CN108776473A - A kind of working method of intelligent disinfecting robot - Google Patents
A kind of working method of intelligent disinfecting robot Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000249 desinfective effect Effects 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims description 17
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000004659 sterilization and disinfection Methods 0.000 claims description 10
- 230000002070 germicidal effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
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- 238000001514 detection method Methods 0.000 abstract description 3
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- 238000005516 engineering process Methods 0.000 description 3
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- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0255—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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- G05D1/02—Control of position or course in two dimensions
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- 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
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The present invention relates to a kind of working methods of intelligent disinfecting robot; this method can be with time opening; and autonomous works in some region; ensure that all angles can be irradiated to ultraviolet light in ward; in addition; robot is equipped with infrared detection sensor, can be with temporary close ultraviolet lamp, effective protection eye-safe when detecting people.
Description
Technical field
The present invention relates to disinfection robot fields more particularly to a kind of intelligence mainly for the daily disinfection of hospital ward to disappear
The working method of malicious robot.
Background technology
Currently, after the key areas such as the ward of hospital, consulting room are contacted with epidemic victim, it is necessary to use ultraviolet irradiation method
Sterilizing is carried out, since ultraviolet light has injury to human eye and skin, it usually needs it is used in the case of nobody, therefore,
Hospital needs special messenger to be responsible for carrying out disinfection in night unlatching ultraviolet germicidal.Current system is typically to pacify in each key area
Ultraviolet lamp is filled, the switch of all lamps, which is then focused on a place, carries out unified opening and closing, or needs operator
Member shifts sterilizing equipment decontaminating apparatus onto each ward, individually carries out disinfection.The problem of causing in this way is, if someone when ultraviolet lamp is opened
It is not intended to swarm into, people may be damaged, in addition, the ultraviolet lamp of fixed position not necessarily can guarantee best bactericidal effect,
Certain position ultraviolet lights being blocked may irradiate less than.If carried out disinfection using independent ultraviolet lamp apparatus, user
The workload of member is very big.
Invention content
To overcome problem above of the existing technology, the present invention provides a kind of work sides of intelligent disinfecting robot
Method, not only disinfection efficiency is high for this method, but also reduces the labor intensity of staff, can effective guarantee staff the person
Safety.
A kind of working method of intelligent disinfecting robot, the room entrances that S1. need not be sterilized in hospital install electronics
Fence prevents robot from entering；If necessary to be sterilized in multiple floors, needs that localizer beacon is installed at elevator entrance, help
Robot localization floor and elevator entrance；
S2. robot is usually standby mode, and under standby mode, robot charges on cradle；When robot is in entirely certainly
Start building operation mode when, by setting start the time, robot starts automatically, into operating mode；It is opened manually when robot is in
Dynamic model formula, immediately enters operating mode；
S3. after robot enters operating mode, locating module is started to work, and obtains the current position coordinates of robot, fixed simultaneously
It position module and builds module and establishes environmental map jointly；After robot starts movement, each newfound environmental map is added
It is added in entire map, map will eventually cover the detectable region of entire hospital；
S4. the control program of robot randomly chooses a direction on map, and searches for the region that front can reach, simultaneously
Start bioprobe；If surrounding nobody, ultraviolet germicidal is opened, and setting time is stopped in current location, led to
The germ that surrounding is killed in ultraviolet light irradiation is crossed, after the residence time, robot will be using current point as the center of circle, and radius is the circle of R
Shape zone marker is sterilized；If surrounding someone, ultraviolet lamp is closed, waits for setting time, and send out voice prompt；
S5. step S3 is repeated, if when the region not sterilized in front direction, robot changes direction, continues to search
Rope, until the region on entire map all sterilizes completion；
S6. if recognizing localizer beacon in the robot course of work, current floor and elevator position can be recorded on map,
It then proceedes to work in This floor；Robot checks whether that also other floors do not sterilize after current floor completes disinfection,
If so, then going to elevator position, by infrared module and elevator communication, after elevator door is opened, laser radar can scan entrance
Position, robot enter elevator and go to next floor；
S7. after the completion of entire hospital all sterilizes, robot meeting return to origin, automatic charging simultaneously enters standby mode.
