CN111459167B - Spraying disinfection method and robot - Google Patents
Spraying disinfection method and robot Download PDFInfo
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- CN111459167B CN111459167B CN202010321131.5A CN202010321131A CN111459167B CN 111459167 B CN111459167 B CN 111459167B CN 202010321131 A CN202010321131 A CN 202010321131A CN 111459167 B CN111459167 B CN 111459167B
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000005507 spraying Methods 0.000 title claims abstract description 52
- 239000007921 spray Substances 0.000 claims abstract description 70
- 230000008569 process Effects 0.000 claims abstract description 26
- 230000006870 function Effects 0.000 claims description 52
- 239000000645 desinfectant Substances 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 20
- 239000003595 mist Substances 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 12
- 230000001954 sterilising effect Effects 0.000 claims description 10
- 238000005314 correlation function Methods 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000013507 mapping Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000036541 health Effects 0.000 abstract description 5
- 238000004590 computer program Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/14—Disinfection, sterilisation or deodorisation of air using sprayed or atomised substances including air-liquid contact processes
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
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- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
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- A—HUMAN NECESSITIES
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- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
- A61L2209/10—Apparatus features
- A61L2209/11—Apparatus for controlling air treatment
Abstract
The application belongs to the technical field of robots, and particularly relates to a spray disinfection method and a robot. The method comprises the steps of using a robot to build a map of a target area to be sprayed and killed, obtaining a navigation map of the target area, and planning a travel path of the robot according to the navigation map; controlling the robot to move in the target area according to the travel path; and in the moving process of the robot, controlling a sprayer preset on the robot to spray and kill the target area. Through this application embodiment, use the robot to replace the manual work to carry out the spraying of target area and kill, saved a large amount of time and human cost, in spraying disinfection process moreover, also can not cause harm to staff's health.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a spray disinfection method and a robot.
Background
In crowded places such as hospitals, airport terminal buildings, station wharfs, subways, markets and the like, staff are required to regularly develop the disinfection work of spraying disinfection liquid, and because the general areas of the places are large, the traditional manual spraying disinfection mode often consumes a large amount of time and labor cost, and because the disinfection liquid contains substances harmful to human bodies, the health of the staff is also damaged to a certain extent in the spraying disinfection process.
Disclosure of Invention
In view of this, the embodiment of the application provides a spray disinfection method and a robot, so as to solve the problems that the existing manual spray disinfection method often consumes a lot of time and labor cost and causes damage to the health of staff.
A first aspect of embodiments of the present application provides a spray disinfection method, which may include:
mapping a target area to be sprayed and killed to obtain a navigation map of the target area, and planning a travel path of the robot according to the navigation map;
determining the area of the target area;
calculating various parameters of spraying and sterilizing of the robot according to the area of the target area:
RobotVel＝PosFuncRV(Area)
SprayVel＝PosFuncSV(Area)
SprayAngle＝PosFuncSA(Area)
the Area is the Area of the target Area, posFuncRV is a preset first function, posFuncSV is a preset second function, posFuncSA is a preset third function, the first function, the second function and the third function are positive correlation functions, threshold is a preset Area Threshold, robotVel is the moving speed, sprayForme is the spraying form, mist is the form of Mist, columb is the form of water Column, sprayVel is the spraying speed, sprayAngle is the spraying angle;
controlling the robot to move in the target area according to the travel path;
and in the moving process of the robot, controlling a sprayer preset on the robot to spray and kill the target area according to the parameters.
Further, in the moving process of the robot, the method further comprises:
detecting the remaining amount of the sterilizing liquid in the sprayer provided on the robot;
estimating the consumption of the disinfectant in a second area according to the consumption of the disinfectant in a first area, wherein the first area is an area which is subjected to spray disinfection in the target area, and the second area is an area which is not subjected to spray disinfection in the target area;
and if the residual quantity of the disinfectant is smaller than the consumption quantity of the disinfectant in the second area, sending a prompt message to a user.
