CN110948505B

CN110948505B - Medical self-disinfection logistics robot and control method thereof

Info

Publication number: CN110948505B
Application number: CN202010106092.7A
Authority: CN
Inventors: 杨承诚
Original assignee: Shanghai Mucheng Intelligent Medical Technology Co Ltd
Current assignee: Shanghai Mucheng Intelligent Medical Technology Co Ltd
Priority date: 2020-02-21
Filing date: 2020-02-21
Publication date: 2020-06-02
Anticipated expiration: 2040-02-21
Also published as: CN110948505A

Abstract

The application provides a medical self-disinfection logistics robot and a control method thereof. The medical self-disinfection logistics robot that this application embodiment provided includes: the robot comprises a robot body, a disinfection system and a main controller; the robot body is internally provided with at least one containing bin, and a bin door of the containing bin is arranged on the outer surface of one side of the robot body for taking and placing goods; the disinfection system comprises an air curtain spray head arranged outside the robot body, the air curtain spray head is used for spraying disinfectant to form an air curtain at least on the first side of the robot body, so that the accommodating space of the accommodating bin is isolated from the external environment through the air curtain; the main controller is connected with the air curtain spray head and is used for controlling the air curtain spray head to be opened or closed according to the control command. The application provides a medical self-disinfection logistics robot, can avoid logistics robot to receive the pollution of pathogen and cause cross infection when working in the germ environment effectively.

Description

Medical self-disinfection logistics robot and control method thereof

Technical Field

The application relates to the technical field of robots, in particular to a medical self-disinfection logistics robot and a control method thereof.

Background

With the rapid development of robotics, logistics robots are beginning to be applied to article transfer and dispatch in different scenarios.

Among them, in the medical field, the logistics robot is widely used in repetitive work scenes such as medicine delivery, meal delivery, patrol, and medical waste disposal in multiple wards. At present, in the logistics distribution process of the logistics robot, after the article is filled, the article is generally sequentially sent to a designated target ward according to a dispatching destination, then, medical personnel take out the article after the article is identified by fingerprints, and the logistics robot returns to a delivery place until the distribution of all target nodes is completed.

However, in the nursing and treatment process of some infectious diseases (such as new coronary pneumonia outbreak in 2020 or atypical pneumonia outbreak in 2003), when the logistics robot works in an infected area, the objects in the robot and the robot are in a germ environment and are easily polluted by pathogens (such as novel coronavirus, SARS virus, Ebola virus and the like), and further cross infection is caused.

Disclosure of Invention

The embodiment of the application provides a medical self-disinfection logistics robot and a control method thereof, which are used for solving the technical problem that the logistics robot is easily polluted by pathogens to cause cross infection when working in a germ environment.

In a first aspect, an embodiment of the present application provides a medical self-disinfecting logistics robot, including: the robot comprises a robot body, a disinfection system and a main controller; the robot comprises a robot body, a storage bin, a cargo bin door and a control device, wherein the robot body is internally provided with at least one storage bin, the first side of the robot body is an opening side of the storage bin for taking and placing cargos, and the cargo bin door of the storage bin is arranged on the outer surface of the first side of the robot body; the disinfection system comprises an air curtain spray head arranged outside the robot body and used for spraying disinfectant to form an air curtain at least on the first side of the robot body so as to isolate the accommodating space of the accommodating bin from the external environment through the air curtain; the main controller is connected with the air curtain spray head and is used for controlling the air curtain spray head to be opened or closed according to the control command.

In the above embodiment, through set up the air curtain shower nozzle outside the robot, air curtain shower nozzle spun disinfectant forms the air curtain in the surface outside of robot and freight house door, thereby the disinfection effect of the disinfectant through air curtain shower nozzle injection, carry out self-disinfection to the robot, and at the in-process of getting goods, the isolated external environment of air curtain and the accommodation space in accommodation storehouse, can prevent that outside pathogen from getting into in the accommodation storehouse, thereby make the work of commodity circulation robot at infected ward and isolation ward safer, reduce the hospital and infect the risk.

In one possible design, the robot body comprises a top wall and a plurality of side walls, and the upper edges of the side walls and at least one side edge of the top wall are provided with air curtain spray heads, so that air curtains formed by disinfectant sprayed by the air curtain spray heads cover the top wall and the plurality of side walls.

In one possible design, the air curtain spray heads on the side wall of the robot body parallel to the moving direction of the logistics robot are rotatably connected with the robot body through rotating shafts, and the axes of the rotating shafts are perpendicular to the plane of the side wall, so that the rotating spraying direction of the air curtain spray heads forms an acute angle with the moving direction of the logistics robot.

In one possible design, the air curtain spray head of the top wall is arranged on one side edge in the same direction with the moving direction of the logistics robot.

In one possible design, when the spraying direction of the air curtain spray head is adjusted to the preset first direction, the air curtain is attached to the outer surface of the robot body.

In one possible design, the logistics robot further includes: the information acquisition device is arranged on the robot body and connected with the main controller, and is used for acquiring a goods taking instruction in a non-contact mode and sending the goods taking instruction to the main controller, and the main controller controls the air curtain sprayer to continuously open for a first preset time according to the goods taking instruction and controls the goods warehouse door to open.

In one possible design, the information acquisition device comprises a camera or a sound sensor.

In one possible design, the logistics robot further includes: the weight sensor is located at the bottom of the accommodating bin and connected with the main controller, the weight sensor is used for acquiring weight information of goods in the accommodating bin and sending the weight information to the main controller, the main controller judges whether the goods in the accommodating bin are completely taken out according to the weight information, if the judgment result is yes, the door of the accommodating bin is controlled to be closed, and the air curtain sprayer arranged on the first side is controlled to be continuously opened for a second preset time.

In a possible design, an ultraviolet disinfection device is arranged in the containing bin and is connected with a main controller, and the main controller controls the ultraviolet disinfection device to be opened when judging that the cargo bin door is closed.

In one possible design, the logistics robot further includes: the positioning device is used for obtaining the positioning position of the logistics robot and sending the positioning position to the main controller, the main controller controls the voice device to broadcast the goods taking notification voice or sends the goods taking notification information to the goods taking prompt terminal when the positioning position is a preset target sending unit, and/or the main controller controls the air curtain nozzle to be started when the positioning position is in a preset first area and controls the air curtain nozzle to be closed when the positioning position is in a preset second area.

In one possible design, the logistics robot further includes: the speed sensor is connected with the main controller and used for detecting the movement direction and the movement speed of the logistics robot, and the main controller is also used for controlling the air curtain spray head to rotate to the spraying direction to form an acute angle with the movement direction and change the movement speed according to the movement direction and the movement speed.

In one possible design, the logistics robot further includes: and the suction ports of the suction fans are distributed on the side wall and the top wall, are far away from the edge of one side of the air curtain spray head, and are arranged right opposite to the spraying direction of the air curtain spray head.

In one possible design, the air curtain nozzle is arranged to be attached to the outer surface of the robot body, so that an air curtain formed outside the robot body is attached to the outer surface of the robot body.

In a second aspect, an embodiment of the present application further provides a control method for a medical self-disinfecting logistics robot, which is applied to the medical self-disinfecting logistics robot, and includes: acquiring a goods taking instruction; starting an air curtain spray head according to a goods taking instruction to form an air curtain on a first side of a containing bin, wherein at least one containing bin is arranged in the logistics robot, and the first side of the containing bin is an opening side of the containing bin for taking and placing goods; and opening a warehouse door of the containing bin, wherein the warehouse door is arranged on the first side of the containing bin so as to isolate the containing space of the containing bin from the external environment through an air curtain.

In the above embodiment, after the goods taking instruction is obtained, the air curtain nozzle is started according to the goods taking instruction, so that before the goods compartment door is opened, the air curtain is formed outside the goods compartment door in advance, then, the goods compartment door of the accommodating compartment is controlled to be opened, and therefore through the formed air curtain, the internal accommodating space and the external polluted environment of the accommodating compartment are isolated, pathogens in the external polluted environment are prevented from entering the accommodating compartment of the logistics robot, and cross infection caused by pathogen pollution when the logistics robot works in the pathogen environment is effectively avoided.

In one possible design, before opening the bin door of the receiving bin, the method further comprises: and determining that the air curtain spray head is continuously opened for a first preset time.

In one possible design, the spraying direction of the air curtain spraying head is adjusted to a preset first direction, so that the air curtain is attached to the outer surface of the logistics robot.

In one possible design, the air curtain spray head is arranged outside the freight compartment door.

In one possible design, after opening the bin door of the receiving bin, the method further comprises: determining that all goods in the accommodating bin are taken out; closing the freight house door; and closing the air curtain spray head.

In one possible design, determining that the cargo in the holding bin has been completely removed includes: acquiring weight information in the accommodating bin, wherein a weight sensor is arranged at the bottom of the accommodating bin; and determining that the goods in the accommodating bin are completely taken out according to the weight information.

In one possible design, before closing the air curtain nozzle, the method further comprises: and determining that the air curtain spray head is continuously opened for a second preset time after the goods warehouse door is closed.