Further, the robot is equipped with crash sensor and dropproof sensor, avoids robot worked
It collides and falls in journey.
Further, the mode of establishing of the environmental map is incremental mode.
Further, the robot includes mobile chassis, and the mobile chassis bottom is movable pulley group, the movable pulley group
Be two driving wheels combine two universal wheels, four Mecanum wheels, four omni-directional wheels it is any.
Further, when movable pulley group is that two driving wheels combine two universal wheels, location algorithm is as follows：
1）Two driving wheels of mobile chassis are mounted on angle step encoder, and central processing unit reads angle with fixed frequency
The count value of incremental encoder is spent, and is converted to the angle that driving wheel turns over, it is assumed that the angle that or so k moment two actively rotates
RespectivelyWith；
2）The course of robot system current time k and the increment of x, y-coordinate are：
R is the radius of driving wheel in above formula, and W is the spacing of left and right driving wheel；
3）The course and position of current time k are indicated with difference equation：
When k=0,=0,=0,=0, the position and course of current time k can be calculated according to above formula.
Further, when movable pulley group is four Mecanum wheels, location algorithm is as follows：
1）Angle step encoder is mounted on four Mecanum wheels, central processing unit is increased with fixed frequency reading angular
The count value for measuring encoder, is converted to the rotating speed of four wheels, unit is revolution per second（r/s）;
2）According to the mounting structure of Mecanum wheel, rate conversion matrix such as following formula
Wherein a be wheel between left and right away from 1/2, b be 1/2, D of wheel fore-and-aft clearance be the diameter of wheel；
3）The speed of robot system is calculate by the following formula,
WhereinFor the speed of robot X-direction,For robot Y-direction speed,For the angular speed for calculating around central shaft；
4）The course and position of current time k are indicated with difference equation：
When k=0,=0,=0,=0,For the processing time interval of algorithm, can be calculated currently according to above formula
The position and course of moment k.
Further, when movable pulley group is four omni-directional wheels, location algorithm is as follows：
1）Angle step encoder is mounted on four omni-directional wheels, central processing unit is in terms of fixed frequency reading encoder
Numerical value is converted to the rotating speed of four wheels, unit is revolution per second（r/s）；
2）According to the mounting structure of omni-directional wheel, rate conversion relationship is as follows,
Wherein L be wheel subcenter at a distance from robot system mobile chassis center,For before omni-directional wheel and robot to folder
Angle, D are the diameter of wheel；
3）It is calculated from above formula, the course and position of current time k are indicated with difference equation：
When k=0,=0,=0,=0,For the processing time interval of algorithm, when can calculate current according to above formula
Carve the position and course of k.
Compared with prior art, beneficial effects of the present invention are as follows：
The working method of intelligent robot of the present invention, can be with time opening, and autonomous works in some region,
Ensure that all angles can be irradiated to ultraviolet light in ward, in addition, robot is equipped with infrared detection sensor, when detecting people
It can be with temporary close ultraviolet lamp, effective protection eye-safe.Robot also includes automatic charging function.
Description of the drawings
Fig. 1 is the body construction composition schematic diagram of the present invention.
Fig. 2 is the mobile chassis structural schematic diagram of the present invention.
Fig. 3 is the mobile chassis wheeled construction schematic diagram of the present invention.
Fig. 4 is the omni-directional wheel and Mecanum wheel structural schematic diagram of the present invention.
Fig. 5 is location algorithm schematic diagram when the present invention uses omni-directional wheel.
Fig. 6 is the operating diagram of the present invention.
Specific implementation mode
It is further illustrated the present invention below in conjunction with the drawings and specific embodiments.
