CN113577351A

CN113577351A - Disinfection robot

Info

Publication number: CN113577351A
Application number: CN202010365748.7A
Authority: CN
Inventors: 侯朝中
Original assignee: Beijing Ruitu Technology Ltd
Current assignee: Beijing Ruitu Technology Ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2021-11-02

Abstract

The invention discloses a disinfection robot, which comprises a vehicle body (1) used for loading a moving device (2), a disinfection device (3), a data acquisition device (4) and a control system (5), the moving device (2) is arranged at the bottom of the vehicle body (1) and used for driving the vehicle body (1) to move according to a moving instruction, the disinfection device (3) is arranged on the vehicle body (1) and used for loading a disinfectant and spraying the disinfectant to a carriage according to the disinfection instruction and can adjust the spraying position of the disinfectant according to the change of the environment, the data acquisition device (4) is arranged on the vehicle body (1) and used for acquiring data information of a vehicle body path, and the control system (5) is arranged on the vehicle body (1) and used for receiving the data information and sending the moving instruction and the disinfection instruction. The invention realizes directional disinfection and intelligent discrimination of the disinfection object by an automatic aiming scheme of a visual identification technology, and improves the disinfection accuracy.

Description

Disinfection robot

Technical Field

The invention relates to the technical field of disinfection equipment, in particular to a disinfection robot for train compartment disinfection.

Background

At present, in the disinfection robot field, the disinfection robot often carries out omnidirectional disinfection along the route of planning, and this kind of disinfection mode influences disinfection efficiency promptly and can cause the waste of antiseptic solution again. Meanwhile, in the process of spraying the medicament, the following two modes are commonly used: (1) pumping liquid to the spray head, and spraying the liquid by using pressure, wherein the liquid sprayed by the mode has larger particles; (2) the ultrasonic atomization mode uses a fan to spray atomized liquid through a pipeline for disinfection, and the method needs a special conveying pipe and occupies a large space.

Application number 201310277764.0 discloses a novel air duct disinfection robot, which comprises a rack, wherein a traveling mechanism for driving the rack to advance or retreat is arranged on the rack; the sterilizing device, set up in the frame, this sterilizing device include the antiseptic solution bin and be used for with the antiseptic solution in the antiseptic solution bin to the injection apparatus at frame the place ahead and/rear, injection apparatus includes gear pump and nozzle, the entry of gear pump through a first pipe with antiseptic solution bin intercommunication, the gear pump export through a second pipe with the nozzle is connected. The particles sprayed by the pumping mode are large, and the coverage is poor.

Application No. 201811055503.3 discloses a rotary sterilization robot, comprising: a body; the rotating assembly rotates relative to the machine body and comprises a rotating disc and a rotating motor for driving the rotating disc to rotate; the atomizing assembly is arranged on the rotary table and rotates along with the rotary table; wherein, atomization component includes fan and atomizer, is equipped with the appearance chamber of placing disinfectant on the organism, holds the connecting pipe that is equipped with the atomizer in the chamber and is connected with atomization component, and the connecting pipe passes the carousel and is connected with the atomizer that is located the carousel top, and the air outlet and the atomizer of fan are linked together, and the atomizer slope is installed on the carousel, is equipped with the spacing subassembly of restriction carousel turned angle on the carousel. The connecting pipeline of the device occupies a large space, and the atomized particles are often collided with the pipe wall to be condensed again, so that the efficiency is low.

Disclosure of Invention

The invention aims to overcome the technical problem of low disinfection efficiency of the disinfection robot in the prior art, and provides the disinfection robot which can realize directional disinfection and intelligent resolution on a disinfection object through an automatic aiming scheme of a visual recognition technology, thereby improving the disinfection accuracy.

The present invention provides a sterilization robot, comprising:

a vehicle body: the device is used for loading the moving device, the sterilizing device, the data acquisition device and the control system;

a motion device: the device is arranged at the bottom of the vehicle body and used for receiving the motion instruction sent by the control system and driving the vehicle body to move according to the motion instruction;

a disinfection device: the disinfection device is arranged on the vehicle body, is used for receiving the disinfection instruction sent by the control system, loading disinfectant and spraying the disinfectant to the carriage according to the disinfection instruction, and can adjust the spraying position of the disinfectant according to the change of the environment;

a data acquisition device: the system is arranged on the vehicle body and used for acquiring data information of a vehicle body path and transmitting the data information to the control system;

the control system comprises: the device is arranged on the vehicle body, is used for receiving the data information transmitted by the data acquisition device, is used for sending a movement instruction to the movement device, and is used for sending a disinfection instruction to the disinfection device.