In one possible design, the air curtain engages an outer surface of the door when the door is in the closed position.

In one possible design, after the air curtain nozzle is closed, the method further comprises the following steps: starting the ultraviolet disinfection device, wherein the ultraviolet disinfection device is arranged in the accommodating bin.

In one possible design, the pick instruction is an instruction obtained in a non-contact manner.

In one possible design, the pick instruction is any one or more of a bar code instruction, a voice instruction, and a gesture instruction.

In one possible design, before obtaining the pick instruction, the method further includes: acquiring a positioning position of the logistics robot; judging whether the obtained positioning position is a preset target group unit position or not; when the positioning position is a preset target dispatching unit position, broadcasting the goods taking notification voice and/or sending goods taking notification information to the goods taking prompt terminal.

In a third aspect, an embodiment of the present application further provides a medical self-disinfecting logistics robot control method, applied to a medical self-disinfecting logistics robot, including: acquiring a positioning position of the logistics robot; if the logistics robot is located in the preset first area according to the positioning position, the air curtain spray head is started, and the air curtain is formed on the outer surface of the logistics robot, so that the outer surface of the logistics robot is isolated from the external environment through the air curtain.

In the above embodiment, the logistics robot is located the region through obtaining real-time location position to confirm logistics robot, then, when confirming that logistics robot is in predetermined first region according to the location position, through starting the air curtain shower nozzle, with form the air curtain at logistics robot's surface, so that logistics robot's surface and external environment pass through the air curtain and isolate, and then avoid logistics robot to receive the cross infection that the pollution of pathogen caused when working in the germ environment effectively.

In one possible design, at least one end of each outer side wall of the logistics robot is provided with an air curtain spray head so as to form a closed air curtain on the outer surface of the logistics robot.

In one possible design, the spraying direction of the air curtain spray head is adjusted to a preset first direction, so that the air curtain is attached to the outer surface of the logistics robot

In one possible design, the air curtain is attached to the outer surface of the logistics robot.

In one possible design, after the air curtain nozzle is started, the method further comprises the following steps: acquiring the motion direction of the logistics robot; and determining the spraying direction of the air curtain spray head according to the movement direction, wherein the spraying direction and the movement direction form an acute angle so as to form a closed air curtain on the outer surface of the logistics robot.

In one possible design, after the air curtain nozzle is started, the method further comprises the following steps: acquiring the movement speed of the logistics robot; and determining the jet speed of the air curtain nozzle according to the movement speed, wherein the movement speed is positively correlated with the jet speed.

In one possible design, after obtaining the positioning position of the logistics robot, the method further includes: and if the logistics robot is determined to be in the preset second area according to the positioning position, closing the air curtain spray head.

In a fourth aspect, an embodiment of the present application further provides a logistics robot control apparatus, including: the instruction acquisition module is used for acquiring a goods taking instruction; the spray head control module is used for starting the air curtain spray head according to the goods taking instruction so as to form an air curtain on the first side of the containing bin, at least one containing bin is arranged in the logistics robot, and the first side is an opening side of the containing bin for taking and placing goods; the warehouse door control module is used for opening a warehouse door of the containing bin, and the warehouse door is arranged on the first side of the containing bin so that the containing space of the containing bin is isolated from the external environment through the air curtain.

In one possible design, the spray head control module is further configured to determine that the air curtain spray head has been continuously opened for a first predetermined period of time.

In one possible design, the spray head control module is further configured to adjust the spraying direction of the air curtain spray head to a preset first direction, so that the air curtain is attached to the outer surface of the logistics robot.

In one possible design, the logistics robot control apparatus further includes: the pick-and-place determining module is used for determining that all goods in the accommodating bin are taken out; the warehouse door control module is also used for closing the warehouse door; and the spray head control module is also used for closing the air curtain spray head.

In one possible design, the pick-and-place determining module is specifically configured to: acquiring weight information in the accommodating bin, wherein a weight sensor is arranged at the bottom of the accommodating bin; and determining that the goods in the accommodating bin are completely taken out according to the weight information.

In one possible design, the warehouse door control module is further configured to determine that the air curtain nozzle is continuously opened for a second preset time period after the warehouse door is closed.

In one possible design, the logistics robot control apparatus further includes: and the disinfection starting module is used for starting the ultraviolet disinfection device, and the ultraviolet disinfection device is arranged in the accommodating bin.

In one possible design, the logistics robot control apparatus further includes: the positioning acquisition module is used for acquiring the positioning position of the logistics robot; the position judgment module is used for judging whether the obtained positioning position is a preset target group unit position or not; and the goods taking notification module is used for broadcasting the goods taking notification voice and/or sending goods taking notification information to the goods taking prompt terminal.

In a fifth aspect, an embodiment of the present application further provides a logistics robot control device, including: the positioning acquisition module is used for acquiring the positioning position of the logistics robot; and the spray head control module is used for controlling the opening or closing of the air curtain spray head so as to form an air curtain on the outer surface of the logistics robot, so that the outer surface of the logistics robot is isolated from the external environment through the air curtain or the air curtain spray head is closed.

In one possible design, the logistics robot control apparatus further includes: the direction acquisition module is used for acquiring the motion direction of the logistics robot; and the spray head control module is also used for determining the spray direction of the air curtain spray head according to the movement direction, and the spray direction and the movement direction form an acute angle so as to form a closed air curtain on the outer surface of the logistics robot.

In one possible design, the logistics robot control apparatus further includes: the speed acquisition module is used for acquiring the movement speed of the logistics robot; and the spray head control module is also used for determining the spray speed of the air curtain spray head according to the movement speed, and the movement speed is positively correlated with the spray speed.

In a sixth aspect, the present application further provides a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements any one of the possible medical self-disinfection logistics robot control methods in the second aspect.

In a seventh aspect, the present application further provides a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements any one of the possible medical self-disinfection logistics robot control methods in the third aspect.

The application provides a medical self-disinfection logistics robot and a control method thereof, through set up the air curtain shower nozzle outside the robot, air curtain shower nozzle spun disinfectant forms the air curtain in the surface outside of robot and freight house door, thereby the disinfection effect through air curtain shower nozzle jetted disinfectant, carry out the self-disinfection to the robot, and in getting the goods in-process, the isolated external environment of air curtain and the accommodation space in accommodation storehouse, can prevent that outside pathogen from getting into in the accommodation storehouse, thereby make the work of logistics robot in infected ward and isolation ward safer, reduce the hospital and infect the risk.

In addition, when the injection direction adjustment of gas curtain shower nozzle was to predetermineeing first direction, the gas curtain that gas curtain shower nozzle jetted air current or disinfectant formed can also laminate mutually with the surface of robot to further self-sterilizer to the logistics robot surface through disinfection gas curtain, thereby can further avoid because of the cross infection that the motion of logistics robot in each region caused, in addition, can also avoid artifical manual disinfection to cause the medical resources extra occupy.

And moreover, the spraying direction and the spraying speed of the air curtain sprayer can be adjusted by adjusting the spraying direction and the spraying speed of the air curtain sprayer, so that the isolation effect of the generated air curtain in the movement process of the logistics robot is ensured, and the disturbance of the air curtain caused by the movement is effectively avoided.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a diagram illustrating an application scenario of a medical self-disinfection logistics robot according to an embodiment of the application;

FIG. 2 is a schematic overall structure diagram of a logistics robot provided by an embodiment of the application;

fig. 3 is an overall schematic view of an airflow direction of an air curtain formed on an outer surface of a logistics robot according to an embodiment of the application;

FIG. 4 is a schematic side view of an air curtain formed on an outer surface of a logistics robot provided by an embodiment of the present application;

fig. 5 is a schematic view illustrating an airflow direction of an air curtain formed on a side wall when the logistics robot provided by the embodiment of the application is in a static state;

fig. 6 is a schematic view illustrating an airflow direction of an air curtain formed on a side wall when the logistics robot provided by the embodiment of the application is in a moving state;

fig. 7 is a schematic diagram of a control relationship of a main controller of a logistics robot according to an embodiment of the application;

FIG. 8 is a flow diagram illustrating a medical self-disinfecting logistics robot control method according to one embodiment of the present application;

FIG. 9 is a schematic flow chart diagram illustrating a medical self-sterilizer logistics robot control method according to another embodiment of the present application;

FIG. 10 is a schematic flow chart diagram illustrating a medical self-sterilizer logistics robot control method according to yet another embodiment of the present application;

FIG. 11a is a diagram of a scenario illustrating an exemplary pick notification approach;

FIG. 11b is a diagram of a scenario illustrating another exemplary pick notification approach;

FIG. 11c is a diagram illustrating a scenario of yet another exemplary pick notification approach;

FIG. 12 is a diagram illustrating a scenario of a pick instruction capture mode;

FIG. 13a is a schematic view of an exemplary pickup scenario;

FIG. 13b is a schematic view of another exemplary pickup scenario;

FIG. 14 is a flow chart diagram illustrating a medical self-sterilizer logistics robot control method in accordance with yet another embodiment of the present application;

FIG. 15 is a scene diagram of a logistics robot protection method;

FIG. 16 is a flow chart diagram illustrating a medical self-disinfecting logistics robot control method according to yet another embodiment of the present application;

fig. 17 is a schematic structural diagram of a logistics robot control apparatus according to an embodiment of the present application;

fig. 18 is a schematic structural diagram of a logistics robot control apparatus according to another embodiment of the present application;

fig. 19 is a schematic structural diagram of a logistics robot control apparatus according to yet another embodiment of the present application;

fig. 20 is a schematic structural diagram of a logistics robot control apparatus according to yet another embodiment of the present application;

fig. 21 is a schematic structural diagram of a logistics robot control apparatus according to yet another embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the medical field, the logistics robot has been widely used in repetitive work scenes such as medicine delivery, meal delivery, patrol and even medical waste cleaning in multiple wards. At present, in the logistics distribution process of the logistics robot, after the article is filled, the article is generally taken out according to the order destination and the designated target ward in turn, and then the medical staff takes out the article after passing the fingerprint authentication. Since the logistics robot generally needs to go to a plurality of target nodes for distribution in a single pass, when the logistics robot is applied to epidemic prevention scenes of infectious diseases, it is necessary to shuttle between disease areas (such as clean areas, semi-polluted areas and polluted areas) with different protection levels continuously.