Further, in the moving process of the robot, the method further comprises:
performing obstacle detection on the travel path;
and if an obstacle is detected on the travelling path, controlling the robot to stop moving, and closing a sprayer on the robot.
A second aspect of embodiments of the present application provides a robot, which may include:
the radar navigation module is used for mapping a target area to be sprayed and killed to obtain a navigation map of the target area, and planning a travel path of the robot according to the navigation map;
the visual monitoring module is used for determining the area of the target area and sending the area of the target area to the system control module;
the system control module is used for calculating various parameters of spraying and sterilizing of the robot according to the area of the target area:
RobotVel＝PosFuncRV(Area)
SprayVel＝PosFuncSV(Area)
SprayAngle＝PosFuncSA(Area)
the method comprises the steps that Area is the Area of a target Area, posFuncRV is a preset first function, posFuncSV is a preset second function, posFuncSA is a preset third function, the first function, the second function and the third function are positive correlation functions, threshold is a preset Area Threshold, robotVel is the moving speed, sprayForm is in a spraying mode, mist is in a Mist form, columb is in a water Column form, sprayVel is the spraying speed, sprayAngle is the spraying angle, and all parameters are sent to a motion control module and a spraying disinfection module respectively;
the motion control module is used for controlling the robot to move in the target area according to the travelling path and adjusting the motion speed of the robot according to the parameters;
and the spray disinfection module is used for controlling a sprayer preset on the robot to spray and disinfect the target area according to the parameters in the moving process of the robot.
Further, the spray disinfection module is further used for detecting the remaining amount of the disinfectant in the sprayer arranged on the robot and sending the remaining amount of the disinfectant to the system control module;
the system control module is further used for estimating the consumption of the disinfectant in a second area according to the consumption of the disinfectant in a first area, wherein the first area is an area which is subjected to spray disinfection in the target area, and the second area is an area which is not subjected to spray disinfection in the target area; and if the residual quantity of the disinfectant is smaller than the consumption quantity of the disinfectant in the second area, sending a prompt message to a user.
Further, the robot may further include:
the obstacle detection module is used for detecting an obstacle on the travelling path and sending obstacle information to the system control module when the obstacle is detected; the obstacle detection module comprises a radar navigation sub-module, an ultrasonic obstacle avoidance sub-module, an RGBD obstacle avoidance sub-module and/or an infrared obstacle avoidance sub-module;
the system control module is further used for respectively sending braking instructions to the motion control module and the spray disinfection module after receiving the obstacle information;
the motion control module is further used for controlling the robot to stop moving after receiving the braking instruction;
the spray disinfection module is further used for closing the sprayer on the robot after receiving the braking instruction.
Further, the robot may further include:
and the automatic recharging module is used for automatically returning to a preset recharging seat for recharging if the lower electric quantity is detected in the moving process of the robot.
A third aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the spray disinfection methods described above.
A fourth aspect of the embodiments of the present application provides a robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of any of the spray disinfection methods described above when executing the computer program.
A fifth aspect of the embodiments of the present application provides a computer program product which, when run on a robot, causes the robot to perform the steps of any of the spray disinfection methods described above.
Compared with the prior art, the embodiment of the application has the beneficial effects that: in the embodiment of the application, a target area to be sprayed and killed by a robot is used for mapping, a navigation map of the target area is obtained, and a travel path of the robot is planned according to the navigation map; controlling the robot to move in the target area according to the travel path; and in the moving process of the robot, controlling a sprayer preset on the robot to spray and kill the target area. Through this application embodiment, use the robot to replace the manual work to carry out the spraying of target area and kill, saved a large amount of time and human cost, in spraying disinfection process moreover, also can not cause harm to staff's health.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of one embodiment of a spray disinfection method in accordance with embodiments of the present application;
fig. 2 is a block diagram of a robot according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a robot in an embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of 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 apparent that the embodiments described below are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In the embodiment of the application, the robot is used for replacing manual spraying sterilization of the target area, and if no special description exists, the robot is used as an execution main body of the following steps.
