CN111001025A - Sterilizing robot and method for sterilizing hospital departments by using same - Google Patents
Sterilizing robot and method for sterilizing hospital departments by using same Download PDFInfo
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Abstract
The invention discloses a disinfection robot and a method for disinfecting hospital departments by using the same, wherein the disinfection method comprises the following steps: the disinfection robot receives a disinfection task, calls information of departments to be disinfected of the task from the database, and plans a walking path; estimating whether the storage capacity of various disinfectants is enough or not, going to a target department to be disinfected, measuring environmental information, disinfecting according to a planned disinfection path and a planned disinfection scheme, detecting and evaluating the disinfection effect in the disinfection process or after the disinfection is finished, if the detection is unqualified, and disinfecting again until the disinfection reaches the standard. The invention makes different disinfection schemes for different departments, detects the environment of the departments before a disinfection program, flexibly adjusts the disinfection schemes and the disinfection paths according to different article types in the space, detects the disinfection effect during the disinfection process or after the disinfection is finished until the disinfection effect completely reaches the qualified standard, and has high working efficiency, high intelligent degree and good disinfection effect in the whole disinfection process.
Description
Technical Field
The invention relates to the technical field of disinfection, in particular to a disinfection robot and a method for disinfecting hospital departments by using the same.
Background
Hospital departments are high-risk places where pathogenic bacteria exist, if the disinfection link is improperly controlled, serious infection accidents can happen, uncontrollable epidemic outbreaks can be caused, and therefore the disinfection and sterilization work of medical places is particularly important. However, the disinfection work of some key infection places or areas is mainly performed by manual operation, which results in large workload, low efficiency and unsatisfactory disinfection effect, and particularly, when some disinfectant with high toxicity is used, the disinfection work can cause the injury of poisoning and the like to people. In addition, the current ultraviolet disinfection is mainly carried out in an unmanned environment (such as after work), the ultraviolet lamp is effective only when being far away from an area to be disinfected within the irradiation range, and the ultraviolet disinfection is inconvenient to be carried out manually in places needing temporary disinfection. The limitation that current manual disinfection exists can be better solved to disinfection robot, but present disinfection robot still needs the manual work to detect whether reach standard to the disinfection effect after accomplishing disinfection work, if not reach standard then need restart the disinfection procedure, the operation is complicated, can not really accomplish intellectuality. Because different departments and areas have different disinfection requirements, the areas to be disinfected often have the movement, change and special conditions of goods and facilities, and the existing disinfection robot can not be used for targeted flexible treatment according to the conditions, thereby affecting the disinfection quality and ensuring that the disinfection work is not completely executed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a disinfection robot which can flexibly adopt different disinfection schemes aiming at different departments and different disinfection environments, can detect the disinfection quality in real time during the disinfection process or after the disinfection is finished and can take measures in time until the disinfection robot is qualified and has high intelligent degree, and a method for using the disinfection robot for the disinfection of hospital departments.
The invention is realized by the following technical scheme:
the utility model provides a disinfection robot, includes autopilot chassis, fuselage, arm, lift post, sensor module, multimode disinfectant disinfection module, ultraviolet sterilization module and central control module, the fuselage sets up on the autopilot chassis, arm, lift post and ultraviolet sterilization module set up on the fuselage, sensor module sets up on fuselage, arm or the lift post. The lifting column is provided with a driving device which drives the lifting column to move up and down along the machine body, the height of the lifting column is adjusted according to the height of the disinfection space, and the lifting column can be retracted into the machine body when not in use.
The multi-module disinfectant disinfection module comprises a plurality of disinfectant storage tanks, a disinfectant quantitative blending module and a disinfectant spraying module; the disinfectant storage tanks are arranged in the machine body and are used for storing various disinfectants; the disinfectant quantitative allocation module is arranged in the machine body, is respectively connected with each group of disinfectant storage tanks through pipelines, and is used for allocating disinfectant with required specification according to instructions; the disinfectant spraying module is arranged on the lifting column or the mechanical arm, is connected with the disinfectant quantitative blending module through a pipeline and is used for spraying disinfectant. A liquid level sensor and the like can be arranged in the disinfectant storage tank, and the disinfectant amount in the storage tank can be detected in real time.
The central control module is respectively electrically connected with the automatic driving chassis, the mechanical arm, the sensor module, the multi-module disinfectant disinfection module and the ultraviolet sterilization module, and is used for receiving the information of the sensor module, controlling the actions of the automatic driving chassis and the mechanical arm, and controlling the multi-module disinfectant disinfection module and the ultraviolet sterilization module to sterilize. The bottom of the automatic driving chassis is provided with a differential driving wheel, the automatic driving chassis can flexibly walk according to a control instruction, the periphery of the chassis can be provided with anti-collision strips and the like, the walking and obstacle avoidance of the automatic driving chassis can refer to the prior art, and environment detection is carried out by a sensor on a machine body. The ultraviolet sterilization module carries out ultraviolet sterilization according to the instruction of the central control module.
Further, the disinfectant spray module includes an atomizer and a sprayer; the disinfectant storage tanks are at least three groups, and respectively store one of hydrogen peroxide disinfectant, peracetic acid disinfectant, chlorine-containing disinfectant and alcohol, wherein the hydrogen peroxide disinfectant, the peracetic acid disinfectant, the chlorine-containing disinfectant and the alcohol are different from each other. The disinfectant atomizer and the sprayer can be arranged on the column head of the lifting column according to requirements, and the spraying module for alcohol disinfection is arranged on the mechanical arm. Various disinfectants are respectively contained in different disinfectant storage tanks, and when the disinfectant is required to be used, the disinfectant quantitative blending module blends quantitative different disinfectants according to a disinfection scheme to prepare the required disinfectants.