When medical personnel passed through the fingerprint authentication, when needing to get the thing operation in the contaminated area that patient lived, the commodity circulation robot at first need open the freight house door, wherein, the freight house door is the access & exit of getting the article for putting of the holding storehouse that the commodity circulation robot was used for depositing the goods. And when the door of the goods warehouse is opened, the inner accommodating space of the accommodating warehouse is communicated with the external polluted environment, and at the moment, pathogens in the external polluted environment can easily enter the inner part of the accommodating warehouse.

And after the holding storehouse of commodity circulation robot is inside to be polluted, need when the delivery is accomplished at every turn, the commodity circulation robot need go to specific disinfection region, disinfects for the commodity circulation robot by the special person, needs a large amount of human costs of extravagant, also can influence the operating efficiency of commodity circulation robot. In the process of preventing and treating large-scale infectious diseases, manpower is usually very short, and when the existing logistics robot is used for goods distribution, if additional manpower is still required to be distributed for disinfection, additional pressure is inevitably caused to epidemic-resistant manpower resources, and at the moment, the effect of the logistics robot cannot be fully exerted, so that the logistics robot is not beneficial to efficient development of epidemic-resistant work. And if the disinfection is not timely or sufficient, the inside of the accommodating bin of the logistics robot can continuously carry pathogens, so that the subsequent goods stored in the accommodating bin are polluted, and further, cross infection is caused, and even the infection of medical personnel can be caused.

In order to solve the technical problem, an embodiment of the present application provides a logistics robot, a control method of a logistics robot, and a storage medium, where after a goods taking instruction is obtained by the logistics robot, an air curtain nozzle is started according to the goods taking instruction, so that before a goods compartment door of an accommodating compartment is opened, an air curtain is formed in advance outside the goods compartment door, and then the goods compartment door is controlled to be opened, so that an internal accommodating space and an external polluted environment of the accommodating compartment are isolated by the formed air curtain, and pathogens in the external polluted environment are blocked from entering the accommodating compartment of the logistics robot, thereby effectively preventing the logistics robot from being polluted by the pathogens when working in the pathogen environment to cause cross infection.

In addition, the logistics robot determines the area where the logistics robot is located by acquiring the real-time positioning position. When the logistics robot is located in the preset first area according to the positioning position, the air curtain spray head is started to form the air curtain on the outer surface of the logistics robot, so that the outer surface of the logistics robot is isolated from the external environment through the air curtain, and cross infection caused by pathogen pollution when the logistics robot works in a germ environment is effectively avoided.

An exemplary application scenario of the embodiments of the present application is described below.

Fig. 1 is a view of an application scenario of a medical self-disinfection logistics robot according to an embodiment of the application. As shown in fig. 1, the application of the logistics robot R1 in the scene of isolating an infectious disease from an affected area, wherein the infected area includes a plurality of affected areas with different protection levels, can be exemplified. Referring to fig. 1, a logistics robot R1 needs to shuttle between a clean zone P1, a semi-contaminated zone P2 and a contaminated zone P3. A loading point P11 is arranged in a clean area P1, and according to a delivery target node dispatched on a loading point P11, the logistics robot R1 needs to go to a first target node P21 in a semi-polluted area P2, a second target node P31, a third target node P32, a fourth target node P33 and a fifth target node P34 in a polluted area P3 in sequence to dispatch articles, and finally, the logistics robot returns to the loading point P11 in the clean area P1 again to perform the next delivery process, or goes to a charging area to be charged.

When articles placed in the accommodating bin of the logistics robot R1 need to be taken out in the semi-polluted region P2 and the polluted region P3, the door of the accommodating bin needs to be opened firstly. In this embodiment, logistics robot R1 is before control freight house door is opened, through opening the air curtain shower nozzle of setting on logistics robot R1 earlier to form the air curtain in the freight house door outside earlier, then control the freight house door and open, this moment, because the inside accommodation space and the external contamination environment in accommodation chamber have been completely cut off to the air curtain, can avoid effectively that the pathogen among the external contamination environment causes the pollution to logistics robot R1 accommodation chamber is inside.

The air curtain spray head may be arranged on the top of a side wall of the logistics robot R1 to form an air curtain for protecting the whole side wall on the corresponding side wall, wherein the cargo door is arranged on the side wall. Alternatively, the air curtain nozzles may be arranged only outside the cargo door to form an air curtain for protecting only the cargo door at the position of the cargo door on the side wall of the logistics robot R1. In addition, the air curtain spray head can be an integral spray head or a spray head module consisting of a plurality of sub spray heads.

The air curtain spray head can spray gas (such as purified air) or gas-liquid mixture (such as atomized disinfectant), and the specific form of the air curtain spray head spray can be adjusted according to the characteristics of pathogens. When the atomized disinfectant is sprayed, a sterilizing air curtain can be formed, and the sterilizing air curtain has the effects of sterilization and disinfection besides the isolation effect. Optionally, the logistics robot R1 may also adjust the spray pattern of the air curtain spray head according to the environmental characteristics of the location, for example, when the logistics robot R1 is in the semi-polluted area P2, the cleaned air may be sprayed, and when the logistics robot R1 is in the polluted area P3, the atomized disinfectant may be sprayed for better isolation and sterilization. Alternatively, when the flow robot R1 is in the semi-polluted region P2, the atomized disinfectant with a lower concentration may be sprayed, and when the flow robot R1 is in the polluted region P3, the atomized disinfectant with a higher concentration may be sprayed for better isolation and sterilization. It can be seen that the mode that the form that can spray the gas curtain shower nozzle according to the environmental characteristic of the position through logistics robot R1 can also utilize the inside disinfectant that stores of logistics robot R1 more effectively, reduces logistics robot R1 and loads weight pressure to logistics robot R1 repeatedly to reduce the disinfectant, and then improves logistics robot R1's work efficiency and transportation bearing capacity.

On the other hand, the spraying direction and the spraying speed of the air curtain sprayer can be adaptively adjusted according to application scenes, for example, when pathogens in an external polluted environment have high infectivity, the spraying speed of the air curtain sprayer can be properly increased so as to improve the isolation effect of the air curtain.

With continued reference to fig. 1, when the air flow or disinfectant sprayed by the air curtain spray head of the logistics robot R1 can form a complete air curtain on the outer side of the surface thereof to isolate the outer surface of the logistics robot R1 from the external environment, the logistics robot R1 can also determine whether to open the air curtain spray head to form the air curtain according to the positioning position of the logistics robot R3526. For example, the air curtain spray may be turned off when flow robot R1 is in clean zone P1, and turned on when flow robot R1 is in semi-contaminated zone P2 or contaminated zone P3. In addition, logistics robot R1 can be through the isolated pathogen of the air curtain that utilizes to form in addition, can also be through the direction of spraying of control air curtain shower nozzle, so that the air curtain laminates mutually with logistics robot's surface, thereby carry out self-disinfection to logistics robot R1 surface through the spun disinfectant of air curtain shower nozzle, thereby further avoided because of the cross infection that logistics robot R1 caused in the motion in each region, in addition, can also avoid artifical manual disinfection to cause the medical resources extra to occupy.

The following describes a specific structure of a logistics robot provided by an embodiment of the present application with reference to the accompanying drawings and specific embodiments.

The embodiment of the application provides a logistics robot, includes: a robot body and a main controller 41 integrated in the robot body. The robot body is mainly used for carrying and distributing articles and generally has a walking chassis, the walking chassis is mounted at the foot position of the robot body, and the robot body can be driven to rotate by a certain angle in a specific direction or move and walk along a certain path under the control of the main controller 41. The main controller 41 has a plurality of control modules, for example, an instruction acquisition module, a positioning acquisition module, a traveling speed control module, and the like, to realize the logistics distribution function of the robot body. In order to realize comprehensive sterilization and disinfection of the logistics robot in the medical field, in the embodiment, the logistics robot is further provided with a disinfection system.

