CN109432466A - A kind of portable intelligent disinfection robot, disinfection controlling of path thereof and chip - Google Patents
A kind of portable intelligent disinfection robot, disinfection controlling of path thereof and chip Download PDFInfo
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- CN109432466A CN109432466A CN201811622212.8A CN201811622212A CN109432466A CN 109432466 A CN109432466 A CN 109432466A CN 201811622212 A CN201811622212 A CN 201811622212A CN 109432466 A CN109432466 A CN 109432466A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 332
- 230000001954 sterilising effect Effects 0.000 claims abstract description 77
- 230000004044 response Effects 0.000 claims abstract description 11
- 230000001580 bacterial effect Effects 0.000 claims description 27
- 230000000249 desinfective effect Effects 0.000 claims description 18
- 230000007613 environmental effect Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 12
- 241000894006 Bacteria Species 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 4
- 230000000845 anti-microbial effect Effects 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 12
- 230000001276 controlling effect Effects 0.000 description 15
- 230000000875 corresponding effect Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 206010003084 Areflexia Diseases 0.000 description 1
- 206010053615 Thermal burn Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000009414 blockwork Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005660 chlorination reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004033 diameter control Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000002574 poison Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- A61L2/26—Accessories or devices or components used for biocidal treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
-
- 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
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
-
- 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
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of portable intelligent disinfection robot, disinfection controlling of path thereof and chip, comprising: the chassis with air suction opening；Acquisition module is carried by chassis and is arranged towards the surface in region to be sterilized, for receiving and responding the location information on the surface from region to be sterilized；Drive module, including left driving wheel and right driving wheel are connected to the opposite side on chassis and are configured to driving portable intelligent disinfection robot in the surface movement in region to be sterilized；The top of the air suction opening on chassis is arranged in sterilization module, including sterilamp, sterilamp, and is set on the support frame between the left driving wheel of drive module and right driving wheel；Control module, exist respectively with acquisition module, drive module and sterilization module and is electrically connected, the disinfection position that drive module and sterilization module work at the same time is determined for the location information according to acquisition module, and the disinfection path of portable intelligent disinfection robot is adjusted in response to acquisition module.To improve Disinfection Effect.
Description
Technical field
The present invention relates to sterilizing equipment decontaminating apparatus technical field, a kind of portable intelligent disinfection robot, disinfection are especially related to
Controlling of path thereof and chip.
Background technique
The present invention belongs to the relevant technologies related to the present invention for the description of background technique, be only used for explanation and just
In understanding summary of the invention of the invention, it should not be construed as applicant and be specifically identified to or estimate applicant being considered of the invention for the first time
The prior art for the applying date filed an application.
Disinfection way needs to expend a large amount of artificial and time mainly using artificial spray disinfectant come what is carried out at present,
But the blind area and dead angle of disinfection are easily caused, sterilizing machine furthermore currently on the market is mostly fixed, close to sterilizing equipment decontaminating apparatus
The air and body surface of distance can play the role of well sterilizing, but to the Disinfection Effect of remote air and body surface
It is decreased obviously, such as other places is sterilized, it is necessary to sterilizing equipment decontaminating apparatus is manually moved to specified place and is carried out disinfection again, and
After sterilizing equipment decontaminating apparatus completes sterilization operation, needs manually to move the machine to specified position and stored, it is inconvenient for use, it influences
Disinfection Effect.
In recent years, there is the technology to solve the above problems in articles field in bed, such as: Chinese Patent Application No.
A kind of robot device with automatic disinfection disclosed in CN201710803069.1, although this art solutions does not have to lead to
Transformation bed body itself is crossed to increase chlorination equipment, but needs the paving track cloth in bed body, and be provided with magnetic on the cloth of track
Property track, optical rail or color track, while also needing that corresponding track signal sensor is specially arranged on robot body
Remove to receive the guidance signal of track.During using above-mentioned robot, the track cloth being arranged in the technical solution limits machine
The working range of people is unfavorable for carrying out working region comprehensively killing disinfection, and the track signal sensor installed increases machine
The manufacturing cost and the calculation resources during automatic running of device people.