Furthermore, the sensor module comprises a laser sensor, an ultrasonic sensor, a visual sensing system and a concentration sensor assembly, the concentration sensor assembly is arranged on the mechanical arm, the visual sensing system comprises a binocular camera arranged on the machine body and a panoramic camera assembly arranged on a lifting column, the lifting column is also simultaneously provided with the disinfectant spraying module, and the panoramic camera assembly surrounds the disinfectant spraying module; the laser sensor and the ultrasonic sensor are arranged on the machine body; the robot body is also provided with a remote control module and a human-computer interaction module, and the remote control module and the human-computer interaction module are respectively connected with the central control module. The remote control module is used for remotely controlling the robot in a wireless communication mode, distributing tasks to the robot, receiving feedback information of the robot and the like, and meanwhile, when the robot is trapped in the environment at that time, the robot can be assisted to get rid of trapping by the remote control module. The man-machine interaction module comprises an intelligent touch screen, a voice recognition module, a broadcasting module and the like, relevant information is displayed on the intelligent touch screen, if task information, task completion information, feedback information and the like are executed, a disinfection task is manually distributed, parameter setting and the like are carried out, task distribution can also be carried out through the voice recognition, and information prompt, information early warning, state broadcasting and the like can be carried out through voice broadcasting.
In the walking stage, the laser sensor and the ultrasonic sensor mainly realize autonomous positioning and navigation based on laser radar and ultrasonic detection technology, and are used for autonomous operation of the robot, navigation walking, autonomous obstacle avoidance and collision prevention, and the vision sensing system assists walking and obstacle avoidance simultaneously, so that walking is smoother. In the robot detection and disinfection stage, the laser sensor is used for measuring the space size, and the vision sensing system detects objects in the environment space, whether high-risk articles exist or not. The concentration sensor is integrated and used for detecting the concentration of the disinfectant in the air, detecting whether the disinfectant exceeds the standard or not and detecting whether the disinfection reaches the standard or not.
A method for sterilizing hospital departments by using the sterilization robot comprises the following steps:
s1, the disinfection robot receives the disinfection task, calls the information of the department to be disinfected of the task from the database, and plans the walking path;
s2, estimating the required disinfectant dosage according to a preset disinfection scheme in the information of the department to be disinfected, comparing the estimated disinfectant dosage with the existing disinfectant dosage, estimating whether the storage capacity of various disinfectants is enough, if not, generating alarm information to remind a user to add disinfectant raw materials until the conditions are met;
s3, according to the planned walking path, the user goes to a target department to be disinfected;
s4, measuring environmental information of a department to be disinfected through a sensor module, planning a disinfection path according to the environmental information, predicting disinfection time, and calculating the specific dosage of each disinfectant;
s5, disinfecting according to the planned disinfection path and disinfection scheme, simultaneously recording and uploading information of the driving speed, the disinfection path and the spraying speed, and simultaneously monitoring the concentration of the disinfectant in the air in real time through a sensor module to prevent the concentration from exceeding the specified upper safety limit; according to the disinfection scheme, the disinfection effect is detected and evaluated in the disinfection process or after the disinfection is finished, if the detection is unqualified, the disinfection is carried out again until the disinfection reaches the standard.
Further, the sterilization task in step S1 includes a fixed task and a temporary task, the fixed task includes a fixed sterilization time and a sterilization department, and the temporary task includes a designated sterilization department; the information of the departments to be disinfected comprises names of the departments, types of the departments, positions of the departments, space information in the departments and disinfection schemes; the disinfection scheme is a combined disinfection mode of one or more of disinfectant atomization disinfection, disinfectant spraying disinfection and ultraviolet disinfection; the disinfectant is one or more of hydrogen peroxide disinfectant, peracetic acid disinfectant, chlorine-containing disinfectant and alcohol. The fixed tasks are pre-recorded into a control system of the robot, the robot carries out disinfection work on a set area in preset time according to a preset program, and unless artificial interference exists, the robot autonomously executes the tasks according to the program. The provisional task is a task that is temporarily scheduled for various reasons in addition to the fixed task. Each department information is pre-stored in the database, the database is classified according to the infection risk degree of each department, different disinfection schemes are formulated according to the category of each department, for example, the low-risk area only needs alcohol disinfection, the medium-risk area needs alcohol disinfection and chlorine-containing disinfectant to be used simultaneously, for the extremely high-risk area, the disinfectant disinfection and ultraviolet disinfection are needed to be used simultaneously in a matched mode, the system also comprises the position of each department and the space information in each department, such as the plane area, the inherent equipment setting in the space and the like.
Further, the method for detecting, evaluating and re-disinfecting the disinfection effect in step S5 is as follows:
for a closed space, after the robot finishes the disinfection work of the whole space, 5-10 test points are selected in the space, and the selection principle of the test points is 2-3 points at the corner of a room, 2-4 points in an open area and 1-3 points in a disinfection blind area; the robot autonomously plans an optimal path according to the distribution of the test points and estimates the total test time, after the robot reaches the test points, the concentration is tested at a height of 0.8-1.5 m from the ground through the concentration sensor integration carried by the mechanical arm, when the concentration of the test points is lower than a preset value, a disinfection program is started to disinfect the point and the periphery, the concentration of the area is tested in real time until the concentration reaches the standard, then the disinfection is stopped, the test of the next test point is carried out, and if the test is unqualified, the disinfection is carried out until the test is qualified; finally, counting the initial qualified rate of all the test points, and if the initial qualified rate is higher than 90%, performing disinfection detection; if the point position is lower than 90%, the robot is required to randomly select three points to test in the background, and the point position cannot be repeated or adjacent to the tested point position; if the unqualified point is tested, executing a disinfection program until the point is qualified, and finally testing the test at the three continuous random points until the point is qualified.