The shape of the robot body has various implementation forms, fig. 2 is a schematic overall structure diagram of the logistics robot provided by the embodiment of the application, and referring to fig. 2, at least one accommodating bin 13 for accommodating and carrying articles is arranged in the robot body. In a possible embodiment, the robot body and the accommodating chamber 13 may be provided in a simpler shape, for example, the robot body is a cylinder or a cuboid as shown in fig. 2, and the accommodating chamber 13 is a spherical, cylindrical or cuboid cavity provided inside the robot body, so as to facilitate sterilization of the outer surface and inside of the logistics robot, and prevent a situation that the more complicated structure causes difficulty in thorough sterilization of the positions such as corners.

Specifically, the first side of the robot body is an opening side of the accommodating bin 13 for taking and placing goods, and the bin door 131 of the accommodating bin 13 is disposed on the outer surface of the first side of the robot body. The robot body still has the second side, and the second side is the front of robot body, can set up structures such as display screen, camera for realize information input and output.

Fig. 3 is a general schematic view of an air flow direction of an air curtain formed on an outer surface of a logistics robot provided in an embodiment of the present application, fig. 4 is a schematic view of a side view of the air curtain formed on the outer surface of the logistics robot provided in an embodiment of the present application, and referring to fig. 3 to 4, a sterilization system includes an air curtain spray head 21 installed outside a robot body and used for spraying a disinfectant to form the air curtain on at least a first side of the robot body, so that a receiving space of a receiving bin is isolated from an external environment through the air curtain. In addition, an air curtain can be formed on the outer side of the outer surface of the first side of the robot body or the local outer surface of the position where the accommodating bin is arranged, so that the accommodating space of the accommodating bin is isolated from the external environment through the air curtain, or the outer surface of the robot body is isolated from the external environment through the air curtain; the main controller 41 is connected with the air curtain nozzle 21 and is used for controlling the air curtain nozzle 21 to be opened or closed according to a control command. Alternatively, the spraying direction of the air curtain nozzle 21 may be parallel to the outer surface of the robot body.

Wherein, gas curtain shower nozzle 21 can be the integral shower nozzle that has long and narrow bar gas outlet, perhaps arranges into the shower nozzle module of constituteing in a line for a plurality of sub-shower nozzles, has less size diameter or gas outlet through the design shower nozzle to and control spun gas have faster velocity of flow, can realize spraying gaseous form the gas curtain in the certain distance, the circulation of air of its both sides can be obstructed to the gas curtain. And the specific arrangement mode of the air curtain spray heads 21 can be specifically distributed and arranged according to the shape of the outer surface of the logistics robot.

In a possible implementation mode, the air curtain nozzle 21 is communicated with a disinfectant storage container inside the robot body, the disinfectant is atomized by an atomizing device and the like, and the atomized disinfectant is sprayed out of the air curtain nozzle 21 at a certain flow rate and flow speed by a pressure pump and the like. Furthermore, valves are arranged on the communication pipeline between the air curtain spray head 21 and the disinfectant storage container, and the opening and closing of the air curtain spray head 21 can be controlled by controlling the opening and closing of the valves.

The air curtain spray head 21 is arranged outside the robot body, and an air curtain formed by air flow or disinfectant sprayed by the air curtain spray head 21 is arranged at the position of the air curtain spray head, so that the whole outer surface of the robot body can be isolated (except for the bottom wall facing the ground, walking wheels and other positions which are not contacted by human bodies under most conditions).

Wherein, the surface setting that air curtain shower nozzle 21 can laminate the robot to the air curtain that makes this external formation of robot laminates the surface of robot, and at this moment, the air current that air curtain shower nozzle 21 erupted can flow on the surface of robot, and the air curtain interference immunity that not only forms is stronger, and the disinfectant in the air curtain can adsorb on the surface of robot, plays the disinfection effect to robot surface moreover.

It should be noted that, the air curtain nozzle 21 may also have a certain gap with the outer surface of the robot body, and an air curtain formed by the air flow or the disinfectant sprayed by the air curtain nozzle 21 has a gap with the outer surface of the robot body, at this time, the air curtain nozzle 21 may also play a role in isolating the outer surface of the robot body from the external environment.

In addition, when the spraying direction of the air curtain sprayer is adjusted (for example, by rotating) to the preset first direction, the air curtain formed by the air curtain sprayer 21 spraying air flow or disinfectant can be attached to the outer surface of the robot body, so that the outer surface of the logistics robot can be self-disinfected through the disinfection air curtain, cross infection caused by movement of the logistics robot in each area is further avoided, and in addition, medical care resources caused by manual disinfection can be prevented from being additionally occupied. It should be noted that the preset first direction may be a fixed direction angle, may be a plurality of direction angles, and may also be an interval range of one direction angle.

In a specific embodiment, the cargo door 131 of the accommodating chamber 13 is opened on the outer surface of the first side of the robot body, and when the cargo door 131 is closed after the air curtain spray head 21 on the first side of the robot body is opened, the air curtain covers the cargo door 131, so that the outer side of the cargo door 131 can be sterilized; after the cargo door 131 is opened, the air curtain can isolate the accommodating space inside the accommodating chamber 13 from the external environment, so as to prevent pathogens in the external environment from entering the accommodating chamber 13.

It can be understood that when the storage compartment door 131 is disposed at the inner side of the outer surface of the robot body, the air curtain formed after the air curtain nozzle 21 at the first side of the robot body is opened can also isolate the accommodating compartment 13 from the external environment.

In order to further prevent pathogens in the external environment from entering the accommodating chamber 13 and contaminating the articles in the accommodating chamber 13 when taking the articles, an air curtain nozzle 21 may be additionally disposed at an edge of one side of the door 131 of the cargo chamber to form an air curtain for isolating the accommodating chamber 13 from the external environment at the door 131 of the cargo chamber.

With continued reference to fig. 2 and 3, in one possible embodiment, the robot body comprises a top wall 11 and a plurality of side walls 12, and an air curtain spray head 21 is provided on both the upper edge of the side walls 12 and at least one side edge of the top wall 11, such that an air curtain formed by air flow or disinfectant sprayed by the air curtain spray head 21 covers the top wall 11 and the plurality of side walls 12.

The air curtain nozzles 21 are arranged at the upper edges of the side walls 12, so that the disinfectant sprayed downwards by the air curtain nozzles 21 forms an integral downward air curtain under the superposition of gravity, and the whole side wall 12 is covered. At least one side edge of the top wall 11 is provided with an air curtain nozzle 21, the spraying direction being towards the opposite side edge of the top wall 11, so that the top wall 11 is covered by the air curtain.

Fig. 5 is a schematic view of the airflow direction of the air curtain formed on the side wall when the logistics robot provided by the embodiment of the application is in a static state, and referring to fig. 5, a plurality of air curtain spray heads 21 are arranged in a row at the top of the side wall 12, the airflow spray direction is downward, and the formed air curtain covers the whole side wall 12.

It should be noted that the air curtain nozzle 21 in the drawings is only a schematic diagram, and does not represent the actual shape, structure and size ratio of the air curtain nozzle 21.

Fig. 6 is a schematic view of an airflow direction of an air curtain formed on a side wall when the logistics robot provided by the embodiment of the application is in a moving state, an arrow above fig. 6 is a moving direction of the logistics robot, and when the logistics robot moves towards a certain direction, the air curtain is disturbed by the airflow on the side wall 12 parallel to the moving direction, which results in a reduction in the sealing performance and stability of the air curtain. In order to solve the air flow interference during movement, the spraying direction of the air curtain spray head 21 can be changed, and the initial speed of the air flow sprayed by the air curtain spray head 21 in the movement direction is controlled to have a certain magnitude, so that the air flow sprayed towards the movement front is set, and the air flow direction gradually deviates towards the position close to the position right below the air curtain spray head 21 under the action of air resistance brought by movement, thereby ensuring that the air curtain covers the whole side wall 12.

Specifically, as shown in fig. 4, the air curtain nozzle 21 on the side wall 12 of the robot body parallel to the moving direction is rotatably connected to the robot body through a rotating shaft 22, and the axis of the rotating shaft 22 is perpendicular to the plane of the side wall 12, so that the air curtain nozzle 21 can rotate until the spraying direction forms an acute angle with the moving direction. At this time, when the robot body moves forward, the air curtain nozzle 21 rotates by a certain angle through the rotating shaft 22, so that an included angle between the spraying direction of the air curtain nozzle 21 and the moving direction is an acute angle.

Further, as shown in fig. 6, the air curtain nozzle of the top wall may be disposed at one side edge 51 in the same direction as the moving direction of the logistics robot, so that the air curtain on the top wall is prevented from being disturbed by the air flow when the robot body moves.

In another embodiment not shown in the drawings, the air curtain nozzle 21 may be a nozzle having a long and narrow air outlet, and in this case, a plurality of air guiding plates may be disposed inside the long air outlet, and the spraying direction of the air curtain nozzle 21 is controlled by controlling the inclination angle of the air guiding plates.