Summary of the invention
In order to overcome the above technical defects, the present invention provides a kind of portable intelligent disinfection robot of miniaturization, this is just
Xie Shi intelligent disinfecting robot is worked using the disinfection and sterilization that working region surface is completed in positioning immediately and map constructing method, this
Invention proposes following technical scheme:
A kind of portable intelligent disinfection robot, comprising: the chassis with air suction opening；Acquisition module is carried by chassis and is arranged
For towards the surface in region to be sterilized, for receiving and responding the location information on the surface from region to be sterilized；Drive module,
Including left driving wheel and right driving wheel, be connected to the opposite side on chassis and be configured to driving portable intelligent disinfection robot to
The surface of sterilising zone is mobile；Further include: the top of the air suction opening on chassis is arranged in sterilization module, including sterilamp, sterilamp,
And it is set on the support frame between the left driving wheel of drive module and right driving wheel；Control module, with acquisition module, driving mould
There is electrical connection in block and sterilization module, determine drive module and sterilization module simultaneously for the location information according to acquisition module
The disinfection position of work, and the disinfection path of portable intelligent disinfection robot is adjusted in response to acquisition module, it is portable to prevent
Formula intelligent disinfecting robot falls in the marginal surface position in region to be sterilized.Compared with the existing technology, the technical solution is not
Under the premise of guide rail is set, autonomous determining movement routine, disinfection position are realized according to location information, can control portable
Intelligent disinfecting robot is performed disinfection work according to determining mobile route and disinfection position, can not only carry out adequate disinfection, but also
It avoids sterilizing the problems such as not in place, improves Disinfection Effect.And the external portable of the artificial bed body of portable intelligent sterilization machine
Formula component, without being transformed to bed body, manufacturing cost is lower, is convenient for carrying and uses, more convenient.
Further, the location information on the surface in the region to be sterilized include floor area, obstacle position information with
And the marginal surface position in the region to be sterilized.The present embodiment passes through the floor area for obtaining the region to be sterilized, obstacle
The marginal surface position in object location information and the region to be sterilized, is conducive to reasonably determine disinfection position, to realize
To the adequate disinfection in the region to be sterilized, or can carry out disinfection according to reasonable movement routine or movement routine with disappear
Malicious position, which combines etc., carries out adequate disinfection to the region to be sterilized.
Further, the acquisition module include for sense on the surface in the region to be sterilized with obstacle distance
Infrared distance sensor and for prevent the infrared steep cliff fallen in the marginal surface position in the region to be sterilized sense
Device.Wherein, infrared steep cliff sensor is for measuring the region to be sterilized at a distance from ground, to prevent the portable intelligent
There is falling hazard in disinfection robot.
Further, the portable intelligent disinfection robot further includes dust-collecting box, the input port of the dust-collecting box with it is described
There are an air duct between air suction opening, the air duct is in the radiation scope of the sterilamp.The technical solution is being killed
Bacterium realizes dust suction while disinfection, to realize comprehensive disinfection.
Further, the dust-collecting box and the dust suction hole surface are equipped with antimicrobial coating.It is not comprehensive to solve disinfection, has and disappears
The problem of poisoning angle with poison.
A kind of disinfection controlling of path thereof using above-mentioned portable intelligent disinfection robot, the disinfection controlling of path thereof
Be implemented in the region to be sterilized at least one open edge, specifically include: step 1, the control module pass through described
Drive module controls the portable intelligent disinfection robot and opens autonomous on the surface in region to be sterilized, and described in control
Acquisition module receives and responds the location information from region to be sterilized；Step 2 is continuing that the portable intelligent is driven to sterilize
While robot is mobile, the location information for receiving and responding according to the acquisition module determines disinfection position, and in the control
The environmental map in region to be sterilized is constructed in molding block in real time；Step 3, the region to be sterilized constructed in real time according to step 2 ring
Condition figure and the acquisition module receive and the location information responded cooks up corresponding disinfection path, and according to the disinfection path
The sterilising zone range of delineation sets a default disinfection number；Wherein, sterilising zone range size is deposited with default disinfection number
In positive correlation；Step 4, the control portable intelligent disinfection robot move repeatedly according to the disinfection path described in step 3
It is dynamic, complete the sterilization operation of default disinfection number.The present invention can carry out default disinfection time according to the environmental information in region to be sterilized
Several sterilization operations not only can carry out adequate disinfection by the map independently constructed, but also be avoided that the problems such as disinfection is not in place, improve
Disinfection Effect.