The control system can adjust the motion instruction and the disinfection instruction according to the change of the disinfection scene, the disinfection robot can select different paths and disinfection modes according to different environments, and the disinfection efficiency and accuracy are improved.

The data acquisition device comprises a laser radar, an infrared camera, an inertial navigation unit and the like.

The invention relates to a disinfection robot, which is a preferred mode, wherein a disinfection device comprises a support fixedly connected with a vehicle body, a holder arranged on the support, a spraying device arranged on the holder, an infrared camera and an inertia measuring unit which are arranged on the holder and positioned on the side surface of the spraying device, and a controller which is arranged on the support and used for controlling the movement of the holder and the spraying device; the controller is used for receiving the disinfection instruction transmitted by the control system, and the controller is used for receiving the data transmitted by the infrared camera and the inertia measurement unit and processing the data.

The infrared camera can collect the position information of the disinfection target and generate a visual signal to be transmitted to the controller, and the controller adjusts the spraying direction of the spraying device according to the position of the disinfection target, so that the sprayed disinfection solution can accurately reach the disinfection target.

In a preferred embodiment of the present invention, the controller includes:

a vision processing unit: the infrared camera is used for receiving the visual signals transmitted by the infrared camera, processing the visual signals and generating a first processing result, and transmitting the first processing result to the driving unit;

a control unit: the device comprises a driving unit, an inertia measurement unit, a first processing unit and a second processing unit, wherein the driving unit is used for driving the inertia measurement unit to generate state data;

a drive unit: the device comprises a visual processing unit, a control system and a driving instruction generation unit, wherein the visual processing unit is used for receiving a first processing result transmitted by the visual processing unit, receiving a second processing result transmitted by the control unit, receiving a disinfection instruction transmitted by the control system, generating a driving instruction according to the first processing result, the second processing result and the disinfection instruction, and transmitting the driving instruction to a cloud deck and a spraying device.

The invention relates to a disinfection robot, which is characterized in that a cradle head comprises a rotating mechanism connected with a bracket, a first motor arranged on the bracket and connected with one end of the rotating mechanism for driving the rotating mechanism to rotate, a Y-shaped supporting plate connected with the other end of the rotating mechanism and a rotating shaft fixing part arranged at the top end of the Y-shaped supporting plate; the first motor is electrically connected with the controller.

According to the disinfection robot, as a preferred mode, the rotating mechanism comprises a bearing seat arranged on the support, a bearing connected with the bearing seat and a coupler connected with the bearing, and the coupler is fixedly connected with the Y-shaped supporting plate.

The invention relates to a disinfection robot, which is characterized in that as a preferred mode, a spraying device comprises a supporting shaft, a shell, a duct, a water tank, an air pipe joint, an air pipe, a second motor and a gear set, wherein one end of the supporting shaft is connected with a Y-shaped supporting plate, the shell is connected with the other end of the supporting shaft, the duct is arranged on one side of the shell, the water tank is arranged in the shell, the air pipe joint is arranged on a rotating shaft fixing piece, the air pipe is respectively connected with the water tank and the air pipe joint at two ends, the second motor is arranged on the Y-shaped supporting plate, the gear set is connected with an output shaft of the second motor, and the gear set is connected with the shell.

According to the disinfection robot, as a preferable mode, the shell comprises the cylindrical protection cover and the side plates arranged at two ends of the protection cover, and the side plates are connected with the gear set.

According to the disinfection robot, as a preferable mode, the gear set comprises a first gear connected with the output shaft of the second motor and a second gear connected with the side plate, and the first gear and the second gear are meshed with each other.

In the disinfection robot of the present invention, as a preferred mode, an ultrasonic atomization sheet is provided in a water tank.

In a preferred embodiment, the robot further includes a foreign object treatment device disposed on the vehicle body for cleaning and removing foreign objects.

In the using process of the disinfection robot, after disinfectant is loaded in a water tank of a spraying device, a control system controls a motion device to drive the disinfection robot to disinfect according to a preset disinfection path, when the disinfection robot reaches a first disinfection target position, the control system controls the motion device to stop, an infrared camera collects visual information of the disinfection target and transmits the visual information to a controller, the controller adjusts the spraying position of the spraying device according to the visual information, the disinfection liquid is sprayed after the adjustment is completed, the first disinfection target is disinfected, and the control system controls the motion device to drive the disinfection robot to disinfect a next disinfection target until the whole disinfection task is completed.