For an open space, when the robot is disinfected, the concentration sensor carried by the mechanical arm is integrated to monitor the environmental concentration in real time, if the monitored value is lower than a qualified value, feedback information is generated to control the robot to stay at the position to strengthen disinfection until the real-time concentration test is passed, and then the disinfection task is continued.
For ultraviolet disinfection, no detection is required during the disinfection process. However, the irradiance of the ultraviolet lamp needs to be periodically detected.
Further, after the closed space is subjected to disinfection effect detection and is disinfected again until all tests are qualified, the following steps are also carried out:
and calculating the total time of actual detection and re-disinfection until the total time is qualified, comparing the total time with the estimated time, if the total time exceeds a preset threshold value and the qualified rate of all the test points is lower than 90%, determining that the initial disinfection scheme is not feasible, unreasonable and large in deviation, generating alarm information and transmitting the alarm information to a background, wherein the alarm information comprises a detection path, a driving speed and a spraying speed, and the background corrects algorithm model parameters according to the alarm information.
Further, the step S4 of measuring the environmental information of the department to be disinfected by the sensor module includes the following actions: measuring the plane area and the floor height of a space, investigating the storage condition of equipment facilities and articles in the space, observing whether high-risk articles or regions where viruses or bacteria are bred exist or not and the positions of the high-risk articles or regions, and monitoring whether high-infectivity dirt exists on the ground or not; the high-risk articles or areas are toilets, wash basins or garbage cans; the highly contagious filth is a bloodstain or vomit. The plane area measurement has various methods, an indoor two-dimensional laser map can be obtained through scanning, the plane area of the indoor two-dimensional laser map is calculated through an algorithm, the height of a floor is obtained through a distance measuring sensor, and the space volume of the indoor two-dimensional laser map is further calculated. Equipment facilities, articles, high-risk articles or areas and high-infectivity dirt in the space can be detected by the camera, and information such as positions and the like can be obtained through the algorithm model.
Further, the method for planning the disinfection path according to the environmental information in step S4 is as follows: if the high-risk articles or areas do not exist in the department, planning a disinfection path according to a disinfection principle of 'first-in-first-out, first-high-then-low' disinfection technical specification; if the high-risk articles or areas exist, the robot moves to the identified high-risk articles or areas one by one according to the principle of 'from outside to inside', disinfects by the disinfectant injection module carried by the mechanical arm terminal until the innermost high-risk articles or areas of the department are disinfected, and then plans a disinfection path by taking the position of the robot as a starting point according to the disinfection principle of 'from inside to outside, and from high to low'.
Further, the disinfection process according to the planned disinfection path and disinfection scheme in step S5 further includes the following steps: in the disinfection process, the sensor intelligently identifies high-contact-frequency articles in the environment, disinfects the articles through a disinfectant spraying module carried by the mechanical arm terminal, and calculates the total time spent by the robot in staying and disinfecting the high-contact-frequency articles; after the disinfection is finished, the actual disinfection time is counted and compared with the estimated disinfection time, the time difference between the actual disinfection time and the estimated disinfection time is compared with the time spent on disinfecting the high-contact-frequency articles, and the parameter value in the time estimation model is corrected; the high contact frequency articles include door handles, power switches, and bedside tables.
The disinfection task is divided into a fixed task and a temporary task according to the type of the task, corresponding information of each department is stored in the database, different tasks are executed according to the type of the task, the conventional task does not need to be manually set and supervised every day, the robot can go to the disinfection under the idle condition that departments leave work and the like, the temporary task can call data in the database for planning and execution, the execution program is greatly simplified, and the efficiency is improved.
The invention classifies the departments according to the types of the departments, makes different disinfection schemes for different departments, and can change and adjust at any time according to the needs of users; the method comprises the steps of detecting the environment of a department before a disinfection program, contrasting the environment with data recorded in a database in advance to prevent article facilities in a space environment from changing, identifying high-risk articles or areas and high-infectivity dirt, flexibly adjusting a disinfection scheme and a disinfection path according to different article types in the space, and avoiding the situations of incomplete disinfection or faulty disinfection operation and the like caused by the increase and decrease of articles in the disinfection space; the disinfection process can intelligently identify and disinfect the articles with high contact frequency, and further improve the disinfection efficiency.
The invention can also detect the disinfection effect in the disinfection process or after the disinfection is finished according to the property of the disinfection space, judge the disinfection effect by measuring the concentration of the disinfectant in the space, and set a set of detection and judgment rules, when the disinfectant is unqualified, the disinfection is repeated until the disinfectant completely reaches the qualified standard, and simultaneously the concentration of the disinfectant in the space can be controlled to avoid the pollution to the environment due to excess, the whole disinfection process is coherent, the working efficiency is high, and the intelligent degree is high.
The invention can adopt a plurality of disinfection modes such as disinfectants, ultraviolet rays and combinations thereof, spraying or/and atomizing and the like, the disinfectants can select a plurality of disinfectant types, can be randomly prepared, have wide applicability and can be used for disinfecting various space areas.
The invention continuously feeds back real-time data such as disinfection time, detection time and the like in the execution process of each step, and continuously corrects parameters of the pre-estimated model such as disinfection time, test time and the like so as to achieve the purpose of self-learning, improve the accuracy of the algorithm model and improve the disinfection quality.
Drawings
Fig. 1 is a front view schematically showing the construction of a sterilizing robot according to the present invention.
Fig. 2 is a schematic view of a reverse structure of the sterilization robot of the present invention.