Further, the step 2 further include: in the process for continuing to drive the portable intelligent disinfection robot mobile
In, when the acquisition module receives the steep cliff reflective information of the marginal surface position in the region to be sterilized, the acquisition
Module makes a response information to the control module；According to the response message that the acquisition module is made, the drive module control
Make the portable intelligent disinfection robot and be moved to the second disinfection position from the first disinfection position and continue to sterilize, change it is described just
The direction of motion of Xie Shi intelligent disinfecting robot, so that the portable intelligent disinfection robot is routed away from the open side
Edge.The radiation signal that the technical solution reflects at the marginal surface position by receiving the region to be sterilized, to control machine
People avoids falling, so that robot be maintained reciprocally to perform disinfection work on the surface in the region to be sterilized, saves the time, kills
The efficiency of bacterium disinfection is higher.
Further, the location information further includes bacterial number, so, the step 3 specifically includes: step 31, control
The bacterial number that the portable intelligent disinfection robot acquires current location in real time on the disinfection path is made, obtains and corresponds to
Corresponding disinfection cycle in table；If step 32, the bacterial number acquired in real time are greater than first predetermined value, in the environment
It is the disinfection position that current location is marked in figure, otherwise controls the portable intelligent disinfection robot along the disinfection road
Diameter acquires the bacterial number of next position；Step 33, in conjunction with the disinfection path cooked up, control the portable intelligent
Disinfection robot carries out once sterilizing operation according to disinfection cycle；Step 34, when carry out disinfection according to disinfection cycle complete when, if
The bacterial number acquired in real time is greater than second predetermined value, then continues the work that carries out disinfection in the disinfection path according to disinfection cycle
Industry, otherwise judges whether the number of sterilization operation reaches the default disinfection number, is to terminate, otherwise according to disinfection cycle after
Continue and is performed disinfection work in the disinfection path；Wherein, the corresponding table is the correspondence of the bacterial number and disinfecting time
Table；First predetermined value is greater than second predetermined value.The technical program determines disinfecting time, the present embodiment base according to the bacterial number
Whether the bacterial number handled by disinfecting time is abundant to judge to sterilize, can be by described in setting one when sterilizing insufficient
Default disinfection number supplements disinfection on the disinfection path, avoids and sterilizes situation not in place.
Further, the disinfection controlling of path thereof further include: after opening the sterilamp, the sterilamp transmitting
Air suction opening described in UV light permeability gets hot spot on the surface in the region to be sterilized；When the hot spot got is close described wait disappear
When the marginal surface position in contaminated area domain, direction and the size in the disinfection path are adjusted, so that hot spot is in the region to be sterilized
The effective area strafed of surface it is maximum.
A kind of chip, the built-in chip type is in the portable intelligent disinfection robot, for controlling the portable intelligence
Energy disinfection robot executes the disinfection controlling of path thereof, improves the Disinfection Effect of the portable intelligent disinfection robot.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of portable intelligent disinfection robot provided in an embodiment of the present invention.
Fig. 2 is a kind of disinfection path clustering based on the portable intelligent disinfection robot provided in an embodiment of the present invention
The flow chart of method.
Fig. 3 is a kind of flow chart of disinfection controlling of path thereof based on bacterial number provided in an embodiment of the present invention.
Wherein, appended drawing reference:
101: the chassis of portable intelligent disinfection robot；102: drive module；1021: left driving wheel, 1022: right driving wheel；
103: sterilamp；104: acquisition module；105: control module；106: the air suction opening on chassis；107: dust-collecting box；1071: dust-collecting box
Input port.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of portable intelligent disinfection robot, as shown in Figure 1, the portable intelligent sterilizing machine
Device people includes: chassis 101, drive module 102, acquisition module 104, control module 105 and disinfection mould with air suction opening 106
Block.Wherein, acquisition module 104 is carried by chassis 101 and is arranged towards the surface in region to be sterilized, comes for receiving and responding
Location information from the surface in region to be sterilized, specifically, acquisition module 104 include the table for sensing the region to be sterilized
With the infrared distance sensor of obstacle distance and for preventing from falling in the marginal surface position in the region to be sterilized on face
The infrared steep cliff sensor fallen, the acquisition module 104 of Fig. 1 can be infrared steep cliff sensor, and Probe arrangement is towards wait disappear
The surface in contaminated area domain, so, acquisition module 104 is prevented at a distance from ground described portable by the measurement region to be sterilized
There is falling hazard in formula intelligent disinfecting robot.