The data acquisition device acquires data information of a motion path in real time in the motion process of the disinfection robot, and when foreign matters appear in the motion path, the control system adjusts a motion instruction according to the data information acquired by the data acquisition device, so that the motion device drives the disinfection robot to change the path to avoid the foreign matters or remove the foreign matters through the foreign matter cleaning device; and if the foreign matters cannot be cleaned or avoided, the control system sends related data information to the manager.

According to the invention, the data acquisition device is arranged on the vehicle body, so that the data information of the motion path of the robot can be acquired in real time, the control system can adjust the motion instruction at any time according to the actual situation, the disinfection robot is controlled to clean or avoid foreign matters, and the intellectualization of the disinfection robot is improved.

The invention further arranges the spraying device capable of adjusting the spraying direction on the vehicle body, and can adjust the spraying position according to the position of the disinfection target, thereby improving the accuracy of disinfection spraying and the disinfection efficiency.

Drawings

FIG. 1 is a perspective view of a sterilization robot;

FIG. 2 is a structural assembly diagram of a disinfection robot;

FIG. 3 is a front view of a sterilizing robot sterilizing device;

FIG. 4 is a top view of a disinfecting robot disinfecting device;

FIG. 5 is a perspective view of a sterilizing robot sterilizing device;

FIG. 6 is a perspective view of a disinfecting robot pan/tilt;

FIG. 7 is a view of a disinfecting robot head;

FIG. 8 is a view showing a configuration of a spraying apparatus of a sterilizing robot;

fig. 9 is a view showing a controller of a sterilizing robot.

Reference numerals:

1. a vehicle body; 2. a motion device; 3. a sterilizing device; 31. a support; 32. a holder; 321. a rotation mechanism; 3211. a bearing seat; 3212. a bearing; 3213. a coupling; 322. a first motor; 323. a Y-shaped support plate; 324. a rotating shaft fixing member; 33. a spraying device; 331. a support shaft; 332. a housing; 3321. a protective cover; 3322. a side plate; 333. a duct; 334. a water tank; 335. a gas pipe joint; 336. an air tube; 337. a second motor; 338. a gear set; 3381. a first gear; 3382. a second gear; 34. an infrared camera; 35. an inertial measurement unit; 36. a controller; 361. a vision processing unit; 362. a control unit; 363. a drive unit; 4. a data acquisition device; 5. a control system; 6. a foreign matter treatment device.

Detailed Description

Example 1

As shown in fig. 1 to 2, a sterilization robot includes:

vehicle body 1: the device is used for loading the moving device 2, the sterilizing device 3, the data acquisition device 4 and the control system 5;

the movement device 2: the device is arranged at the bottom of the vehicle body 1 and used for receiving a motion instruction sent by the control system 5 and driving the vehicle body 1 to move according to the motion instruction;

the sterilizing device 3: the disinfection device 3 is arranged on the vehicle body 1, is used for receiving the disinfection instruction sent by the control system 5, loading the disinfection solution and spraying the disinfection solution to the carriage according to the disinfection instruction, and can adjust the spraying position of the disinfection solution according to the change of the environment;

as shown in fig. 3 to 5, the disinfecting device 3 includes a support 31 fixedly connected to the vehicle body 1, a cradle head 32 disposed on the support 31, a spraying device 33 disposed on the cradle head 32, an infrared camera 34 disposed on the cradle head 32 and located at a side of the spraying device 33, an inertia measuring unit 35, and a controller 36 disposed on the support 31 for controlling the movement of the cradle head 32 and the spraying device 33; the controller 36 is used for receiving the disinfection instruction transmitted by the control system 5, and the controller 36 is used for receiving the data transmitted by the infrared camera 34 and the inertial measurement unit 35 and processing the data;

as shown in fig. 6 to 7, the pan/tilt head 32 includes a rotating mechanism 321 connected to the support 31, a first motor 322 disposed on the support 31 and connected to one end of the rotating mechanism 321 for driving the rotating mechanism 321 to rotate, a Y-shaped support plate 323 connected to the other end of the rotating mechanism 321, and a rotating shaft fixing member 324 disposed at the top end of the Y-shaped support plate 323; the first motor 322 is electrically connected to the controller 36; the rotating mechanism 321 comprises a bearing block 3211 arranged on the bracket 31, a bearing 3212 connected with the bearing block 3211 and a coupler 3213 connected with the bearing 3212, wherein the coupler 3213 is fixedly connected with the Y-shaped support plate 323;