FIG. 3 is a flow diagram of a sterilization method for hospital departments in accordance with the present invention.
Fig. 4 is a two-dimensional laser map of a department in an embodiment of the invention.
FIG. 5 is a schematic diagram of measuring a plan area of a two-dimensional laser map according to a department in an embodiment of the invention.
Fig. 6 is a schematic diagram of identifying high-risk articles according to an embodiment of the present invention.
FIG. 7 illustrates a sterilization path in an embodiment of the present invention.
FIG. 8 is another sterilization path in an embodiment of the present invention.
FIG. 9 is another sterilization path in an embodiment of the present invention.
Reference numerals: 1-autopilot chassis; 2-a fuselage; 3-a left mechanical arm; 4-a right mechanical arm; 5-a lifting column; 6-disinfectant sprayer; 7-look around camera integration; 8-alcohol sprayer; 9-concentration sensor integration; 10-differential drive wheels; 11-a camera; 12-a laser sensor; 13-an ultrasonic sensor; 14-a first ultraviolet disinfection module; 15-binocular camera; 16-a second ultraviolet disinfection module; 17-smart touch screen; 18-raw material storage tank cover; 19-a trash can; 20-hand washing basin.
Detailed Description
A sanitizing robot, as shown in fig. 1, 2, comprising the following modules: the automatic disinfectant tank comprises an automatic driving chassis 1, a machine body 2, mechanical arms (a left mechanical arm 3 and a right mechanical arm 4), a lifting column 5, a sensor module, a plurality of disinfectant storage tanks, a disinfectant quantitative allocation module, a disinfectant spraying module, an ultraviolet sterilization module, a remote control module, a human-computer interaction module and a central control module.
The robot body 2 is arranged on the automatic driving chassis 1, and the mechanical arms (the left mechanical arm 3 and the right mechanical arm 4), the lifting column 5 and the ultraviolet sterilization module are arranged on the robot body 2. The lifting column 5 can move up and down along the machine body 2 under the driving of the driving device, the height of the lifting column 5 is adjusted according to the height of the disinfection space, and when the lifting column 5 is not used, the lifting column 5 can be retracted into the machine body 2.
The central control module is respectively electrically connected with the automatic driving chassis 1, the mechanical arm, the sensor module, the multi-module disinfectant disinfection module and the ultraviolet sterilization module, and is used for receiving information of the sensor module, controlling the actions of the automatic driving chassis 1 and the mechanical arm (the left mechanical arm 3 and the right mechanical arm 4), and controlling the multi-module disinfectant disinfection module and the ultraviolet sterilization module to carry out sterilization and disinfection. The bottom of the automatic driving chassis 1 is provided with a differential driving wheel 10 which can flexibly walk according to a control instruction, the periphery of the chassis can be provided with an anti-collision strip and the like, the walking and obstacle avoidance of the automatic driving chassis 1 can refer to the prior art, and environment detection is carried out by a sensor on the machine body 2. The ultraviolet sterilization module carries out ultraviolet sterilization according to the instruction of the central control module.
Various disinfectants are respectively contained in different disinfectant storage tanks, a plurality of groups of disinfectant storage tanks (not shown in the figure) are arranged in the machine body 2 and used for storing various disinfectants, the external raw material storage tank cover 18 is sealed, and the raw material storage tank cover 18 is opened when raw materials need to be added; the disinfectant storage tanks are at least three groups, and respectively store one of hydrogen peroxide disinfectant, peracetic acid disinfectant, chlorine-containing disinfectant and alcohol, wherein the hydrogen peroxide disinfectant, the peracetic acid disinfectant, the chlorine-containing disinfectant and the alcohol are different from each other. A liquid level sensor and the like are arranged in the disinfectant storage tank and used for detecting the disinfectant amount in the storage tank in real time.
The disinfectant quantitative allocation module is arranged in the machine body 2, is respectively connected with each group of disinfectant storage tanks through pipelines, and is used for allocating disinfectant with required specification according to instructions; when the disinfectant is needed to be used, the disinfectant quantitative blending module blends quantitative different disinfectants according to the disinfection scheme to prepare the needed disinfectant.
The disinfectant spraying module comprises an atomizer and a sprayer and is arranged on the lifting column or/and the mechanical arm. In this embodiment, the disinfectant spraying module mainly includes: a disinfectant sprayer 6 disposed on the lifting column 5, the disinfectant sprayer 6 being capable of disinfectant spraying type and spray type disinfection, respectively; and an alcohol sprayer 8 provided on the robot arm (the left robot arm 3 or the right robot arm 4) and capable of alcohol spray type disinfection. The disinfectant sprayer 6 and the alcohol sprayer 8 are respectively connected with the disinfectant quantitative blending module through pipelines and used for sucking the disinfectant.
In this embodiment, the uv sterilization module includes a first uv disinfection module 14 and a second uv disinfection module 16. The first ultraviolet disinfection module 14 includes a plurality of groups of ultraviolet disinfection lamps, the number of which can be flexibly set according to the requirement, and the arrangement form of which can be flexibly set according to the space on the machine body 2 and the layout of the disinfection space, and can be arranged in parallel as shown in fig. 1. The second uv disinfection module 16 is arranged on the lifting column 5 and comprises one or more groups of uv disinfection lamps.