Drive module 102 includes left driving wheel 1022 and right driving wheel 1021, is connected to the opposite side on chassis 101 and construction
Surface movement for driving portable intelligent disinfection robot in region to be sterilized, 1021 edge of left driving wheel 1022 and right driving wheel
Opposite direction is mounted on the opposite side on chassis 101 to adjust the movement of robot, and drive module 102 further includes universal wheel (in figure
It is not shown), the universal wheel is rotatably installed at the front on chassis 101, so that portable intelligent disinfection robot is expert at
It is turned to when walking to turning by universal wheel, universal wheel cooperation left driving wheel 1022 and right driving wheel 1021 support portable
Intelligent disinfecting robot, to stablize the physical location of portable intelligent disinfection robot and prevent portable intelligent disinfection robot
It overturns.
The portable intelligent disinfection robot further include: sterilization module, including sterilamp 103, sterilamp 103 are arranged the bottom of at
The top of the air suction opening 106 of disk 101, and be set between the left driving wheel 1022 of drive module 102 and right driving wheel 1021
It (is not represented in figure) at support frame；During portable intelligent disinfection robot is mobile, the light of the generation of sterilamp 103
Sterilizing can be carried out on bed body, sheet or bedding surface through air suction opening 106, the operating temperature of sterilamp 103 is at 250 degree
Between ~ 400 degree, sterilamp 103 belongs to cold light source, and heat dissipation problem is not present, and has preferable disinfection function, and work
Proper temperature, be not in temperature it is excessively high and the problem of scald user of service.Sterilamp 103 is by closed installation in the present embodiment
In metal material cover, only by several mm wides long and narrow light slit downward, execute disinfection against sheet through air suction opening 106
Task.It can be remotely operated by remote control device when specifically used, or even by machine interface, remote auto control:
Starting, is closed at disinfection, and injury can be led to the problem of to human body when closely using so as to avoid operator.
The portable intelligent disinfection robot further includes dust-collecting box 107, the input port 1071 of the dust-collecting box 107 and dust suction
There are an air ducts (not to represent in Fig. 1) between hole 106, which disappears in the radiation scope of sterilamp 103
Malicious lamp 103 can carry out disinfection to the gas of air duct sterilization；Dust-collecting box is equipped in the portable intelligent disinfection robot
107, blower (not shown) and filter device are equipped at dust-collecting box 107, dust absorption fan is for guiding input port 1071
Air to be sterilized, filter device then carry out gas filtration.Dust-collecting box 107 can be discharged under the action of blower disinfected
Aseptic gas.While sterilizing, bed body, the hair of sheet or bedding surface and dust etc. can also be adsorbed to storage dirt
In box 107, cleaning can be unloaded down after the storage of dust-collecting box 107 is full, is being reinstalled after cleaning.The technical solution is in sterilizing
While realize dust suction, to realize comprehensive disinfection.
Preferably, dust-collecting box 107 and 106 surface of air suction opening are equipped with antimicrobial coating, which is lamination layer structure, can
It is sputtered and is formed by reflecting material, ultraviolet light can sufficiently reflected, make full use of it in sterilizing, advantageously account for sterilizing
Not comprehensively, there is the problem of disinfection dead angle.
Control module 105 exists with acquisition module 104, drive module 102 and sterilization module and is electrically connected, control module
105, which issue driving instruction, controls drive module 102, so that Xie Shi intelligent disinfecting robot is transported according to the disinfection path of planning
It is dynamic；Meanwhile control module 105 issues disinfection instruction according to the input data of acquisition module 104, control sterilization module emits light
Execute disinfection task.Control module 105 is used to determine drive module 102 and disinfection mould according to the location information of acquisition module 104
The disinfection position that block works at the same time, and the disinfection path of portable intelligent disinfection robot is adjusted in response to acquisition module 104, with
Prevent portable intelligent disinfection robot from falling in the marginal surface position in region to be sterilized.Compared with the existing technology, the technology
Scheme realizes autonomous determining movement routine, disinfection position under the premise of being not provided with guide rail, according to location information, can control
Portable intelligent disinfection robot processed is performed disinfection work according to determining mobile route and disinfection position, can both have been carried out sufficiently
Disinfection, and avoid sterilizing the problems such as not in place, Disinfection Effect is improved, and the artificial bed body of portable intelligent sterilization machine is outer
Portion's portable component, without being transformed to bed body, manufacturing cost is lower, is convenient for carrying and uses, more convenient.