In order to further improve the sealing performance and stability of the air curtain, in this embodiment, the logistics robot further includes: the suction fan is arranged inside the robot body, and as shown in fig. 5 and fig. 6, the suction port 31 of the suction fan is distributed on the side edge of the side wall 12 and the top wall 11 away from the air curtain nozzle 21 and is arranged opposite to the spraying direction of the air curtain nozzle 21. The air flow ejected from the air curtain head 21 is also sucked through the air inlet 31 in addition to the initial velocity applied by the air curtain head 21, and therefore the air flow is sucked into the air inlet 31 from the air curtain head 21, and the formed air curtain is more stable.

Fig. 7 is a schematic control relationship diagram of a main controller 41 of a logistics robot provided in an embodiment of the present application, and referring to fig. 7, an information acquisition device 42 is provided in the logistics robot, the information acquisition device 42 is provided on a robot body and connected to the main controller 41, and is configured to acquire a pickup instruction in a non-contact manner and send the pickup instruction to the main controller 41, and the main controller 41 controls the air curtain nozzle 21 to continuously open for a first preset duration according to the pickup instruction, and then controls the cargo door 131 to open.

The non-contact mode comprises the steps of recognizing a graph, an image or a bar code instruction, recognizing a voice instruction, recognizing a gesture instruction and the like. Specifically, the information acquisition device comprises a camera or a sound sensor, wherein the camera is used for shooting and identifying graphs, images, bar codes or gestures, and the sound sensor is used for acquiring and identifying voice.

In addition, the logistics robot further comprises: the weight sensor 43 is located at the bottom of the accommodating bin 13, the weight sensor 43 is connected with the main controller 41, and is used for acquiring weight information of goods in the accommodating bin 13 and sending the weight information to the main controller 41, the main controller 41 can judge whether the goods in the accommodating bin 13 are completely taken out according to the weight information, and when the judgment result is yes, the door 131 of the accommodating bin is controlled to be closed, and the inflatable curtain nozzle 21 located on the first side is controlled to be continuously opened for a second preset time. That is, the weight sensor is arranged in the accommodating chamber 13, so that whether goods in the accommodating chamber 13 are taken out or not can be judged in time, and the closing of the door 131 of the accommodating chamber and the opening of the air curtain nozzle 21 are controlled to sterilize.

Further, an ultraviolet disinfection device 44 is arranged in the accommodating bin 13, the ultraviolet disinfection device 44 is connected with the main controller 41, and the main controller 41 controls the ultraviolet disinfection device 44 to be opened when judging that the cargo bin door 131 is closed. The ultraviolet ray sterilizing device 44 can perform ultraviolet ray sterilization on the inside of the accommodating chamber 13 to prevent pathogens inside the accommodating chamber 13 from infecting the goods and the user.

In order to realize the logistics dispatching function of the logistics robot, a positioning device 45 is arranged in the logistics robot, the positioning device 45 is used for obtaining the positioning position of the logistics robot and sending the positioning position to the main controller 41, and when the positioning position of the main controller 41 is a preset target dispatching unit, the main controller 41 controls the voice device to broadcast the goods taking notification voice or send the goods taking notification information to the goods taking prompt terminal. The positioning device 45 is arranged, so that the logistics robot can realize real-time path acquisition and path planning, and people can be conveniently informed in advance to pick goods according to the position of the logistics robot, so that the logistics dispatching time is saved.

In addition, the main controller 41 may also control the air curtain nozzle 21 to be activated when the index position is in a preset first region and control the air curtain nozzle 21 to be deactivated when the index position is in a preset second region. Wherein, the first region of predetermineeing can be pathogen contaminated area or the area that partly pollutes, and the second region of predetermineeing can be clean area or other safe region, and at this moment, set up positioner 45 and be favorable to according to regional reasonable switching gas curtain shower nozzle 21, under the long condition of the disinfection of assurance robot body, reduce the waste of disinfectant to reduce the consumption of commodity circulation robot electric energy.

On the basis that the spraying direction and the spraying speed of the air curtain spray head 21 are adjustable, in the embodiment, a speed sensor 46 is further arranged in the logistics robot, the speed sensor 46 is connected with the main controller 41 and used for detecting the moving direction and the moving speed of the logistics robot, and the main controller 41 is further used for controlling the air curtain spray head 21 to rotate to the spraying direction and the moving direction to form an acute angle and change the moving speed according to the moving direction and the moving speed.

In a certain range, when the moving speed of the logistics robot is higher, the included angle between the spraying direction and the moving direction of the air curtain spray head 21 can be set to be smaller; meanwhile, the spraying speed of the air curtain nozzle 21 is positively correlated with the moving speed of the logistics robot within a certain range. In practical application, the spraying direction and the spraying speed of the air curtain nozzle 21 can be adjusted simultaneously, so as to achieve better air curtain covering and isolating effects.

The embodiment of the application provides a medical self-disinfection logistics robot, through set up the gas curtain shower nozzle outside the robot, gas curtain shower nozzle spun disinfectant forms the gas curtain in the surface outside of robot and holding storehouse, thereby the disinfection effect of the disinfectant through gas curtain shower nozzle injection, self-disinfection is carried out to the robot, and getting the goods in-process, the isolated external environment of gas curtain and the accommodation space in holding storehouse, can prevent that outside pathogen from getting into in the holding storehouse, thereby make the logistics robot more safe in the work of infecting the ward and isolation ward, reduce the hospital and infect the risk.

Fig. 8 is a flow chart illustrating a medical self-disinfection logistics robot control method according to an embodiment of the application. As shown in fig. 8, the method for controlling a medical self-disinfecting logistics robot provided by this embodiment includes:

s101, acquiring a goods taking instruction.

In this step, when the logistics robot R1 reaches a delivery target node (refer to fig. 1, for example, the first target node P21 in the semi-polluted area P2, the second target node P31, the third target node P32, the fourth target node P33, or the fifth target node P34 in the polluted area P3), the logistics robot R1 may obtain a pickup instruction input by a relevant person or a pickup instruction set in a preset corresponding area to indicate that the logistics robot R1 needs to perform a pickup operation on the items in its corresponding receiving bin.

It is worth mentioning that when the logistics robot is applied to the scene of isolating the sick area from the infectious disease, the medical staff needs to wear protective clothing, protective glasses, a mask and gloves in the infectious disease isolation sick area, so that the face identification or the iris identification cannot be performed with identity verification. Moreover, due to the relevant medical protection regulations, when a medical worker wears gloves, the hand of the medical worker cannot operate the relevant equipment, so that the medical worker cannot perform identity verification by inputting a password or a fingerprint identification mode in the scene of isolating an infectious disease.

Therefore, in this embodiment, the pickup instruction may be an instruction obtained in a non-contact manner, for example: any one or more of a barcode instruction (barcode or two-dimensional code), a voice instruction, and a gesture instruction.

When the goods taking instruction is a two-dimensional code, after the logistics robot reaches the distribution target node, the medical staff can show the two-dimensional code to the camera of the logistics robot, the logistics robot identifies and verifies the two-dimensional code, if the verification is passed, the two-dimensional code is an effective goods taking instruction, and if the identification and verification are failed, the medical staff can be prompted to re-input the goods taking instruction. Alternatively, the two-dimensional code may be printed or adhered on a protective garment worn by a medical staff, for example, a chest position or an arm position of the protective garment may be printed or adhered.

And when the goods taking instruction is a voice instruction, after the logistics robot reaches the delivery target node, the medical staff inputs the voice instruction to the logistics robot, the logistics robot identifies and verifies the voice instruction, if the verification is passed, the voice instruction is an effective goods taking instruction, and if the identification and verification are failed, the medical staff is prompted to re-input the goods taking instruction.

And when the goods taking instruction is a potential instruction, after the logistics robot reaches the distribution target node, medical staff inputs the potential instruction to the logistics robot, the logistics robot identifies and verifies the potential instruction, if the potential instruction passes the verification, the potential instruction is an effective goods taking instruction, and if the potential instruction fails the identification and verification, the medical staff can be prompted to re-input the potential instruction.

And S102, starting the air curtain spray head according to the goods taking instruction.

The logistics robot is provided with at least one containing bin, and each containing bin is used for storing goods. After the logistics robot acquires an effective goods taking instruction, before a goods bin door of the containing bin is opened, the air curtain spray head is started according to the goods taking instruction, so that an air curtain is formed on the first side of the containing bin, and the first side of the containing bin is an opening side for the containing bin to take and place goods. So that an air curtain is formed in advance on the outside of the cargo door before the cargo door is opened.

S103, opening a cargo bin door of the accommodating bin.

In the step, after the air curtain spray head is started according to the goods taking instruction and the air curtain is formed on the outer side of the goods warehouse door, the goods warehouse door of the accommodating warehouse is opened. Because the air curtain is formed outside the goods warehouse door, the air curtain isolates the internal containing space of the containing cabin from the external polluted environment, and the pathogen in the external polluted environment can be effectively prevented from polluting the inside of the containing cabin of the logistics robot.