The sensor module comprises a laser sensor 12, an ultrasonic sensor 13, a visual sensing system, a concentration sensor assembly 9 and the like. In this embodiment, the laser sensor 12 is disposed at a position lower than the body 2, and the ultrasonic sensor 13 is disposed at a position lower than the body 2; the vision sensing system comprises a camera 11, a binocular camera 15 and a panoramic camera assembly 7, wherein the camera 11 is arranged on the automatic driving chassis 1, the binocular camera 15 is arranged at the position close to the machine body 2, and the panoramic camera assembly 7 is arranged at the top end of the lifting column 5 and surrounds the disinfectant ejector 6; the concentration sensor assembly 9 is arranged on a mechanical arm (the left mechanical arm 3 or the right mechanical arm 4) and is respectively arranged on different mechanical arms together with the alcohol sprayer 8.
The machine body 2 is also provided with a remote control module and a human-computer interaction module. The remote control module is used for remotely controlling the robot in a wireless mode, distributing tasks to the robot, receiving feedback information of the robot and the like. The man-machine interaction module comprises an intelligent touch screen 17, a voice recognition module, a broadcasting module and the like, relevant information is displayed on the intelligent touch screen 17, if task information, task completion information, feedback information and the like are executed, manual distribution of disinfection tasks, parameter setting and the like are carried out, task distribution can also be carried out through the voice recognition, and information prompt, information early warning, state broadcasting and the like can be carried out through voice broadcasting.
A method for sterilizing hospital departments by using the sterilization robot, as shown in fig. 3, comprising the following steps:
1. robot receiving task and making disinfection scheme
The intelligent disinfection robot disinfection tasks are divided into two types according to task (order) assignment modes: fixed tasks and temporary tasks. The fixed task mode is that a robot is initially set for a user, a specified area or a specified department is subjected to environment disinfection for specified times every day in a fixed time period, after initial setting, the robot autonomously executes tasks at fixed points every day if no external factors (artificial blocking, conflict factor blocking or other irresistible factors blocking) block until the setting is changed next time. The temporary task is that besides the fixed disinfection task, a user needs to disinfect a certain area or a certain department due to temporary factors, and the robot is temporarily assigned to execute the disinfection task.
When the intelligent disinfection robot receives a disinfection task (a fixed task or a temporary task), the information of departments to be disinfected of the task is firstly called from a database, and the information comprises but is not limited to: department name, department type, department location, department space environment information, and disinfection scheme.
Department name: the department name is exclusive ID, which is convenient for the robot system to record and identify the department and is different from the unique information of other departments.
Department type: because the different areas of each department in the hospital have different functions due to different patients receiving a doctor, the environmental conditions and environmental requirements between the areas are greatly different, and different departments often adopt different disinfection schemes according to the environmental requirements. In order to ensure that the robot can better realize a targeted customized disinfection scheme, the robot system divides each department area in the hospital into four grades according to the infection risk degree of the patient by referring to the sanitation standard & lt & gtHospital isolation technical Specification & gt WS/T311 & lt 2009: extremely high risk areas, medium risk areas and low risk areas. The details are shown in Table 1. However, the level identification of each department in the robot system supports the user to adjust at any time according to the disinfection requirement, that is, the department originally belonging to the medium danger area can be manually changed into a high danger area or a low danger area along with the disinfection requirement, but the change authority is limited to specific personnel.
TABLE 1 department Risk ratings Table
| Regional risk rating | Department's office |
| Extremely high risk area | Operating rooms, intensive care units, organ transplantation units and the like |
| High risk area | Infectious disease department (clinic, ward), etc |
| Area of moderate risk | General outpatient service, general ward, etc |
| Low risk area | Administrative district, living service district, public area, etc |
Department position: the robot autonomously generates a driving path to the department according to the department position information.
And (3) a disinfection scheme: because the different areas of each department in the hospital have different functions due to different patients receiving a doctor, the environmental conditions and environmental requirements between the areas are greatly different, and different departments often adopt different disinfection schemes according to the environmental requirements. The main reference factors are the types of departments, the practical situation and the environmental factor limit in the departments are combined, a single disinfection scheme or a mixed disinfection scheme is adopted, the type and the corresponding concentration of the disinfectant are determined, and a disinfection scheme table 2 is generated. The robot system mainly provides a plurality of modes of disinfectant atomization disinfection, disinfectant spraying disinfection, ultraviolet disinfection, free combination of three modes, mixed disinfection and the like for better meeting the environmental disinfection requirements. Wherein the disinfectant type supports various concentrations of hydrogen peroxide disinfectant, peracetic acid disinfectant, chlorine-containing disinfectant, alcohol, and various combinations. A user can store a certain amount of various disinfectant raw materials in a multi-module disinfectant storage tank of the robot in advance, and the robot can automatically allocate on site according to the type, concentration and dosage of the disinfectant selected in a disinfection scheme when a disinfection task is executed.
TABLE 2 Disinfection protocol Table
| Department's office | Types of departments | Disinfection protocol | Disinfectant | Concentration of | Disinfectant pre-evaluation | Estimated amount of |
Estimated amount of |
Estimated amount of |
…… |
The robot determines the specific object of task execution, the travel path to the department, the disinfection scheme adopted by the department, the type of disinfectant adopted, the concentration of the disinfectant, the expected amount of raw materials needed for disinfectant preparation and the like according to the information. Then detect this disinfectant raw materials surplus in the storage jar, whether preliminary aassessment is enough to support the disinfection task, if not enough, then generate alarm information, remind the user to add the disinfectant raw materials. And automatically going to a target department according to the self-planned path until the condition is met.
2. To-be-disinfected department environment information measurement
The intelligent disinfection robot arrives at a target department, and the space in the department is measured firstly, so that the disinfection time is estimated and the specific disinfectant dosage is calculated, and the disinfectant is prepared on site. As the domestic hospital departments have uniform architectural styles, the national hospital departments are mostly in rectangular or square layout, a few parts are in trapezoidal, triangular and approximately fan-shaped layout, and a few parts are in irregular layout, but the national hospital departments can be approximately regarded as the evolution of basic regular patterns such as rectangular, trapezoidal and fan-shaped patterns. Therefore, when the robot carries out the spatial measurement of departments, a multipoint measurement method is adopted, and finally the measured departments are approximately simulated into a regular graph for spatial volume calculation through algorithm processing, so that the actually required disinfection dose is calculated.