In an alternative embodiment of the invention, the location information on the surface in the region to be sterilized includes floor area, barrier
Hinder the marginal surface position of object location information and the region to be sterilized.The present embodiment is by obtaining the region to be sterilized
The marginal surface position of floor area, obstacle position information and the region to be sterilized is conducive to reasonably determine disinfection
Position to realize the adequate disinfection to the region to be sterilized, or can carry out disinfection according to reasonable movement routine, or
Movement routine combines etc. with disinfection position carries out adequate disinfection to the region to be sterilized.In the present embodiment, room can be passed through
Interior location technology (UWB etc.) obtains spatial information.In the present embodiment, relevant information is obtained by indoor positioning technologies, without height
Hold complicated equipment.The present embodiment, with reference to the distribution of barrier, can be determined more preferably when formulating mobile route and disinfection position
Sterilize path and disinfection position.
Based on above-mentioned portable intelligent disinfection robot, the present invention provides a kind of disinfection controlling of path thereof, the disinfection road
Diameter control method is implemented in the region to be sterilized at least one open edge, as shown in Fig. 2, the disinfection path clustering side
Method specifically includes: step S201, control module 105 controls the portable intelligent disinfection robot by drive module 102 and exists
Autonomous is opened on the surface in region to be sterilized, and is controlled acquisition module 104 and received and respond the position from region to be sterilized
Information, subsequently into step S202.Disinfection controlling of path thereof provided in an embodiment of the present invention can be realized according to environmental information
It is autonomous to determine disinfection path, disinfection position, it can be moved back and forth along determining disinfection path, motor reversal can be passed through here
To realize return movement；Adequate disinfection can be carried out, and avoids sterilizing the problems such as not in place, improves Disinfection Effect.The present invention
The method of embodiment manually participates in few, autonomy-oriented degree height.
Step S202, while continuing to drive the portable intelligent disinfection robot mobile, according to the acquisition mould
Block receives and the location information responded determines disinfection position, and constructs the environment in region to be sterilized in real time in the control module
Map, subsequently into step S203.Specifically, comprising: in the mistake for continuing to drive the portable intelligent disinfection robot mobile
Cheng Zhong, when acquisition module 104 receives the steep cliff reflective information of the marginal surface position in the region to be sterilized, acquisition module
104 make a response information；Then the response message made according to acquisition module 104 plans the portable intelligent sterilization machine
People is moved to the path of the second disinfection position from the first disinfection position.On the path, acquisition module 104 believes extremely weak reflection
Number or areflexia signal be denoted as steep cliff reflective information, then make the portable intelligent disinfection robot close to the sound at suspended wall edge
Information is answered, then transfers to drive module 102 to control the portable intelligent disinfection robot and is moved to from the first disinfection position
Two disinfection positions are further continued for carrying out disinfection work in new disinfection position to deviate the marginal surface position in the region to be sterilized
Industry.The present embodiment passes through the direction of motion for changing the portable intelligent disinfection robot, so that the portable intelligent sterilizes
Robot is routed away from the open edge；The environmental information obtained in above-mentioned steps according to the acquisition module simultaneously,
Construct the environmental map in the region to be sterilized in real time in the control module.The technical solution is described to be sterilized by receiving
The radiation signal reflected at the marginal surface position in region, avoids falling, to maintain robot described to control robot
The surface in region to be sterilized reciprocally performs disinfection work, and saves the time, and the efficiency of sterilizing is higher.Wherein, described wait disappear
The location information on the surface in contaminated area domain includes the marginal surface of floor area, obstacle position information and the region to be sterilized
Position.Floor area, obstacle position information and the area to be sterilized that the present embodiment passes through the acquisition region to be sterilized
The marginal surface position in domain, is conducive to reasonably determine disinfection position, to realize the adequate disinfection to the region to be sterilized,
Or it can carry out disinfection according to reasonable movement routine or movement routine is combined with disinfection position etc. to the area to be sterilized
Domain carries out adequate disinfection.
It should be noted that the environmental map for constructing the region to be sterilized in real time is according to existing technical solution
It executes, therefore does not repeat, difference with the prior art is independently to be constructed during sterilization operation based on disinfection path
Map reasonably determines disinfection position to meet, to realize the adequate disinfection to the region to be sterilized.