In this embodiment, logistics robot acquires after getting the goods instruction, earlier according to getting the goods instruction and starting the air curtain shower nozzle, before the goods door is opened, form the air curtain in the outside of goods door in advance, then, the goods door of control holding storehouse is opened again, thereby through the air curtain that forms, the inside accommodation space and the external contamination environment of holding storehouse have been isolated, it gets into inside the logistics robot holding storehouse to have blocked the pathogen among the external contamination environment, and then avoid logistics robot to receive the pollution of pathogen and cause cross infection in the during operation in the germ environment effectively.

Fig. 9 is a flowchart illustrating a medical self-disinfection logistics robot control method according to another embodiment of the present application. As shown in fig. 9, the method for controlling a medical self-disinfecting logistics robot provided by this embodiment includes:

s201, obtaining a goods taking instruction.

S202, starting the air curtain spray head according to the goods taking instruction.

It should be noted that the specific implementation manners of S201 to S202 in this embodiment are similar to those of S101 to S102 in the embodiment shown in fig. 8, and therefore, in this embodiment, no further description is given.

S203, determining that the air curtain nozzle is continuously opened for a first preset time.

In this step, in order to sufficiently isolate and sterilize the local environment outside the cargo compartment door before the cargo compartment door of the accommodating compartment is opened, it may be determined that the air curtain nozzle has been continuously opened for a first preset time period after the air curtain nozzle is determined to have been continuously opened for the first preset time period (for example, 10 seconds).

In addition, when the setting of air curtain shower nozzle is in the outside of freight house door, the freight house door is under the closed condition, and the air curtain is laminated with the surface of freight house door mutually to, what the air curtain shower nozzle sprayed is when disinfectant, except that fully keeping apart and disinfecting the outer local environment of freight house door, can also fully keep apart and disinfect the outer side surface of freight house door.

S204, opening a cargo bin door of the accommodating bin.

It should be noted that the specific implementation manner of S204 in this embodiment is similar to that of S103 in the embodiment shown in fig. 8, and therefore, in this embodiment, the detailed description is omitted.

S205, determining that all goods in the accommodating bin are taken out.

The state of the goods in the accommodating bin can be acquired through the camera or the weight sensor, so that the goods in the accommodating bin are completely taken out.

Optionally, when a weight sensor is disposed at the bottom of the accommodating bin, the weight sensor may acquire weight information in the accommodating bin, and then determine that all the goods in the accommodating bin have been taken out according to the acquired weight information.

In addition, after the medical staff take out all the goods, the bar code instruction, the voice instruction and the gesture instruction are input again to confirm that all the goods are taken out.

Here, the goods may be taken out by a medical staff through a tool, or may be an external manipulator, or a goods discharging and placing device of the logistics robot body, which is not limited herein.

S206, closing the warehouse door.

After the goods in the accommodating bin are completely taken out, the logistics robot controls the bin door to be closed, and the air curtain spray head is kept in an open state in the process that the bin door is closed.

And S207, determining that the air curtain spray head is continuously opened for a second preset time after the warehouse door is closed.

The second preset time is continuously opened by the air curtain spray head after the goods warehouse door is closed, so that the local environment outside the goods warehouse door and the surface outside the goods warehouse door are further disinfected in a mode that the disinfection air curtain is attached to the outer surface of the goods warehouse door.

And S208, closing the air curtain spray head.

Closing at the warehouse door to after the air curtain shower nozzle lasts to open the second and predetermine for a long time, logistics robot control air curtain shower nozzle closes, at this moment, because the warehouse door in holding storehouse has closed completely, the inside accommodation space and the external polluted environment in holding storehouse have been completely isolated to the warehouse door.

Optionally, the inside ultraviolet ray degassing unit that can also set up in holding storehouse of logistics robot, after closing the freight house door or closing the gas curtain shower nozzle, can start ultraviolet ray degassing unit, the disinfection of further disinfecting to holding storehouse inside.

In this embodiment, the logistics robot opens the air curtain nozzle before opening the door of the warehouse of the holding bin for the first preset time of operation to fully isolate and disinfect the external local environment of the warehouse door before opening and the external surface of the warehouse door. In addition, after the goods warehouse door is closed, the logistics robot still keeps the air curtain spray head to continuously run for a second preset time, and then closes the air curtain spray head, so that the local environment outside the closed goods warehouse door and the surface outside the goods warehouse door are further disinfected.

Fig. 10 is a flowchart illustrating a medical self-disinfection logistics robot control method according to yet another embodiment of the present application. As shown in fig. 10, the method for controlling a medical self-disinfecting logistics robot provided by this embodiment includes:

s301, obtaining the positioning position of the logistics robot.

In the moving process of the logistics robot, the current positioning position can be obtained in real time through the positioning device, and the specific area and the specific position where the logistics robot is located at present can be determined through the positioning position.

S302, judging whether the obtained positioning position is a preset target assignment unit position. If the determination result is yes, S303 is executed, and if the determination result is no, S301 is executed.

After the logistics robot acquires the positioning position, whether the acquired positioning position is a preset target dispatching unit is judged. With continued reference to fig. 1, the logistics robot determines whether the current location is the first target node P21 in the semi-polluted area P2, the second target node P31, the third target node P32, the fourth target node P33 and the fifth target node P34 in the polluted area P3.

And S303, broadcasting the goods taking notification voice and/or sending goods taking notification information to the goods taking prompt terminal.

If the logistics robot determines that the current location position is a preset target assignment position, for example, the first target node P21 in the semi-polluted area P2, a pick-up notice may be issued.

FIG. 11a is a diagram illustrating an exemplary pick notification scenario. As shown in fig. 11a, when the logistics robot determines that the current location position is the first target node P21 in the semi-polluted area P2, the medical staff may be notified to perform the picking operation by broadcasting the picking notification voice.

FIG. 11b is a diagram illustrating a scenario of another exemplary pick notification approach. As shown in fig. 11b, when the logistics robot determines that the current location position is the first target node P21 in the semi-polluted area P2, the logistics robot may send a pickup notification message to a pickup prompting terminal T1 (e.g., a nurse station detection screen, a medical care portable terminal, or a wearable device) through a near field communication manner (e.g., bluetooth, wireless lan, or zigbee protocol, etc.) to notify a medical staff of a pickup operation through the pickup prompting terminal T1.

Fig. 11c is a schematic view of a scene of still another exemplary goods taking notification manner, and as shown in fig. 11c, when the logistics robot determines that the current location position is the first target node P21 in the semi-polluted area P2, the logistics robot may send goods taking notification information to the server S1, and then forward the goods taking notification information to the goods taking prompt terminal T1 through the server S1, so as to notify the medical staff of the goods taking operation through the goods taking prompt terminal.

S304, acquiring a goods taking instruction.

Fig. 12 is a schematic view of a pick order obtaining manner, and as shown in fig. 12, when the logistics robot R1 reaches the first target node P21 in the semi-polluted region P2, the logistics robot R1 can obtain an order input by a healthcare worker in a non-contact manner, for example: any one or more of a barcode instruction (barcode or two-dimensional code), a voice instruction, and a gesture instruction.

And when the goods taking instruction is a gesture instruction, after the logistics robot reaches the distribution target node, the medical staff inputs the gesture instruction to the logistics robot, the logistics robot identifies and verifies the gesture instruction, if the verification is passed, the gesture instruction is an effective goods taking instruction, and if the identification and verification are failed, the medical staff is prompted to re-input the goods taking instruction.

S305, starting the air curtain spray head according to the goods taking instruction.

S306, opening a cargo bin door of the accommodating bin.

The logistics robot is provided with at least one containing bin, and each containing bin is used for storing goods. Fig. 13a is a schematic diagram of an exemplary pickup scenario. As shown in fig. 13a, after the logistics robot R1 obtains a valid goods taking command, before the bin door R111 controlling the receiving bin R11 is opened, the air curtain spray head R12 is started according to the goods taking command, so as to form an air curtain on the first side of the receiving bin, where the first side of the receiving bin R11 is an opening side of the receiving bin R11 for taking and placing goods. So that an air curtain is formed in advance outside the cargo door R111 before the cargo door R111 is opened.

Fig. 13b is a schematic diagram of another exemplary pick-up scenario, after the logistics robot acquires a valid pick-up command, the air curtain nozzles R12 arranged on each side wall of the logistics robot R1 may be activated, so that an air curtain is formed outside the outer surface of the logistics robot R1, so that the outer surface of the logistics robot R1 is isolated from the external environment by the air curtain

In this embodiment, the logistics robot is through obtaining real-time location position to confirm to reach preset target group department and put, then, the rethread reports the mode of getting goods and noticing pronunciation and/or sending to getting goods suggestion terminal and getting goods notice information and in time inform medical personnel to get the goods operation, has improved logistics robot's delivery efficiency effectively.

Fig. 14 is a flow chart illustrating a medical self-disinfection logistics robot control method according to yet another embodiment of the present application. As shown in fig. 14, the method for controlling a medical self-disinfecting logistics robot provided by this embodiment includes:

s401, obtaining the positioning position of the logistics robot.

S402, determining that the logistics robot is located in a preset first area according to the positioning position.