Taking fig. 4 as an example, the specific measurement method is as follows:
the robot firstly takes a two-dimensional laser map (as shown in fig. 4) of the department which is scanned before, performs approximate evolution on the two-dimensional map to form a regular basic graph, and calculates each side length and the plane area S. As in fig. 5, can be approximated by a trapezoid (black bold line in fig. 5).
And then, at the beginning of entering the department, the robot firstly measures the height H of the floor of the department through a self laser ranging sensor, and further calculates the approximate space volume V = S multiplied by H of the department.
In addition to the measurement of the space volume of the department, the robot looks around the department through the camera at first before entering the department, looks up the storage conditions of the environment, equipment and articles in the department, and observes whether there are high-risk articles or areas such as a toilet and a garbage can 19 bred by viruses/bacteria (note: the robot system is trained through a large number of cases and learned by a machine to obtain an object recognition judgment model and form a high-risk article/area material library). And records this information, identifies the item through the camera device, and determines the position of the above high-risk item/area in the room through an algorithm model (as shown in fig. 6), and then marks on the two-dimensional laser map. In addition, once the robot camera is combined with the algorithm model to monitor that the ground has dirt and judges that the dirt is high-infectivity such as bloodstain, vomit and the like, in order to avoid cross infection risks, the robot generates alarm information and sends the alarm information to a user terminal (PC/tablet/mobile phone) to remind a user of going to process until the dirt is removed and then continues the disinfection operation.
3. Blended disinfectant
After the robot completes space measurement and environment observation, the total amount of the disinfectant to be blended is calculated according to the measured space volume V of the department, the disinfection scheme corresponding to the department, the type of the disinfectant, the concentration of the disinfectant and the disinfection mode. For example, the disinfection scheme of the department is to spray and disinfect by using a peracetic acid solution with the concentration of C1, and then the robot needs to determine the total volume of the disinfectant to be prepared to be V1 according to the department space V in combination with a spraying calculation model. And the concentration of the peroxyacetic acid stock solution in the raw material storage tank is known to be C2 (C2 > C1); the required raw liquid volume of ethylene peroxide V2 can be calculated from the formula V1 × C1= V2 × C2. And calculating the required amount of other stock solution materials in the same way, and finally pumping the calculated amount of each raw material from the respective raw material storage tank to the disinfectant blending tank according to the set blending steps to blend the disinfectant with the concentration of C1. It is noted that if the disinfection protocol is only uv disinfection, this step is skipped and no disinfectant needs to be formulated.
4. Disinfection path planning
When the robot performs disinfection path planning, if the department environment detection link does not find that there are high-risk articles/areas with virus transmission such as washrooms, wash basins 20, trash cans 19 and the like in the department, the disinfection path planning is performed according to the disinfection principle of 'first inside and then outside, first high and then low' of the disinfection technical specification, as shown in fig. 7.
However, if it is found in the department environment detection link that there are high-risk articles/areas with virus spreading such as washrooms, wash basins 20, trash cans 19, etc. in the department, as shown in fig. 8, the robot goes to the identified high-risk articles/areas one by one according to the principle of "from outside to inside", and then performs 75% alcohol spraying disinfection on the articles by the alcohol spraying device carried by the mechanical arm terminal until the innermost high-risk articles/areas in the department are disinfected, and then the robot is located at the moment, as shown in fig. 9, and performs disinfection path planning according to the disinfection principle of "from inside to outside, first from high to low" in the disinfection technical specification.
And finally, the robot predicts and calculates the total disinfection time t1 according to the planned path and the running speed.
5. Disinfection
After the disinfection path is planned, the robot starts a disinfection task.
Firstly, the robot starts a corresponding disinfectant spraying module according to a disinfection scheme and a disinfection mode, and if the disinfection mode is atomization disinfection, an atomizer module is started; if spray disinfection, activating the sprayer module; and if the ultraviolet sterilization is performed, starting the ultraviolet module. And (4) sterilizing the environment according to the planned path, the initially set running speed and the spraying speed, recording and uploading information such as the running speed, the sterilized path, the spraying speed and the like. In the disinfection process, the camera intelligently identifies objects with high contact frequency such as door handles, power switches and bedside cabinets in the environment, 75% alcohol spraying type spraying disinfection is carried out on the identified objects with high contact frequency through an alcohol spraying device carried by a mechanical arm terminal, and the total time t2 spent by the robot in staying and disinfecting the objects with high contact frequency is calculated. And the concentration of the disinfectant in the air is monitored in real time through a sensor, so that the specified upper safety limit is prevented from being exceeded. After the disinfection is finished, the comparison between the actual disinfection time and the estimated disinfection time is counted, the time difference between the actual disinfection time and the estimated disinfection time is compared with t2, and the parameter correction of the time estimation model is enhanced according to the time difference, so that the subsequent time estimation accuracy is improved.
6. Disinfection effect detection, treatment and assessment
For enclosed spaces:
after the robot finishes the disinfection work of the whole room, 5-10 points are selected in the room for disinfectant concentration test. The test point selection principle is as follows: 2-3 points are arranged at the corners of the room, 2-4 points are arranged in an open area, and 2-3 points are arranged in a disinfection blind area. The disinfection blind area refers to an area which is difficult to be covered by disinfectant in the disinfection process due to blocking of peripheral equipment and buildings in a certain area in the environment, such as the space at the bottom of a sickbed, and the selection of the area needs to be combined with a camera device. After the test points are selected, the robot autonomously plans the optimal path according to the distribution of the test points and estimates the total test time t 3.