as shown in fig. 8, the spraying device 33 includes a supporting shaft 331 having one end connected to the Y-shaped supporting plate 323, a housing 332 connected to the other end of the supporting shaft 331, a duct 333 provided at one side of the housing 332, a water tank 334 provided in the housing 332, an air pipe connector 335 provided on the rotation shaft fixing member 324, an air pipe 336 having both ends connected to the water tank 334 and the air pipe connector 335, a second motor 337 provided on the Y-shaped supporting plate 323, and a gear train 338 connected to an output shaft of the second motor 337, the gear train 338 being connected to the housing 332; the housing 332 includes a cylindrical shield 3321 and side plates 3322 provided at both ends of the shield 3321, the side plates 3322 being connected to the gear unit 338; an ultrasonic atomization sheet is arranged in the water tank 334; the gear set 338 includes a first gear 3381 connected to an output shaft of the second motor 337 and a second gear 3382 connected to the side plate 3322, the first gear 3381 and the second gear 3382 being engaged with each other;

as shown in fig. 9, the controller 36 includes:

the vision processing unit 361: for receiving the visual signal transmitted by the infrared camera 34, for processing the visual signal and generating a first processing result, and for transmitting the first processing result to the driving unit 363;

the control unit 362: the inertial measurement unit 35 is used for receiving the state data transmitted by the inertial measurement unit 35, processing the state data and generating a second processing result, and transmitting the second processing result to the driving unit 363;

the driving unit 363: the device is used for receiving a first processing result transmitted by the vision processing unit 361, receiving a second processing result transmitted by the control unit 362, receiving a disinfection instruction transmitted by the control system, generating a driving instruction according to the first processing result, the second processing result and the disinfection instruction, and transmitting the driving instruction to the cloud deck 32 and the spraying device 33;

the data acquisition device 4: the system is arranged on the vehicle body 1 and used for acquiring data information of the vehicle body 1 and transmitting the data information to the control system 5;

the control system 5: the device is arranged on the vehicle body 1, is used for receiving data information transmitted by the data acquisition device 4, sending a motion instruction to the motion device 2, sending a disinfection instruction to the disinfection device 3 and sending a cleaning instruction to the foreign matter treatment device 6;

foreign matter treatment device 6: and the cleaning device is arranged on the vehicle body 1 and used for receiving a cleaning instruction sent by the control system 5 and cleaning and removing foreign matters according to the cleaning instruction.

In the using process of the embodiment, after the disinfection robot loads the disinfection solution in the water tank of the spraying device 33, the control system 5 controls the moving device 2 to drive the disinfection robot to disinfect according to a preset disinfection path, when the disinfection robot reaches a first disinfection target position, the control system 5 controls the moving device 2 to stop, the infrared camera 34 collects visual information of the disinfection target and transmits the visual information to the controller 36, the controller 36 adjusts the spraying position of the spraying device 33 according to the visual information, the disinfection solution is sprayed after the adjustment is completed, the disinfection of the first disinfection target is completed, and the control system 5 controls the moving device 2 to drive the disinfection robot to disinfect the next disinfection target until the whole disinfection task is completed.

The data acquisition device 4 acquires data information of a motion path in real time in the motion process of the disinfection robot, and when foreign matters appear in the motion path, the control system 5 adjusts a motion instruction according to the data information acquired by the data acquisition device 4, so that the motion device 2 drives the disinfection robot to change the path to avoid the foreign matters or remove the foreign matters through the foreign matter cleaning device 6; if the foreign matter cannot be cleaned or avoided, the control system 5 sends related data information to the manager.