If the logistics robot is determined to be in a preset first area, for example, a semi-polluted area P2 or a polluted area P3, according to the positioning position, it is indicated that the logistics robot has entered a polluted environment with pathogens.

And S403, starting the air curtain spray head.

Fig. 15 is a scene diagram of a protection mode of the logistics robot. As shown in fig. 15, when the logistics robot R1 determines that the logistics robot R1 is in the semi-polluted area P2 or the polluted area P3 according to the positioning position, the air curtain spray head is activated. Or the air curtain spray head is started before the logistics robot R1 is determined to enter the semi-polluted area P2 or the polluted area P3.

After the air curtain spray head is started by the logistics robot R1, an air curtain is formed on the outer surface of the logistics robot, so that the outer surface of the logistics robot R1 is isolated from the external environment through the air curtain.

Optionally, at least one end of each outer side wall of the logistics robot is provided with an air curtain spray head so as to form a closed air curtain on the outer surface of the logistics robot.

In the embodiment, the logistics robot determines the area where the logistics robot is located by acquiring the real-time positioning position. When the logistics robot is located in the preset first area according to the positioning position, the air curtain spray head is started to form the air curtain on the outer surface of the logistics robot, so that the outer surface of the logistics robot is isolated from the external environment through the air curtain, and cross infection caused by pathogen pollution when the logistics robot works in a germ environment is effectively avoided.

Fig. 16 is a flow chart illustrating a medical self-disinfection logistics robot control method according to yet another embodiment of the present application. As shown in fig. 16, the method for controlling a medical self-disinfecting logistics robot provided by this embodiment includes:

s501, obtaining the positioning position of the logistics robot.

And S502, determining that the logistics robot is in a preset first area according to the positioning position.

S503, starting the air curtain spray head.

It should be noted that the specific implementation manners of S501 to S503 in this embodiment are similar to those of S401 to S403 in the embodiment shown in fig. 14, and therefore, in this embodiment, no further description is given.

And S504, acquiring the movement direction of the logistics robot.

And S505, determining the spraying direction of the air curtain spray head according to the movement direction.

And S506, acquiring the movement speed of the logistics robot.

And S507, determining the injection speed of the air curtain spray head according to the movement speed.

Because the logistics robot is at the in-process of motion, the air curtain that forms through the air curtain shower nozzle can receive the air current disturbance because of the motion, consequently, in order to avoid the logistics robot still can isolate its surface and external environment through the air curtain effectively through the air curtain in the motion process, can carry out the adaptability to the working parameter of air curtain shower nozzle through the mode that acquires logistics robot's direction of motion and velocity of motion to ensure the isolated effect of air curtain in the motion process. It is worth explaining that the specific adjustment mode of the working parameters of the air curtain nozzle can be determined by calibrating the measured data of the logistics robot when the logistics robot works under different working conditions. For example, for determining the injection speed of the air curtain nozzle according to the movement speed, the movement speed and the injection speed can be set to be in a positive correlation relationship, and certain redundant safety thresholds can be set.

Specifically, after the movement direction of the logistics robot is obtained, the spraying direction of the air curtain spraying head can be determined according to the movement direction, and the spraying direction and the movement direction form an acute angle so as to form a closed air curtain or a substantially closed air curtain on the outer surface of the logistics robot. And after the movement speed of the logistics robot is obtained, the jet speed of the air curtain collision head can be determined according to the movement speed, wherein the movement speed is positively correlated with the jet speed.

And S508, determining that the logistics robot is in a preset second area according to the positioning position.

And S509, closing the air curtain spray head.

With continued reference to fig. 15, when logistics robot R1 determines that logistics robot R1 is in clean zone P13 based on the localized position, the air curtain nozzles are closed. Or after the preset time that the logistics robot R1 enters the cleaning area P13 is determined, the air curtain spray head is closed.

In addition, when the logistics robot is in the second area of presetting, can also spray the mode of disinfecting the disinfection air curtain through the air curtain shower nozzle, can also be through the injection direction of control air curtain shower nozzle to make air curtain and logistics robot's surface laminate mutually, thereby advance from disinfecting to logistics robot's surface.

In this embodiment, the moving direction of the logistics robot is obtained to determine the spraying direction of the air curtain spraying head, and the moving speed of the logistics robot is obtained to determine the spraying speed of the air curtain spraying head, so as to ensure the isolation effect of the generated air curtain in the moving process of the logistics robot, thereby effectively avoiding the disturbance of the air curtain due to the movement by using a parameter pre-compensation mode. Meanwhile, the air curtain spray head is determined to be opened or closed by acquiring the area where the logistics robot is located, so that the energy consumption of the logistics robot is reduced, and the operating efficiency of the logistics robot is improved.

Fig. 17 is a schematic structural diagram of a logistics robot control device according to an embodiment of the present application. As shown in fig. 17, the logistics robot control apparatus 600 according to the present embodiment includes: the instruction acquisition module 601 is used for acquiring a goods taking instruction; the spray head control module 602 is configured to start an air curtain spray head according to a goods taking instruction to form an air curtain on a first side of a containing bin, at least one containing bin is arranged in the logistics robot, and the first side is an opening side of the containing bin for taking and placing goods; the warehouse door control module 603 is configured to open a warehouse door of the accommodating warehouse, and the warehouse door is disposed on a first side of the accommodating warehouse, so that the accommodating space of the accommodating warehouse is isolated from the external environment through the air curtain.

In one possible design, the showerhead control module 602 may be further configured to determine that the air curtain showerhead has been continuously open for a first predetermined period of time.

In one possible design, the nozzle control module 602 is further configured to adjust the spraying direction of the air curtain nozzle to a preset first direction, so that the air curtain is attached to the outer surface of the logistics robot.

It should be noted that the logistics robot control device provided in the embodiment shown in fig. 17 can be used for executing the medical self-disinfection logistics robot control method shown in the embodiment shown in fig. 8, and the specific implementation manner and technical effect are similar, and are not described again here.

On the basis of the embodiment shown in fig. 17, fig. 18 is a schematic structural diagram of a logistics robot control device according to another embodiment shown in the present application. As shown in fig. 18, the logistics robot control apparatus 600 according to this embodiment further includes: a pick-and-place determining module 604, configured to determine that all the goods in the accommodating bin have been taken out; a warehouse door control module 603, further configured to close the warehouse door; the spray head control module 602 is further configured to close the air curtain spray head.

In one possible design, the pick-and-place determining module 604 is specifically configured to: acquiring weight information in the accommodating bin, wherein a weight sensor is arranged at the bottom of the accommodating bin; and determining that the goods in the accommodating bin are completely taken out according to the weight information.

In one possible design, the bin gate control module 603 is further configured to determine that the air curtain nozzle is continuously open for a second predetermined period of time after the bin door is closed.

In one possible design, the logistics robot control apparatus 600 further includes: and a disinfection starting module 605 for starting the ultraviolet disinfection device, wherein the ultraviolet disinfection device is arranged inside the accommodating bin.

It should be noted that the logistics robot control device provided in the embodiment shown in fig. 18 can be used for executing the medical self-disinfection logistics robot control method shown in the embodiment shown in fig. 9, and the specific implementation manner and technical effect are similar, and are not described again here.

On the basis of the embodiment shown in fig. 17, fig. 19 is a schematic structural diagram of a logistics robot control device according to yet another embodiment of the present application. As shown in fig. 19, the logistics robot control apparatus 600 according to this embodiment further includes: a positioning obtaining module 606, configured to obtain a positioning position of the logistics robot; a position determination module 607, configured to determine whether the obtained positioning position is a preset target assignment unit; and the goods taking notification module 608 is configured to broadcast the goods taking notification voice and/or send goods taking notification information to the goods taking prompt terminal.

It should be noted that the logistics robot control device provided in the embodiment shown in fig. 19 can be used for executing the medical self-disinfection logistics robot control method shown in the embodiment shown in fig. 10, and the specific implementation manner and technical effect are similar, and are not described again here.

The above-provided apparatus embodiments are merely illustrative, wherein the above-described module division is only one logic function division, and there may be other division ways in actual implementation. For example, multiple modules may be combined or may be integrated into another system. The coupling of the various modules to each other may be through interfaces that are typically electrical communication interfaces, but mechanical or other forms of interfaces are not excluded. Thus, modules described as separate components may or may not be physically separate, may be located in one place, or may be distributed in different locations on the same or different devices.

Fig. 20 is a schematic structural diagram of a logistics robot control apparatus according to still another embodiment of the present application. As shown in fig. 20, the logistics robot control apparatus 700 according to this embodiment includes: a positioning obtaining module 701, configured to obtain a positioning position of the logistics robot; and the spray head control module 702 is used for controlling the opening or closing of the air curtain spray head so as to form an air curtain on the outer surface of the logistics robot, so that the outer surface of the logistics robot is isolated from the external environment through the air curtain or the air curtain spray head is closed.

It should be noted that the logistics robot control device provided in the embodiment shown in fig. 20 can be used for executing the medical self-disinfection logistics robot control method shown in the embodiment shown in fig. 14, and the specific implementation manner and technical effect are similar, and are not described again here.

