CN109568623A - A kind of the disinfection controlling of path thereof and chip of portable intelligent disinfection robot - Google Patents
A kind of the disinfection controlling of path thereof and chip of portable intelligent disinfection robot Download PDFInfo
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- CN109568623A CN109568623A CN201811623415.9A CN201811623415A CN109568623A CN 109568623 A CN109568623 A CN 109568623A CN 201811623415 A CN201811623415 A CN 201811623415A CN 109568623 A CN109568623 A CN 109568623A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 207
- 230000001954 sterilising effect Effects 0.000 claims abstract description 47
- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 10
- 230000004044 response Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000001580 bacterial effect Effects 0.000 description 4
- 230000000249 desinfective effect Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 230000005855 radiation Effects 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
- 230000000875 corresponding effect Effects 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
- 241000894006 Bacteria Species 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
- 230000000845 anti-microbial effect Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000009414 blockwork Methods 0.000 description 1
- 238000005660 chlorination reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method 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
- 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
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
-
- 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
-
- 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
- A61L2202/20—Targets to be treated
- A61L2202/26—Textiles, e.g. towels, beds, cloths
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)
- Apparatus For Disinfection Or Sterilisation (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the disinfection controlling of path thereof and chip of a kind of portable intelligent disinfection robot, the disinfection controlling of path thereof includes the following steps: (1) surface unlatching autonomous of the control portable intelligent disinfection robot in region to be sterilized, and controls the portable intelligent disinfection robot and receive and respond the location information from region to be sterilized；Step 2, while continuing to drive the portable intelligent disinfection robot mobile, disinfection position is determined according to the location information for receiving and responding, and construct the environmental map in region to be sterilized in real time；Step 3, the environmental map in the region to be sterilized constructed in real time according to step 2 and reception and the location information responded cook up corresponding disinfection path, and the default disinfection number of sterilising zone range setting according to disinfection path delineation；Step 4, the control portable intelligent disinfection robot are moved repeatedly according to the disinfection path described in step 3, complete the sterilization operation of default disinfection number.
Description
Technical field
The present invention relates to sterilizing equipment decontaminating apparatus technical fields, especially relate to a kind of disinfection of portable intelligent disinfection robot
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 robot needs performed disinfection work by receiving the guidance signal of track.
During using above-mentioned robot, the operation flexibility for the track cloth limitation robot being arranged in the technical solution is unfavorable for
Comprehensively killing disinfection is carried out to working region.
Summary of the invention
In order to overcome the above technical defects, the present invention proposes following technical scheme:
A kind of disinfection controlling of path thereof of portable intelligent disinfection robot, which, which is implemented on, has extremely
In the region to be sterilized of a few open edge, specifically include: step 1, the control portable intelligent disinfection robot to
Autonomous is opened on the surface of sterilising zone, and is controlled the portable intelligent disinfection robot and received and respond to be sterilized
The location information in region；Step 2, while continuing to drive the portable intelligent disinfection robot mobile, according to receiving simultaneously
The location information of response determines disinfection position, and constructs the environmental map in region to be sterilized in real time；It is step 3, real-time according to step 2
The environmental map in the region to be sterilized of building and reception and the location information responded cook up corresponding disinfection path, and according to this
Sterilize the default disinfection number of sterilising zone range setting of path delineation；Wherein, sterilising zone range size and default disinfection time
There are positive correlations for number；Step 4, the control portable intelligent disinfection robot are anti-according to the disinfection path described in step 3
It is multiple mobile, complete the sterilization operation of default disinfection number.The present invention can carry out default disappear according to the environmental information in region to be sterilized
The sterilization operation of malicious number 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 receiving the steep cliff reflective information of marginal surface position in the region to be sterilized, controls the portable intelligent and disappear
Malicious robot, which is moved to the second disinfection position from the first disinfection position, to be continued to sterilize, and changes the portable intelligent disinfection robot
The direction of motion so that the portable intelligent disinfection robot is routed away from the open edge.The technical solution passes through
The radiation signal reflected at the marginal surface position in the region to be sterilized is received, avoids falling to control robot, to tie up
It holds robot reciprocally to perform disinfection work on the surface in the region to be sterilized, saves the time, the efficiency of sterilizing is higher.
Further, the disinfection controlling of path thereof further include: the portable intelligent disinfection robot transmitting is ultraviolet
Light penetrates the air suction opening on robot chassis, gets hot spot on the surface in the region to be sterilized；When the hot spot got is close to described
When the marginal surface position in region to be sterilized, direction and the size in the disinfection path are adjusted, so that hot spot is described to be sterilized
The effective area that the surface in region is strafed 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 stream of the disinfection controlling of path thereof of portable intelligent disinfection robot provided in an embodiment of the present invention
Cheng Tu.
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.
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
Can disinfection robot execute the disinfection controlling of path thereof, according to the disinfection path, the disinfection cycle and described disappear
Malicious position performs disinfection work, while controlling the opening side that the portable intelligent disinfection robot bypasses bounded region to be sterilized
Edge.
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 (4)
1. a kind of disinfection controlling of path thereof of portable intelligent disinfection robot, which is characterized in that the disinfection path clustering side
Method is implemented in the region to be sterilized at least one open edge, is specifically included:
Step 1, the control portable intelligent disinfection robot open autonomous on the surface in region to be sterilized, and control institute
Portable intelligent disinfection robot is stated to receive and respond the location information from region to be sterilized；
Step 2, while continuing to drive the portable intelligent disinfection robot mobile, believed according to the position for receiving and responding
It ceases and determines disinfection position, and construct the environmental map in region to be sterilized in real time；
The location information of step 3, the environmental map in the region to be sterilized constructed in real time according to step 2 and reception and response is cooked up
Corresponding disinfection path, and the default disinfection number of sterilising zone range setting according to disinfection path delineation；Wherein, sterile zones
There are positive correlations for domain 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.
2. sterilizing controlling of path thereof according to claim 1, which is characterized in that the step 2 further include:
During continuing to drive the portable intelligent disinfection robot mobile, when the table for receiving the region to be sterilized
When the steep cliff reflective information of face marginal position, the portable intelligent disinfection robot is controlled from the first disinfection position and is moved to
Two disinfection positions continue to sterilize, and change the direction of motion of the portable intelligent disinfection robot, so that the portable intelligent
Disinfection robot is routed away from the open edge.
3. according to claim 1 to any one of 2 disinfection controlling of path thereof, which is characterized in that the disinfection path clustering
Method further include:
Hot spot is got on the surface in the region to be sterilized by emitting ultraviolet light；
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.
4. a kind of chip, which is characterized in that the built-in chip type is described for controlling in the portable intelligent disinfection robot
Portable intelligent disinfection robot perform claim requires any one of 1 to the 3 disinfection controlling of path thereof.
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| CN111001025A (en) * | 2020-03-09 | 2020-04-14 | 广州赛特智能科技有限公司 | Sterilizing robot and method for sterilizing hospital departments by using same |
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