The test method comprises the following steps: the robot firstly selects 10 test points in a room, then sequentially goes to the test points according to a map, and concentration tests are carried out at a height of 0.8-1.5 m from the ground (if the environment does not allow, the robot properly goes up or down) through concentration sensor integration carried by a mechanical arm, and a third table is recorded.
Watch three disinfection effect detecting watch
| Test point | Point coordinates | Dot type | Measured concentration | |
| Test point | ||||
| 1 | Point location coordinates | Open/corner/blind area | Pass/over high/under | |
| Test point | ||||
| 2 | ||||
| … |
And when the concentration of a certain test point is in an unqualified state and is low, a disinfection program is started to disinfect the point position and the periphery, the concentration of the area is tested in real time until the concentration reaches the standard, then the disinfection is stopped, and the next test point is tested. And finally, counting the qualification rate of the 10 test points, and if the qualification rate is higher than 90%, verifying that the disinfection detection is qualified. If the diameter is less than 90%, the robot needs to randomly select three points in the background for testing, and the point position cannot be repeated or adjacent to the tested point position (the diameter is within 1 m); if the unqualified point is tested, executing a disinfection program until the point is qualified, and finally testing the test at the three continuous random points until the point is qualified. And finally, calculating the total actual test time t4, comparing the actual test time t4 with the actual test time t4, if the actual test time t4 exceeds a preset threshold value and the qualified rate of 10 test points is lower than 90%, identifying that the disinfection initial scheme is incomplete at this time, generating alarm information and transmitting the alarm information to a background, wherein the information includes but is not limited to: path, travel speed, spray speed; the simulation background planning algorithm is used for correcting the parameters of the algorithm model, such as adjusting the driving path, reducing the driving speed, increasing the spraying speed and the like, so that the robot can improve the disinfection quality.
For an open room:
for an open room, the air flow is large, so that the whole department is inconvenient to sterilize and then performs point selection test, and the error is large, so that the test mode is as follows: when the robot is disinfected, the test sensor at the end of the mechanical arm monitors the environmental concentration in real time, once the monitored data are found to be lower than a qualified value, feedback information is generated to control the robot to reside at the position for strengthening disinfection until the real-time concentration test is passed, and then the task is continued.
For ultraviolet disinfection:
the measurement is not needed in the disinfection process, and the user only needs to regularly detect the radiation illumination value of the ultraviolet lamp by means of a conventional method. The method for checking the radiation illuminance value of the ultraviolet lamp can adopt an instrumental method or an indicator card method by referring to relevant standards.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A disinfection robot is characterized by comprising an automatic driving chassis, a machine body, a mechanical arm, a lifting column, a sensor module, a multi-module disinfectant disinfection module, an ultraviolet sterilization module and a central control module, wherein the machine body is arranged on the automatic driving chassis, the mechanical arm, the lifting column and the ultraviolet sterilization module are arranged on the machine body, the lifting column can be automatically lifted relative to the machine body, and the sensor module is arranged on the machine body, the mechanical arm or the lifting column;
the multi-module disinfectant disinfection module comprises a plurality of disinfectant storage tanks, a disinfectant quantitative blending module and a disinfectant spraying module; the disinfectant storage tanks are arranged in the machine body and are used for storing various disinfectants; the disinfectant quantitative allocation module is arranged in the machine body, is respectively connected with each group of disinfectant storage tanks through pipelines, and is used for allocating disinfectant with required specification according to instructions; the disinfectant spraying module is arranged on the lifting column or the mechanical arm, is connected with the disinfectant quantitative blending module through a pipeline and is used for spraying disinfectant;
the central control module is respectively electrically connected with the automatic driving chassis, the mechanical arm, the sensor module, the multi-module disinfectant disinfection module and the ultraviolet sterilization module, and is used for receiving the information of the sensor module, controlling the actions of the automatic driving chassis and the mechanical arm, and controlling the multi-module disinfectant disinfection module and the ultraviolet sterilization module to sterilize.
2. A disinfecting robot as recited in claim 1, characterized in that said disinfectant spray module comprises an atomizer and a sprayer; the disinfectant storage tanks are at least three groups, and respectively store one of hydrogen peroxide disinfectant, peracetic acid disinfectant, chlorine-containing disinfectant and alcohol, wherein the hydrogen peroxide disinfectant, the peracetic acid disinfectant, the chlorine-containing disinfectant and the alcohol are different from each other.
3. A disinfection robot as claimed in claim 1, characterized in that said sensor module comprises a laser sensor, an ultrasonic sensor, a visual sensing system, a concentration sensor integration; the concentration sensor is integrated on the mechanical arm, and the laser sensor and the ultrasonic sensor are arranged on the machine body; the visual sensing system comprises a binocular camera arranged on the machine body and a panoramic camera assembly arranged on a lifting column, the lifting column is also simultaneously provided with the disinfectant spraying module, and the panoramic camera assembly surrounds the disinfectant spraying module; the robot body is also provided with a remote control module and a human-computer interaction module, and the remote control module and the human-computer interaction module are respectively connected with the central control module.