Step S203, it is received according to the environmental map in the region to be sterilized constructed in real time step S202 and the acquisition module
And the location information responded cooks up corresponding disinfection path, and the sterilising zone range setting one according to disinfection path delineation
A default disinfection number, subsequently into step S204；Wherein, sterilising zone range size and default disinfection number, which exist, is positively correlated
Relationship.When the sterilising zone range that the disinfection path cooked up is drawn a circle to approve is bigger, then the numerical value for presetting disinfection number is bigger, is disappearing
After malicious regional scope is sufficiently large, presets disinfection number and stablize in a definite value；When the region that the disinfection path cooked up is drawn a circle to approve
Range is smaller, then the numerical value for presetting disinfection number is smaller, and after sterilising zone range is sufficiently small, default disinfection number be can be set
It is 0.The step is adjusted according to the data that acquisition module 104 is collected.It is sterilized due to general both for specific region,
It can targetedly be adjusted according to the data collected to specific region sterilization operation, more be met with actual conditions.
Step S204, the portable intelligent disinfection robot is controlled to move repeatedly according to disinfection path described in step S203
It is dynamic, complete the sterilization operation of default disinfection number.The present invention can carry out default disinfection time according to the environmental information in region to be sterilized
Several sterilization operations not only can carry out adequate disinfection by the map independently constructed, but also be avoided that the problems such as disinfection is not in place, improve
Disinfection Effect.
Preferably, the location information further includes bacterial number, in the present embodiment, can determine disinfection according to bacterial number
Time, if other conditions are the same, the quantity of bacterium can reduce disinfecting time less, and bacterial number can mostly extend and disappear
The malicious time.The present embodiment can be performed disinfection work more accurately, can be adequately disinfected and excessive.And Obstacle Position
Information can more preferably determine disinfection path and disinfection position.Certainly, environmental information include bacterial number, obstacle position information,
The information such as floor area and spatial altitude preferably can be performed disinfection work precisely.
As shown in figure 3, the step S203 is specifically included:
Step S301, it controls the portable intelligent disinfection robot and acquires the thin of current location in real time on the disinfection path
Bacterium number amount obtains disinfection cycle corresponding in corresponding table, subsequently into step S302；As an optional implementation of the invention
Example, according to bacterial number, institute is to corresponding time, as disinfecting time in the corresponding table of acquisition；Wherein, corresponding table is bacterial number
With the correspondence table of time.Disinfecting time can quickly be determined by corresponding table in the present embodiment, and described in disinfecting time conduct
Disinfection cycle, is divided into current disinfection cycle and next disinfection cycle, and specific numerical value is equal.
Correspondence table in the embodiment of the present invention can be by empirically determined.The correspondence table can also be by existing disinfection
Time and bacterium situation are analyzed to obtain.Certainly, the number that the particular content of corresponding table can also be collected according to each sterilization operation
According to being adjusted.Since general disinfection is both for specific region, according to the data collected to specific region sterilization operation
Corresponding table can targetedly be adjusted, more be met with actual conditions.
Step S302, whether the bacterial number that judgement acquires in real time is greater than first predetermined value, is to enter step S303, no
Then enter step S304.First predetermined value is in the region to be sterilized be more than hygienic warning line primitive bacteria number, be
The empirical value that the bacterial number of specific region is done can be used as the condition of starting disinfection.
Step S303, it is the disinfection position that current location is marked in the environmental map, thus described to be sterilized
Determining in region needs the position sterilized subsequently into step S305.
Step S304, it controls the portable intelligent disinfection robot and acquires next position along the disinfection path
Bacterial number, then return step S302 continues the bacterial number for judging to acquire in real time, continually looks for the position that judgement need to sterilize,
To maintain the portable intelligent disinfection robot real-time perfoming detection operation.
Step S305, in conjunction with the disinfection path cooked up, the portable intelligent disinfection robot is controlled according to institute
It states disinfection cycle and carries out once sterilizing operation, control the portable intelligent disinfection robot and disappear along the disinfection path
Malicious operation, the disinfecting time of setting are a disinfection cycle, when a disinfection cycle is completed, that is, are completed current
The sterilization operation of disinfection cycle, some the described disinfection position of the portable intelligent disinfection robot in the disinfection path
It sets and stops autonomously operation, subsequently into step S306.