The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that various modifications, changes, and equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A disinfection robot, characterized by: the method comprises the following steps:

vehicle body (1): the device is used for loading the moving device (2), the disinfection device (3), the data acquisition device (4) and the control system (5);

movement device (2): the device is arranged at the bottom of the vehicle body (1) and used for receiving a motion instruction sent by the control system (5) and driving the vehicle body (1) to move according to the motion instruction;

sterilizing device (3): the disinfection device is arranged on the vehicle body (1), is used for receiving a disinfection instruction sent by the control system (5), is used for loading disinfectant and spraying the disinfectant to a carriage according to the disinfection instruction, and can adjust the spraying position of the disinfectant according to the change of the environment by the disinfection device (3);

data acquisition device (4): the system is arranged on the vehicle body (1) and used for acquiring data information of a vehicle body path and transmitting the data information to the control system (5);

control system (5): the device is arranged on the vehicle body (1), is used for receiving the data information transmitted by the data acquisition device (4), is used for sending the movement instruction to the movement device (2), and is used for sending the disinfection instruction to the disinfection device (3).

2. A disinfecting robot as recited in claim 1, characterized in that: the disinfection device (3) comprises a support (31) fixedly connected with the vehicle body (1), a cradle head (32) arranged on the support (31), a spraying device (33) arranged on the cradle head (32), an infrared camera (34) arranged on the cradle head (32) and positioned on the side of the spraying device (33), an inertia measuring unit (35) and a controller (36) arranged on the support (31) and used for controlling the motion of the cradle head (32) and the spraying device (33); the controller (36) is used for receiving the disinfection instruction transmitted by the control system (5), and the controller (36) is used for receiving and processing the data transmitted by the infrared camera (34) and the inertial measurement unit (35).

3. A disinfection robot as claimed in claim 2, characterized in that: the controller (36) includes:

a vision processing unit (361): for receiving the visual signal transmitted by the infrared camera (34), for processing the visual signal and generating a first processing result, for transmitting the first processing result to a driving unit (363);

control unit (362): the inertial measurement unit (35) is used for receiving state data transmitted by the inertial measurement unit, processing the state data and generating a second processing result, and the second processing result is transmitted to the driving unit (363);

drive unit (363): for receiving a first processing result transmitted by the vision processing unit (361), for receiving a second processing result transmitted by the control unit (362), for receiving the disinfection command transmitted by the control system (5), for generating a driving command according to the first processing result, the second processing result and the disinfection command, and for transmitting the driving command to the cradle head (32) and the spraying device (33).

4. A disinfection robot as claimed in claim 2, characterized in that: the holder (32) comprises a rotating mechanism (321) connected with the bracket (31), a first motor (322) which is arranged on the bracket (31) and connected with one end of the rotating mechanism (321) for driving the rotating mechanism (321) to rotate, a Y-shaped supporting plate (323) connected with the other end of the rotating mechanism (321) and a rotating shaft fixing piece (324) arranged at the top end of the Y-shaped supporting plate (323); the first motor (322) is electrically connected to the controller (36).

5. A disinfection robot as claimed in claim 4, characterized in that: the rotating mechanism (321) comprises a bearing seat (3211) arranged on the support (31), a bearing (3212) connected with the bearing seat (3211) and a coupler (3213) connected with the bearing (3212), wherein the coupler (3213) is fixedly connected with the Y-shaped support plate (323).

6. A disinfection robot as claimed in claim 4, characterized in that: the spraying device (33) comprises a supporting shaft (331) with one end connected with the Y-shaped supporting plate (323), a shell (332) connected with the other end of the supporting shaft (331), a duct (333) arranged on one side of the shell (332), a water tank (334) arranged in the shell (332), an air pipe connector (335) arranged on the rotating shaft fixing piece (324), an air pipe (336) with two ends connected with the water tank (334) and the air pipe connector (335) respectively, a second motor (337) arranged on the Y-shaped supporting plate (323) and a gear set (338) connected with an output shaft of the second motor (337), wherein the gear set (338) is connected with the shell (332).

7. A disinfection robot as claimed in claim 6, characterized in that: the housing (332) includes a cylindrical protective cover (3321) and side plates (3322) provided at both ends of the protective cover (3321), the side plates (3322) being connected to the gear set (338).

8. A disinfection robot as claimed in claim 7, characterized in that: the gear set (338) includes a first gear (3381) connected to an output shaft of the second motor (337) and a second gear (3382) connected to the side plate (3322), and the first gear (3381) and the second gear (3382) are engaged with each other.

9. A disinfection robot as claimed in claim 6, characterized in that: an ultrasonic atomization sheet is arranged in the water tank (334).

10. A disinfecting robot as recited in any one of claims 1 to 9, characterized in that: the disinfection robot also comprises a foreign matter treatment device (6) which is arranged on the vehicle body (1) and used for cleaning and removing foreign matters.