As shown in Figure 1 and Figure 2, intelligent robot of the present invention includes：Mobile chassis 1, isolation cover 2, ultraviolet germicidal
3, laser radar 4, cradle, other attachmentes.
Mobile chassis include built-in power, central processing unit, radio frequency and infrared module, sensor group 6, electric machine assembly and
Movable pulley group 5 etc.；Built-in power can use lithium battery or lead-acid battery；Radio-frequency module is used for identification beacon, infrared module
It is communicated for the controller with elevator；Sensor group 6 includes range sensor, crash sensor, bioprobe and prevents falling
Fall sensor；Movable pulley group 5 is made of multiple wheels so that mobile chassis 1 can be moved all around, and be rotated in place；
Range sensor can use ultrasound or infrared mode, the distance of sensor timing acquiring peripheral obstacle, and be sent to
The case where central processor, processor is according to peripheral obstacle, adjusts the direction of advance of mobile chassis；Mobile chassis is all around
Four direction is respectively mounted bioprobe, effect be around detection whether someone, stop moving and closing if someone ultraviolet
Lamp, while voice prompt is played, remind people to leave as early as possible.Dropproof sensor 7 is used to detect whether direction of advance step occurs,
If there is then robot adjustment direction moves on；Crash sensor can be sent out when encountering barrier to central processing unit
It send urgency signal, robot that can stop immediately, and adjusts the direction of advance；The movement of robot is controlled by two wheel guide robot and is realized,
Two driving wheels are fitted with rotary encoder, and encoder pulse number corresponds to the corner of wheel, when not having in certain distance around
When barrier, robot moves forwards, at this time the rotating speed of two driving wheels and turn to it is all identical, when detecting that there is barrier in front
When, adjust rotating speed either steering realization turning or the u-turn of two driving wheels.
Isolation cover 2 is made of transparent toughened glass, inside installation 360 degree of scannings radar, and as the base of ultraviolet germicidal 3
Seat.
Ultraviolet germicidal 3 is made of multiple ultraviolet lamp tubes and outside support, and the power of each fluorescent tube is identical, such as is all
40W after robot work, can adjust the general power of ultraviolet irradiation according to the size for the map established.
Laser radar 4 is used to obtain the range information of ambient enviroment, and in conjunction with positioning and building module, mobile robot is being moved
Environmental map can be established in dynamic process, and is calculated from the position in map, to the subsequent fortune of guidance machine people
It is dynamic.
Cradle is used to charge to robot, is typically secured to some angle, robot can be with automatic identification charging seat.
Other attachmentes include fence（Virtual wall）And localizer beacon.Fence is based on infrared ray or magnetic field,
Effect is that robot is prevented to enter certain region.Localizer beacon is based on radio-frequency communication（RFID）, robot can be used to identify floor with
And specific position, such as elevator entrance.
As shown in figure 3, mobile chassis 1 can carry out front, rear, left and right translation, the movements such as rotate in place.On realizing
Function is stated, the wheel group on chassis may be used with lower structure：Fig. 3 (left side) uses two driving wheels, then adds two universal wheels, Fig. 3
(in) four Mecanum wheels, Fig. 3 (right side) is used to use four omni-directional wheels and be arranged vertically.
As shown in figure 4, omni-directional wheel and Mecanum wheel have in common that they are made of two large divisions：10 He of wheel hub
Roller 9, wheel hub 10 are the main body racks of entire wheel, and roller 9 is then mounted in the drum on wheel hub, the hub spindle of omni-directional wheel
It is mutually perpendicular to roller axles, and the hub spindle of Mecanum wheel and roller axles are usually 45° angle.