On the basis of the embodiment shown in fig. 20, fig. 21 is a schematic structural diagram of a logistics robot control device according to a further embodiment of the present application. As shown in fig. 21, the logistics robot control apparatus 700 according to this embodiment further includes: a direction obtaining module 703, configured to obtain a motion direction of the logistics robot; the nozzle control module 702 is further configured to determine a spraying direction of the air curtain nozzle according to the moving direction, where the spraying direction and the moving direction form an acute angle, so as to form a closed air curtain on the outer surface of the logistics robot.

In one possible design, the logistics robot control apparatus 700 further includes: a speed obtaining module 704, configured to obtain a movement speed of the logistics robot; the nozzle control module 702 is further configured to determine the injection speed of the air curtain nozzle according to the movement speed, where the movement speed is positively correlated to the injection speed.

It should be noted that the logistics robot control device provided in the embodiment shown in fig. 21 can be used for executing the medical self-disinfection logistics robot control method shown in the embodiment shown in fig. 16, and the specific implementation manner and technical effects are similar, and are not described again here.

The present embodiment also provides a readable storage medium, in which a computer program is stored, and when at least one processor of the logistics robot executes the computer program, the electronic device executes the methods provided by the above various embodiments.

The present embodiment also provides a program product comprising a computer program stored in a readable storage medium. The computer program can be read from a readable storage medium by at least one processor of the logistics robot, and the computer program can be executed by the at least one processor to enable the electronic device to implement the methods provided by the various embodiments described above.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A medical self-disinfecting logistics robot, characterized by comprising: the robot comprises a robot body, a disinfection system and a main controller;

the robot comprises a robot body, a storage bin and a door, wherein the robot body is internally provided with at least one storage bin, the first side of the robot body is an opening side of the storage bin for taking and placing goods, and a bin door of the storage bin is arranged on the outer surface of the first side of the robot body;

the disinfection system comprises an air curtain spray head arranged outside the robot body and used for spraying disinfectant to form an air curtain at least on the first side of the robot body so as to isolate the accommodating space of the accommodating bin from the external environment through the air curtain;

the main controller is connected with the air curtain spray head and is used for controlling the air curtain spray head to be opened or closed according to a control command;

the robot body comprises a top wall and a plurality of side walls, the air curtain spray heads are arranged on the upper edges of the side walls and at least one side edge of the top wall, so that air curtains formed by disinfectant sprayed by the air curtain spray heads cover the top wall and the side walls;

the air curtain sprayer is positioned on the side wall, parallel to the movement direction of the logistics robot, of the robot body and is connected with the robot body in a rotating mode through a rotating shaft, the axis of the rotating shaft is perpendicular to the plane where the side wall is located, so that the rotatable spraying direction of the air curtain sprayer and the movement direction of the logistics robot are acute angles.

2. The medical self-disinfecting logistics robot of claim 1, wherein the air curtain spray head of the top wall is disposed at a side edge in the same direction as the movement direction of the logistics robot.

3. The medical self-disinfecting logistics robot of any one of claims 1 or 2, wherein the air curtain is attached to the outer surface of the robot body when the spraying direction of the air curtain sprayer is adjusted to a preset first direction.

4. The medical self-disinfecting logistics robot of claim 1, further comprising:

the information acquisition device is arranged on the robot body and connected with the main controller, and is used for acquiring a goods taking instruction in a non-contact mode and sending the goods taking instruction to the main controller, and the main controller controls the air curtain sprayer to continuously open for a first preset time according to the goods taking instruction and controls the goods warehouse door to open again.

5. The medical self-disinfecting logistics robot of claim 4, wherein the information collection device comprises a camera or a sound sensor.

6. The medical self-disinfecting logistics robot of claim 1, further comprising: the weight sensor is located at the bottom of the containing bin and connected with the main controller, and is used for acquiring weight information of goods in the containing bin and sending the weight information to the main controller, the main controller judges whether the goods in the containing bin are completely taken out or not according to the weight information, and if the judgment result is yes, the goods bin is controlled to be closed, and the air curtain sprayer arranged on the first side is controlled to be continuously opened for a second preset time.

7. The medical self-disinfecting logistics robot of claim 1, wherein an ultraviolet disinfection device is arranged in the accommodating bin, the ultraviolet disinfection device is connected with the main controller, and the main controller controls the ultraviolet disinfection device to be opened when judging that the cargo bin door is closed.

8. The medical self-disinfecting logistics robot of claim 1, further comprising: positioner, positioner is used for acquireing the positioning position of logistics robot will positioning position sends for main control unit, main control unit is in when positioning position is predetermined target group unit, control speech device report and get goods notice pronunciation or to getting goods suggestion terminal transmission and get goods notice information, and/or, main control unit is in control when positioning position is in predetermined first region the gas curtain shower nozzle starts and is in control when positioning position is in predetermined second region the gas curtain shower nozzle is closed.

9. The medical self-disinfecting logistics robot of claim 1, further comprising: speed sensor, speed sensor with main control unit connects, is used for detecting the direction of motion and the velocity of motion of logistics robot, main control unit still be used for the basis the direction of motion with velocity of motion control the gas curtain shower nozzle rotate to spray the direction with the direction of motion is the acute angle and changes velocity of motion's size.

10. The medical self-disinfecting logistics robot of claim 1, further comprising: and the suction ports of the suction fans are distributed on the side wall and the top wall, are far away from the edge of one side of the air curtain spray head, and are arranged right opposite to the spraying direction of the air curtain spray head.

11. A medical self-disinfecting logistics robot control method, applied to the medical self-disinfecting logistics robot of any one of claims 1-10, comprising:

acquiring a goods taking instruction;

starting an air curtain spray head according to the goods taking instruction to form an air curtain on a first side of a containing bin, wherein at least one containing bin is arranged in the logistics robot, and the first side of the containing bin is an opening side of the containing bin for taking and placing goods;

and opening a cargo door of the accommodating bin, wherein the cargo door is arranged on the first side of the accommodating bin, so that the accommodating space of the accommodating bin is isolated from the external environment through the air curtain.

12. The medical self-disinfecting logistics robot control method of claim 11, further comprising, before the opening of the bin door of the housing bin:

and determining that the air curtain spray head is continuously opened for a first preset time.

13. The medical self-disinfecting logistics robot control method of claim 11, further comprising:

adjusting the spraying direction of the air curtain sprayer to a preset first direction so that the air curtain is attached to the outer surface of the logistics robot.

14. The medical self-disinfecting logistics robot control method of any one of claims 11-13, characterized by further comprising, after opening a bin door of the housing bin:

determining that the goods in the accommodating bin are all taken out;

closing the cargo door;

and closing the air curtain spray head.

15. The medical self-disinfecting logistics robot control method of claim 14, further comprising, before the closing the air curtain spray head:

and determining that the air curtain spray head is continuously opened for a second preset time after the freight house door is closed.

16. The medical self-disinfecting logistics robot control method according to claim 11, wherein the pickup instruction is an instruction acquired by a non-contact manner.

17. The medical self-disinfecting logistics robot control method of claim 16, wherein the pick-up instruction is any one or more of a bar code instruction, a voice instruction and a gesture instruction.

18. The medical self-disinfecting logistics robot control method of any one of claims 11-13, 15-17, characterized in that before the obtaining of the pick-up instruction, further comprising:

acquiring the positioning position of the logistics robot;

judging whether the obtained positioning position is a preset target group unit position or not;

and when the positioning position is the preset target dispatching unit, broadcasting the goods taking notification voice and/or sending goods taking notification information to a goods taking prompt terminal.

19. A medical self-disinfecting logistics robot control method, applied to the medical self-disinfecting logistics robot of any one of claims 1-10, comprising:

acquiring the positioning position of the logistics robot;

and if the logistics robot is determined to be in the preset first area according to the positioning position, starting the air curtain spray head, and forming an air curtain on the outer surface of the logistics robot so as to isolate the outer surface of the logistics robot from the external environment through the air curtain.

20. The medical self-disinfecting logistics robot control method of claim 19, further comprising, after the activating the air curtain spray head:

acquiring the motion direction of the logistics robot;

and determining the spraying direction of the air curtain spray head according to the movement direction, wherein the spraying direction and the movement direction form an acute angle so as to form a closed air curtain on the outer surface of the logistics robot.

21. The medical self-disinfecting logistics robot control method of claim 20, further comprising:

22. The medical self-disinfecting logistics robot control method of claim 20, further comprising, after the activating the air curtain spray head:

acquiring the movement speed of the logistics robot;

and determining the injection speed of the air curtain spray head according to the movement speed, wherein the movement speed is positively correlated with the injection speed.

23. The medical self-disinfecting logistics robot control method of any one of claims 19-22, further comprising, after acquiring the positioning position of the logistics robot:

and if the logistics robot is determined to be in a preset second area according to the positioning position, closing the air curtain spray head.

24. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when executed by a processor, are used for implementing the medical self-disinfection logistics robot control method as claimed in any one of claims 11 to 18.

25. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when executed by a processor, are used for implementing the medical self-disinfection logistics robot control method as claimed in any one of claims 19 to 23.