol sensor 4 can continuously acquire external information and transmit the external information to the mainboard drive board 11, the mainboard drive board 11 judges the path of the device according to the information of the ultrasonic sensor 3 and the infrared line patrol sensor 4, the specific judgment is that the data is acquired by the ultrasonic sensor 3 and is judged according to 0< dis <25, and if the data is more than 25cm, the device advances; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 3 again; when the distance value is larger than 25cm, the vehicle continues to move forward, when the vehicle moves, the motor 7 is used for providing power for supporting, when the vehicle needs to turn, the steering engine 2 is used for steering operation, the spraying module 5 and the LED lamp 6 are stopped to be driven until the vehicle moves to the starting position, a worker can also manually intervene in the control device through the PC module 9 and the mobile control end 10 and know the current environment of the vehicle through the USB camera 8, the vehicle can work according to the actual situation, and when a special mark object needs to be identified, the worker can judge and process the special mark object through the PC module 9 and the mobile control end 10.
After the technical scheme is adopted, the invention has the beneficial effects that: through based on ultrasonic sensor, make the dolly avoid simple uncomplicated barrier at the operation in-process, have the function of automatic obstacle avoidance, and can make the dolly follow the tracking and travel along established lane line based on six way infrared sensor, and can pass through the USB camera, pass to PC end and mobile control end with the video stream that it was shot, and look over at PC end and mobile control end, and can spray the disinfection operation, can continue discernment to special mark object and acquire, make it judge control through PC module and mobile control end.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a system block diagram of the present invention.
Fig. 3 is a flow chart based on machine vision in the present invention.
Fig. 4 is a schematic connection diagram of the USB camera 8 according to the present invention.
Description of reference numerals: battery module 1, steering wheel 2, ultrasonic sensor 3, infrared sensor 4 of patrolling the line, spray module 5, LED lamp 6, motor 7, USB camera 8, PC module 9, mobile control end 10, mainboard drive plate 11.
Detailed Description
Referring to fig. 1 to 4, the technical solution adopted by the present embodiment is: .
The working principle of the invention is as follows: it includes battery module 1, steering wheel 2, ultrasonic sensor 3, infrared line sensor 4, sprays module 5, LED lamp 6, motor 7, USB camera 8, PC module 9, mobile control end 10, mainboard drive plate 11, battery module 1 and 11 electric connection of mainboard drive plate, steering wheel 2 is connected with motor 7 through mainboard drive plate 11, ultrasonic sensor 3 and infrared line sensor 4 connection mainboard drive plate 11 of patrolling, module 5 is sprayed in 11 connections of mainboard drive plate, 6 electric connection of LED lamp is on mainboard drive plate 11, USB camera 8 sets up on mainboard drive plate 11, mainboard drive plate 11 connects PC module 9 and mobile control end 10.
The operation steps of the automatic moving disinfection trolley based on the machine vision are as follows: starting and driving the spraying module 5 and the LED lamp 6; acquiring external information through the ultrasonic sensor 3 and the infrared line patrol sensor 4; transmitting the information to the mainboard driving board 11; the mainboard driving board 11 judges and calculates a path route; controlling the motor steering engine 2 and the motor 7 to move; and returning to the starting point and finishing driving the spraying module 5 and the LED lamp 6, wherein the information acquired by the ultrasonic sensor 3 and the infrared line patrol sensor 4 comprises the distance between the external object, a preset route and the like.
The main board driving board 11 judges the steps according to the information of the ultrasonic sensor 3 as follows: acquiring information of the ultrasonic sensor 3; calling a ranging function; judging that the distance value of the ultrasonic sensor 3 is more than 0cm and less than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 3 again; and when the distance value is larger than 25cm, the moving process is continued.
The working principle of the invention is as follows: when the device is used, a worker can ensure that the battery module 1 is in a charged state, then the device can be normally started, when the device works, the spraying module 5 can be firstly driven to enable the spraying module 5 to spray disinfection operation, the ultrasonic sensor 3 and the infrared line patrol sensor 4 can continuously acquire external information and transmit the external information to the mainboard drive board 11, the mainboard drive board 11 judges the path of the device according to the information of the ultrasonic sensor 3 and the infrared line patrol sensor 4, the specific judgment is that the data is acquired by the ultrasonic sensor 3 and is judged according to 0< dis <25, and if the data is more than 25cm, the device advances; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 3 again; when the distance value is larger than 25cm, the vehicle continues to move forward, when the vehicle moves, the motor 7 is used for providing power for supporting, when the vehicle needs to turn, the steering engine 2 is used for steering operation, the spraying module 5 and the LED lamp 6 are stopped to be driven until the vehicle moves to the starting position, a worker can also manually intervene in the control device through the PC module 9 and the mobile control end 10 and know the current environment of the vehicle through the USB camera 8, the vehicle can work according to the actual situation, and when a special mark object needs to be identified, the worker can judge and process the special mark object through the PC module 9 and the mobile control end 10.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. The utility model provides an automatic remove disinfection dolly based on machine vision which characterized in that: it comprises a battery module (1), a steering engine (2), an ultrasonic sensor (3), an infrared line patrol sensor (4), a spraying module (5), an LED lamp (6), a motor (7), a USB camera (8), a PC module (9), a mobile control end (10) and a mainboard driving plate (11), the battery module (1) is electrically connected with a mainboard driving plate (11), the steering engine (2) is connected with a motor (7) through the mainboard driving plate (11), the ultrasonic sensor (3) and the infrared line patrol sensor (4) are connected with a mainboard driving board (11), the mainboard driving board (11) is connected with the spraying module (5), the LED lamp (6) is electrically connected on the mainboard driving board (11), the USB camera (8) is arranged on a mainboard driving board (11), and the mainboard driving board (11) is connected with a PC module (9) and a mobile control end (10).