According to the difference of mobile chassis wheel group structure, the location algorithm of robot system is as follows：
（1）Using wheel group structure location algorithm shown in Fig. 3 (left side)
S1. two driving wheels of mobile chassis are mounted on angle step encoder, and central processing unit is read with fixed frequency
The count value of angle step encoder is taken, and is converted to the angle that wheel turns over, it is assumed that the angle that two wheels of or so k moment turn
RespectivelyWith；
S2. the course of robot system current time k and the increment of x, y-coordinate are：
R is the radius of driving wheel in above formula, and W is the spacing of left and right driving wheel.
S3. the course and position of current time k are indicated with difference equation：
When K=0,=0,=0,=0, the position and course of current time k can be calculated according to above formula.
（2）Using Fig. 3 (in) shown in wheel group structure location algorithm
S1. angle step encoder is mounted on four Mecanum wheels, central processing unit reads angle with fixed frequency
The count value for spending incremental encoder, is converted to the rotating speed of four wheels, unit is revolution per second（r/s）;
S2. according to the mounting structure of Mecanum wheel, rate conversion matrix is as follows,
Wherein a be wheel between left and right away from 1/2, b be 1/2, D of wheel fore-and-aft clearance be the diameter of wheel；
S3. the speed of robot system is calculate by the following formula,
WhereinFor the speed of robot X-direction,For robot Y-direction speed,For the angular speed for calculating around central shaft；
S4. the course and position of current time k are indicated with difference equation：
When K=0,=0,=0,=0,For the processing time interval of algorithm（For example, 0.1 second）, it is according to above formula
The position and course of current time k can be calculated.
（3）Using Fig. 3 (right side) wheel group structure location algorithm
S1. angle step encoder is mounted on four omni-directional wheels, central processing unit reads encoder with fixed frequency
Count value, be converted to the rotating speed of four wheels, unit is revolution per second（r/s）；
S2. as shown in figure 5, according to the mounting structure of omni-directional wheel, rate conversion relationship is as follows,
Wherein L be wheel subcenter at a distance from robot system mobile chassis center,For before omni-directional wheel and robot to folder
Angle, D are the diameter of wheel；
S3. it is calculated from above formula, the course and position of current time k are indicated with difference equation：
When K=0,=0,=0,=0,For the processing time interval of algorithm（For example, 0.1 second）, according to above formula
Calculate the position and course of current time k.
Due to sensor is inaccurate and wheel may skid etc., robot coordinate that above-mentioned localization method obtains and
Course often has large error, and referred to herein as the estimated value of robot pose, above-mentioned estimated value needs to use laser radar
Data robot location is modified, while establishing the environmental map of robot, this is SLAM algorithms.
When initial time k=0, there is no any features in map.The data of laser radar are in robot coordinate system
Measurement, when scanning is to certain feature m, pose of the feature under world coordinate system is calculated according to the pose of robot, at this time
Feature is added in map（Update map）；When the change of robot pose, feature m is observed again, can be existed according to feature
The pose of pose and feature under robot coordinate system under world coordinate system, calculates the pose of current robot（Robot
Self-position is corrected in positioning）.When robot continues movement, it will be observed that more features, according to same method.Machine
Device people can be added to them in map, while the position that amendment step 3 obtains.
The present invention uses the SLAM technologies based on scan matching.Estimate machine between twice sweep using arest neighbors scan matching
The translation of device people and spin matrix.Matching algorithm is calculated using iteration closest approach (Iterative Closest Point, ICP)
Method.The initial pose that the algorithm is provided by iteration fine tuning by robot odometer, defines search space.However, the algorithm
It is assumed that the deviation between the initial pose of robot and the true pose of robot is sufficiently small, in order to reach global optimum
Match, needs exist for the estimated value using step 3.