Step S306, when completing the sterilization operation of current disinfection cycle, judge whether the bacterial number acquired in real time is big
It in second predetermined value, is to enter step S307, otherwise enter step S308.Second predetermined value can be measured in a disinfection cycle
Disinfection and sterilization quality, directly affect the Disinfection Effect of disinfection controlling of path thereof, acquired in real time when in the disinfection path
When bacterial number is less than second predetermined value, show that the portable intelligent disinfection robot has been completed current disinfection cycle interior time
The sterilization operation work in the disinfection path gone through, but in order to improve the overall disinfection bactericidal effect in the region to be sterilized, also need
The sterilization operation repeatedly for reaching the default disinfection number, avoids sterilizing the problems such as not in place, improves Disinfection Effect.Its
In, first predetermined value is greater than second predetermined value.
Step S307, continue to perform disinfection work in the disinfection path according to the disinfection cycle, subsequently into step
Rapid S308.
Step S308, judge whether the number of sterilization operation reaches the default disinfection number, be to terminate, otherwise return
Step S307.
The present embodiment determines disinfecting time according to the bacterial number, and the present embodiment is based on bacterium handled by disinfecting time
Whether quantity is abundant to judge disinfection, can be by one default disinfection number of setting in the disinfection when sterilizing insufficient
Disinfection is supplemented on path, is avoided and is sterilized situation not in place.
Preferably, the disinfection controlling of path thereof further include: the portable intelligent disinfection robot opens sterilamp
After 103, the UV light permeability air suction opening 106 that sterilamp 103 emits gets hot spot on the surface in the region to be sterilized；When beating
When hot spot out is close to the marginal surface position in the region to be sterilized, direction and the size in the disinfection path are adjusted, thus
It controls hot spot and strafes the marginal surface position that range deviates the region to be sterilized on the surface in the region to be sterilized, it is ensured that light
The effective area that spot is strafed is maximum.Specifically, it in the sterilization module, is opened by controlling the sterilization switch of sterilamp 103
Open deep ultraviolet sterilization.In the present embodiment, sterilamp 103 is performed disinfection work using deep ultraviolet LED, and the facula area got is i.e.
It can determine sterilization area, method of determination are as follows: the drive module 102 keeps hot spot mobile by the mobile sterilization module, then light
The area that spot was strafed is to sterilize area.
A kind of chip, the built-in chip type is in the portable intelligent disinfection robot, for controlling the portable intelligence
Energy disinfection robot executes the disinfection controlling of path thereof, improves the Disinfection Effect of the portable intelligent disinfection robot.
In embodiment provided herein, it should be understood that disclosed systems, devices and methods can pass through
Other modes are realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.The unit as illustrated by the separation member can be or can also
Not to be physically separated, component shown as a unit may or may not be physical unit, it can be located at
One place, or may be distributed over multiple network units.Can select according to the actual needs part therein or
Whole units achieve the purpose of the solution of this embodiment.
Claims (10)
1. a kind of portable intelligent disinfection robot, comprising: the chassis with air suction opening；Acquisition module, by chassis carrying and cloth
It is set to the surface towards region to be sterilized, for receiving and responding the location information on the surface from region to be sterilized；Drive mould
Block, including left driving wheel and right driving wheel are connected to the opposite side on chassis and are configured to driving portable intelligent disinfection robot
Surface in region to be sterilized is mobile；It is characterized by further comprising:
The top of the air suction opening on chassis is arranged in sterilization module, including sterilamp, sterilamp, and is set to the left drive of drive module
On support frame between driving wheel and right driving wheel；
Control module exists with acquisition module, drive module and sterilization module be electrically connected respectively, for according to acquisition module
Location information determines the disinfection position that drive module and sterilization module work at the same time, and portable intelligence is adjusted in response to acquisition module
The disinfection path of energy disinfection robot, to prevent portable intelligent disinfection robot from falling in the marginal surface position in region to be sterilized
It falls.
2. portable intelligent disinfection robot according to claim 1, which is characterized in that the surface in the region to be sterilized
Location information includes the marginal surface position of floor area, obstacle position information and the region to be sterilized.
3. portable intelligent disinfection robot according to claim 2, which is characterized in that the acquisition module includes for feeling
It surveys on the surface in the region to be sterilized with the infrared distance sensor of obstacle distance and for preventing described to be sterilized
The infrared steep cliff sensor that the marginal surface position in region is fallen.