4. A method for hospital department disinfection, characterized in that the application of a disinfection robot according to any of claims 1 to 3, comprises the following steps:
s1, the disinfection robot receives the disinfection task, calls the information of the department to be disinfected of the task from the database, and plans the walking path;
s2, estimating whether the storage capacity of various disinfectants is enough or not according to a disinfection scheme preset in the information of the department to be disinfected, if not, generating alarm information to remind a user to add disinfectant raw materials until the conditions are met;
s3, according to the planned walking path, the user goes to a target department to be disinfected;
s4, measuring environmental information of a department to be disinfected through a sensor module, planning a disinfection path according to the environmental information, predicting disinfection time, and calculating the specific dosage of each disinfectant;
s5, disinfecting according to the planned disinfection path and disinfection scheme, simultaneously recording and uploading the driving speed, the disinfection path and the spraying speed, and simultaneously monitoring the concentration of the disinfectant in the air in real time through the sensor module to prevent the concentration from exceeding the specified upper safety limit; according to the disinfection scheme, the disinfection effect is detected and evaluated in the disinfection process or after the disinfection is finished, if the detection is unqualified, the disinfection is carried out again until the disinfection reaches the standard.
5. The method for hospital department disinfection according to claim 4, wherein the method of detecting, evaluating and re-disinfecting the disinfection effect in step S5 is:
for a closed space, after the robot finishes the disinfection work of the whole space, 5-10 test points are selected in the space, and the selection principle of the test points is 2-3 points at the corner of a room, 2-4 points in an open area and 1-3 points in a disinfection blind area; the robot plans an optimal path according to the distribution of the test points and estimates the total test time, after the robot reaches the test points, the concentration is tested at a height of 0.8-1.5 m from the ground through the concentration sensor integration carried by the mechanical arm, when the concentration of the test points is lower than a preset value, a disinfection program is started to disinfect the point positions and the periphery, the concentration of the area is tested in real time until the concentration reaches the standard, then the disinfection is stopped, and the test and the disinfection of the next test point are carried out; finally, counting the initial qualified rate of all the test points, and if the initial qualified rate is higher than 90%, performing disinfection detection; if the point position is lower than 90%, the robot needs to randomly select three points for testing, the selected point position cannot be repeated or adjacent to the tested point position, if the point position is tested to be unqualified, a disinfection program is executed until the point position is qualified, and finally the test is qualified by using three continuous random points;
for an open space, when the robot carries out disinfection, a concentration sensor carried by a mechanical arm integrates the concentration of a disinfectant in the real-time monitoring environment, if the monitoring value is found to be lower than a qualified value, feedback information is generated to control the robot to reside at the position for strengthening disinfection until the real-time concentration test is passed, and then a disinfection task is continued;
for ultraviolet disinfection, no detection is required during the disinfection process.
6. The method for hospital department disinfection according to claim 5, wherein after the enclosed space is tested for disinfection and re-disinfected until all tests are passed, the following steps are further performed:
and calculating actual detection and re-disinfecting until the total time is qualified, comparing the actual detection and the re-disinfecting with the estimated time, if the total time exceeds a preset threshold value and the qualified rate of all the test points is lower than 90%, determining that the disinfection initial scheme is not feasible, generating alarm information and uploading, wherein the early warning information comprises a detection path, a driving speed and a spraying speed, and the background corrects algorithm model parameters according to the early warning information.
7. The method for hospital department disinfection according to claim 4, wherein said disinfection tasks in step S1 include fixed tasks including fixed disinfection time and disinfection department and temporary tasks including temporarily designated disinfection department; the information of the departments to be disinfected comprises names of the departments, types of the departments, positions of the departments, space information in the departments and disinfection schemes; the disinfection scheme is a combined disinfection mode of one or more of disinfectant atomization disinfection, disinfectant spraying disinfection and ultraviolet disinfection; the disinfectant is one or more of hydrogen peroxide disinfectant, peracetic acid disinfectant, chlorine-containing disinfectant and alcohol.
8. The method for hospital department sterilization according to claim 4, wherein the step of measuring environmental information of the department to be sterilized by the sensor module in step S4 comprises the steps of: measuring the plane area and the floor height of the space, investigating the storage condition of equipment facilities and articles in the space, observing whether high-risk articles or areas bred by viruses or bacteria exist or not and the positions of the high-risk articles or areas, and monitoring whether high-infectivity dirt exists on the ground or not; the high-risk articles or areas are toilets, wash basins or garbage cans; the highly contagious filth is a bloodstain or vomit.
9. The method for hospital department disinfection according to claim 8, wherein the method for planning the disinfection path according to the environmental information in step S4 is: if the high-risk articles or areas do not exist in the department, planning a disinfection path according to a disinfection principle of 'first-in-first-out, first-high-then-low' disinfection technical specification; if the high-risk articles or areas exist, the robot moves to the identified high-risk articles or areas one by one according to the principle of 'from outside to inside', disinfects by the disinfectant injection module carried by the mechanical arm terminal until the innermost high-risk articles or areas of the department are disinfected, and then plans a disinfection path by taking the position of the robot as a starting point according to the disinfection principle of 'from inside to outside, and from high to low'.
10. The method for hospital department sterilization according to claim 4, wherein the sterilization according to the planned sterilization path and sterilization plan in step S5 further comprises the steps of: in the disinfection process, the sensor intelligently identifies high-contact-frequency articles in the environment, disinfects the articles through a disinfectant spraying module carried by the mechanical arm terminal, and calculates the total time spent by the robot in staying and disinfecting the high-contact-frequency articles; after the disinfection is finished, the actual disinfection time is counted and compared with the estimated disinfection time, the time difference between the actual disinfection time and the estimated disinfection time is compared with the time spent on disinfecting the high-contact-frequency articles, and the parameter value in the time estimation model is corrected; the high contact frequency articles include door handles, power switches, and bedside tables.
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| CN202010156100.9A CN111001025B (en) | 2020-03-09 | 2020-03-09 | Sterilizing robot and method for sterilizing hospital departments by using same |
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