When initial time k=0, map is sky, map is all added in the data of laser radar, map is denoted as。
When current time k, having created map datum is, laser radar obtain data be.It is obtained according to step 3
The robot location's estimated value arrived, transition matrix of calculating robot's coordinate system in world coordinate system。
Then laser radar data, which is transformed under world coordinate system, is：
Using iteration closest approach algorithm, the transformation between laser radar data and map datum is obtained：
It enables, rightElement carry out triangular transformation and can be obtained the optimal pose of robot：CourseAnd
Position、 .Then map is added in the radar data after transformation, map rejuvenation is。
The working method of intelligent disinfecting robot system of the present invention is as follows：
1）Fence is installed firstly the need of the area entry that need not be sterilized in hospital, prevents robot from entering；In addition such as
Fruit needs to sterilize in multiple floors, needs to install localizer beacon at elevator entrance, helps robot localization floor and elevator
Entrance；
2）Robot supports fully automatic working pattern, and a startup time can be arranged；Robot is usually standby mode, standby
Under pattern, robot charges on cradle, and when the time reaches setting time, robot starts automatically, into operating mode；Machine
Device people can also manually boot, and immediately enter operating mode；
3）Robot enters after operating mode, and locating module is started to work, and obtains the current position coordinates of robot, builds simultaneously
The mode of establishing of vertical environmental map, map is increment type；After robot starts movement, each newfound environmental map is added
It is added in entire map, map will eventually cover the detectable region of entire hospital；
4）Robot selects a direction, the region that search front can reach on map, while starting bioprobe, such as
Nobody around fruit then opens ultraviolet germicidal, and stays for some time in current location, is irradiated by ultraviolet light and kills week
The germ enclosed；As shown in fig. 6, after the residence time, robot will be using current point as the center of circle, radius R（R and ultraviolet-sterilization
The power of lamp is related）A border circular areas labeled as sterilized；If surrounding someone, ultraviolet lamp is closed, waits for one section
Time, and send out voice prompt；
5）Repeat step 3）, it is assumed that when the region not sterilized in front direction, then robot change direction, continues to search
Rope, until the region on entire map all sterilizes completion；
6）If recognizing localizer beacon in the robot course of work, it can be marked, be then proceeded in This floor on map
Work；Robot can check on map whether there is label, if so, then going to marker bit after current floor completes disinfection
It sets, by infrared module and elevator communication, after elevator door is opened, laser radar can scan entry position, and robot enters elevator
Go to next floor；
7）In the robot course of work, all normal operation of sensor avoid collision and fall；
8）After the completion of entire hospital all sterilizes, robot meeting return to origin, automatic charging simultaneously enters standby mode.
Description for the understanding of specific implementation mode is only to understand the present invention for help, rather than be used for limiting this hair
Bright.Those skilled in the art can carry out some modifications and changes using the thought of the present invention, as long as its technological means does not have
There are the thought and main points for being detached from the present invention, still within protection scope of the present invention.
Claims (7)
1. a kind of working method of intelligent disinfecting robot, it is characterised in that：
S1. the room entrances installation fence that need not be sterilized in hospital, prevents robot from entering；If necessary to multiple
Floor sterilizes, and needs to install localizer beacon at elevator entrance, helps robot localization floor and elevator entrance；
S2. robot is usually standby mode, and under standby mode, robot charges on cradle；When robot is in entirely certainly
Start building operation mode when, by setting start the time, robot starts automatically, into operating mode；It is opened manually when robot is in
Dynamic model formula, immediately enters operating mode；
S3. after robot enters operating mode, locating module is started to work, and obtains the current position coordinates of robot, fixed simultaneously
It position module and builds module and establishes environmental map jointly；After robot starts movement, each newfound environmental map is added
It is added in entire map, map will eventually cover the detectable region of entire hospital；
S4. the control program of robot randomly chooses a direction on map, and searches for the region that front can reach, simultaneously
Start bioprobe；If surrounding nobody, ultraviolet germicidal is opened, and setting time is stopped in current location, led to
The germ that surrounding is killed in ultraviolet light irradiation is crossed, after the residence time, robot will be using current point as the center of circle, and radius is the circle of R
Shape zone marker is sterilized；If surrounding someone, ultraviolet lamp is closed, waits for setting time, and send out voice prompt；
S5. step S3 is repeated, if when the region not sterilized in front direction, robot changes direction, continues to search
Rope, until the region on entire map all sterilizes completion；
S6. if recognizing localizer beacon in the robot course of work, current floor and elevator position can be recorded on map,
It then proceedes to work in This floor；Robot checks whether that also other floors do not sterilize after current floor completes disinfection,
If so, then going to elevator position, by infrared module and elevator communication, after elevator door is opened, laser radar can scan entrance
Position, robot enter elevator and go to next floor；
S7. after the completion of entire hospital all sterilizes, robot meeting return to origin, automatic charging simultaneously enters standby mode.