2. The machine vision based automated mobile sterilization cart of claim 1, wherein: the operation steps of the automatic moving disinfection trolley based on the machine vision are as follows:
1) starting and driving the spraying module (5) and the LED lamp (6);
2) acquiring external information through an ultrasonic sensor (3) and an infrared line patrol sensor (4);
3) transmitting the information to a mainboard driving board (11);
4) the mainboard driving board (11) judges and calculates a path route;
5) controlling a motor steering engine (2) and a motor (7) to move;
6) and returning to the starting point and finishing driving the spraying module (5) and the LED lamp (6).
3. The machine vision based automated mobile sterilization cart of claim 1, wherein: the information acquired by the ultrasonic sensor (3) and the infrared line patrol sensor (4) comprises the distance between an external article, a preset route and the like.
4. The machine vision based automated mobile sterilization cart of claim 1, wherein: the connection mode of the mainboard driving board (11) and the PC module (9) is wifi or network cable connection, and the connection mode of the mainboard driving board (11) and the mobile control terminal (10) is wifi wireless connection mode.
5. The machine vision based automated mobile sterilization cart of claim 1, wherein: the main board driving board (11) judges the steps according to the information of the ultrasonic sensor (3) as follows:
1) acquiring information of the ultrasonic sensor (3);
2) calling a ranging function;
3) judging that the distance value of the ultrasonic sensor (3) is more than 0cm and less than 25 cm;
4) if the distance is larger than 25cm, advancing;
5) if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor (3) again;
6) and when the distance value is larger than 25cm, the moving process is continued.
6. The machine vision based automated mobile sterilization cart of claim 1, wherein: and the USB camera (8) is connected with the PC module (9) and the mobile control end (10) through a mainboard driving board (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253883.7A CN113031609A (en) | 2021-03-09 | 2021-03-09 | Automatic moving disinfection trolley based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253883.7A CN113031609A (en) | 2021-03-09 | 2021-03-09 | Automatic moving disinfection trolley based on machine vision |
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| CN113031609A true CN113031609A (en) | 2021-06-25 |
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| CN202110253883.7A Pending CN113031609A (en) | 2021-03-09 | 2021-03-09 | Automatic moving disinfection trolley based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778157A (en) * | 2021-09-14 | 2021-12-10 | 金陵科技学院 | Epidemic prevention detection and disinfection system based on Internet of things platform and working method thereof |
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| CN103753561A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Robot for indoor spray disinfection service |
| CN107320022A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | Toilet intelligent cleaning robot |
| CN111331612A (en) * | 2020-03-11 | 2020-06-26 | 广东若铂智能机器人有限公司 | Intelligent long-arm disinfection robot based on visual system |
| CN111568322A (en) * | 2020-04-15 | 2020-08-25 | 长沙中联重科环境产业有限公司 | Obstacle avoidance method, device and equipment for epidemic prevention disinfection cleaning robot |
| CN212411071U (en) * | 2020-08-10 | 2021-01-26 | 金陵科技学院 | Intelligent disinfection trolley |
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2021
- 2021-03-09 CN CN202110253883.7A patent/CN113031609A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070109592A (en) * | 2006-05-12 | 2007-11-15 | 주식회사 한울로보틱스 | Localization system and the method of the mobile robot using the charging station |
| CN103753561A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Robot for indoor spray disinfection service |
| CN107320022A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | Toilet intelligent cleaning robot |
| CN111331612A (en) * | 2020-03-11 | 2020-06-26 | 广东若铂智能机器人有限公司 | Intelligent long-arm disinfection robot based on visual system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113778157A (en) * | 2021-09-14 | 2021-12-10 | 金陵科技学院 | Epidemic prevention detection and disinfection system based on Internet of things platform and working method thereof |
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Application publication date: 20210625 |