4. portable intelligent disinfection robot according to claim 1, which is characterized in that the portable intelligent sterilization machine
People further includes dust-collecting box, and there are an air duct between the input port of the dust-collecting box and the air suction opening, which exists
In the radiation scope of the sterilamp.
5. portable intelligent disinfection robot according to claim 4, which is characterized in that the dust-collecting box and the air suction opening
Surface is equipped with antimicrobial coating.
6. a kind of disinfection controlling of path thereof using any one of claim 1 to the 5 portable intelligent disinfection robot,
It is characterized in that, which is implemented in the region to be sterilized at least one open edge, it specifically includes:
Step 1, the control module control the portable intelligent disinfection robot in area to be sterilized by the drive module
Autonomous is opened on the surface in domain, and is controlled the acquisition module and received and respond the location information from region to be sterilized；
Step 2, while continuing to drive the portable intelligent disinfection robot mobile, received simultaneously according to the acquisition module
The location information of response determines disinfection position, and constructs the environmental map in region to be sterilized in real time in the control module；
The position that step 3, the environmental map in the region to be sterilized constructed in real time according to step 2 and the acquisition module are received and responded
Confidence breath cooks up corresponding disinfection path, and the default disinfection time of sterilising zone range setting according to disinfection path delineation
Number；Wherein, there are positive correlations for sterilising zone range size and default disinfection number；
Step 4, the control portable intelligent disinfection robot are moved repeatedly according to the disinfection path described in step 3, are completed pre-
If sterilizing the sterilization operation of number.
7. sterilizing controlling of path thereof according to claim 6, which is characterized in that the step 2 further include:
During continuing to drive the portable intelligent disinfection robot mobile, when the acquisition module receive it is described to
When the steep cliff reflective information of the marginal surface position of sterilising zone, the acquisition module makes a response letter to the control module
Breath；
According to the response message that the acquisition module is made, the drive module control the portable intelligent disinfection robot from
First disinfection position, which is moved to the second disinfection position, to be continued to sterilize, and changes the movement side of the portable intelligent disinfection robot
To so that the portable intelligent disinfection robot is routed away from the open edge.
8. sterilizing controlling of path thereof according to claim 6, which is characterized in that the location information further includes bacterial population
Amount, so, the step 3 specifically includes:
Step 31, the control portable intelligent disinfection robot acquire the bacterium of current location in real time on the disinfection path
Quantity obtains disinfection cycle corresponding in corresponding table；
If step 32, the bacterial number acquired in real time are greater than first predetermined value, current location is marked in the environmental map
For the disinfection position, the portable intelligent disinfection robot is otherwise controlled along the disinfection path and acquires next position
Bacterial number；
Step 33, in conjunction with the disinfection path cooked up, control the portable intelligent disinfection robot according to disinfection cycle
Carry out once sterilizing operation；
Step 34, when carry out disinfection according to disinfection cycle complete when, if the bacterial number acquired in real time be greater than second predetermined value,
Continue to perform disinfection work in the disinfection path according to disinfection cycle, otherwise judges whether the number of sterilization operation reaches institute
Default disinfection number is stated, is to terminate, otherwise continues to perform disinfection work in the disinfection path according to disinfection cycle；
Wherein, the corresponding table is the correspondence table of the bacterial number and disinfecting time；First predetermined value is greater than second predetermined value.
9. according to any one of claim 6 to the 8 disinfection controlling of path thereof, which is characterized in that the disinfection path clustering
Method further include:
After opening the sterilamp, air suction opening described in the UV light permeability of the sterilamp transmitting, in the region to be sterilized
Get hot spot in surface；
When marginal surface position of the hot spot got close to the region to be sterilized, the direction in the disinfection path and big is adjusted
It is small, so that hot spot is maximum in the effective area that the surface in the region to be sterilized is strafed.
10. a kind of chip, which is characterized in that the built-in chip type is in any one of claim 1 to the 5 portable intelligent sterilizing machine
In device people, any one of 6 to the 9 disinfection path clusterings are required for controlling the portable intelligent disinfection robot perform claim
Method.
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| CN201811622212.8A CN109432466B (en) | 2018-12-28 | 2018-12-28 | Portable intelligent disinfection robot, disinfection path control method and chip |
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| CN201811622212.8A CN109432466B (en) | 2018-12-28 | 2018-12-28 | Portable intelligent disinfection robot, disinfection path control method and chip |
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| CN109432466B CN109432466B (en) | 2024-04-02 |
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