2. a kind of working method of intelligent disinfecting robot according to claim 1, it is characterised in that：The robot peace
Equipped with crash sensor and dropproof sensor, robot is avoided to collide and fall during the work time.
3. a kind of working method of intelligent disinfecting robot according to claim 1, it is characterised in that：The environmental map
Establish mode be incremental mode.
4. a kind of working method of intelligent disinfecting robot according to claim 1, it is characterised in that：The robot packet
Include mobile chassis, the mobile chassis bottom is movable pulley group, the movable pulley group be two driving wheels combine two universal wheels,
Four Mecanum wheels, four omni-directional wheels it is any.
5. a kind of working method of intelligent disinfecting robot according to claim 4, it is characterised in that：When movable pulley group is
When two driving wheels combine two universal wheels, location algorithm is as follows：
1）Two driving wheels of mobile chassis are mounted on angle step encoder, and central processing unit reads angle with fixed frequency
The count value of incremental encoder is spent, and is converted to the angle that driving wheel turns over, it is assumed that the angle that or so k moment two actively rotates
RespectivelyWith；
2）The course of robot system current time k and the increment of x, y-coordinate are：
R is the radius of driving wheel in above formula, and W is the spacing of left and right driving wheel；
3）The course and position of current time k are indicated with difference equation：
When k=0,=0,=0,=0, the position and course of current time k can be calculated according to above formula.
6. a kind of working method of intelligent disinfecting robot according to claim 4, it is characterised in that：When movable pulley group is
When four Mecanum wheels, location algorithm is as follows：
1）Angle step encoder is mounted on four Mecanum wheels, central processing unit is increased with fixed frequency reading angular
The count value for measuring encoder, is converted to the rotating speed of four wheels, unit is revolution per second（r/s）；
2）According to the mounting structure of Mecanum wheel, rate conversion matrix such as following formula
Wherein a be wheel between left and right away from 1/2, b be 1/2, D of wheel fore-and-aft clearance be the diameter of wheel；
3）The speed of robot system is calculate by the following formula,
WhereinFor the speed of robot X-direction,For robot Y-direction speed,For the angular speed for calculating around central shaft；
4）The course and position of current time k are indicated with difference equation：
When k=0,=0,=0,=0,For the processing time interval of algorithm, can be calculated currently according to above formula
The position and course of moment k.
7. a kind of working method of intelligent disinfecting robot according to claim 4, it is characterised in that：When movable pulley group is
When four omni-directional wheels, location algorithm is as follows：
1）Angle step encoder is mounted on four omni-directional wheels, central processing unit is in terms of fixed frequency reading encoder
Numerical value is converted to the rotating speed of four wheels, unit is revolution per second（r/s）；
2）According to the mounting structure of omni-directional wheel, rate conversion relationship is as follows,
Wherein L be wheel subcenter at a distance from robot system mobile chassis center,For before omni-directional wheel and robot to folder
Angle, D are the diameter of wheel；
3）It is calculated from above formula, the course and position of current time k are indicated with difference equation：
When k=0,=0,=0,=0,For the processing time interval of algorithm, can be calculated currently according to above formula
The position and course of moment k.
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Application publication date: 20181109 |