Referring to fig. 1, an embodiment of a spray disinfection method according to an embodiment of the present application may include:
and step S101, mapping a target area to be sprayed and killed to obtain a navigation map of the target area, and planning a travel path of the robot according to the navigation map.
In this embodiment of the present application, the robot may collect information of the target area using a preset sensor, and perform immediate positioning and map reconstruction (Simultaneous Localization and Mapping, SLAM) according to the collected information, so as to obtain a navigation map of the target area, and complete planning of a travel path on the basis of the navigation map. The sensor may comprise a lidar and/or a vision sensor. The laser radar can scan a specific angle range and output the nearest object distance information; the vision sensor is mainly composed of one or more cameras, and the cameras include, but are not limited to, a Monocular Camera (Monocular Camera), a Binocular Camera (Binocular Camera), a depth Camera (RGBD Camera) or other types of cameras, and the main functions of the vision sensor are to acquire the most original image data to be processed by a sufficient robot vision system and provide image information around the robot.
Further, the robot can determine the area of the target area according to the image information acquired by the vision sensor, and calculate various parameters of the robot for spraying and sterilizing according to the area of the target area. The parameters may include: movement speed, spray pattern, spray speed, spray angle, etc.
In a specific implementation of the embodiment of the present application, the moving speed may be calculated according to the following formula:
RobotVel＝PosFuncRV(Area)
the Area is the Area of the target Area, robotVel is the moving speed, posfunclv is a preset first function, the first function is a positive correlation function, that is, the larger the Area of the target Area is, the larger the moving speed is, otherwise, the smaller the Area of the target Area is, the smaller the moving speed is, and a specific function form thereof may be set according to an actual situation, for example, a proportional function of a preset proportional coefficient may be selected, and of course, a function of other forms may also be selected according to an actual situation, which is not limited in this embodiment of the present application.
In a specific implementation of the embodiments of the present application, the spray pattern may be calculated according to the following formula:
the spray form is a Mist form, the Mist is a Mist form, the Column is a water Column form, the Threshold is a preset area Threshold, the specific value of the Threshold can be set according to practical conditions, the specific value of the Threshold is not limited in this embodiment of the present application, when the area of the target area is smaller, the Mist form can be set to be a Mist form with a shorter spraying distance, and when the area of the target area is larger, the Mist form can be set to be a water Column form with a longer spraying distance.
In a specific implementation of the embodiments of the present application, the spray velocity may be calculated according to the following formula:
SprayVel＝PosFuncSV(Area)
the spraying speed is the spraying speed, the PosFuncSV is a preset second function, the second function is a positive correlation function, that is, the larger the area of the target area is, the larger the spraying speed is, otherwise, the smaller the area of the target area is, the smaller the spraying speed is, a specific function form of the spraying speed is set according to practical situations, for example, a proportional function of a preset proportionality coefficient can be selected, and of course, other functions can be selected according to practical situations, which is not particularly limited in the embodiment of the application.
In a specific implementation of an embodiment of the present application, the spray angle may be calculated according to the following formula:
SprayAngle＝PosFuncSA(Area)
the spraying speed is the spraying speed, the PosFuncSA is a preset third function, the third function is a positive correlation function, that is, the larger the area of the target area is, the larger the spraying angle is, otherwise, the smaller the area of the target area is, the smaller the spraying angle is, the specific function form of the spraying angle can be set according to the actual situation, for example, a proportional function of a preset proportionality coefficient can be selected, and of course, other functions can be selected according to the actual situation, which is not particularly limited in the embodiment of the application.
Step S102, controlling the robot to move in the target area according to the travelling path.
In the moving process of the robot, the actual moving speed of the robot can be adjusted in real time according to the calculated moving speed, when the actual moving speed of the robot is larger than the calculated moving speed, the robot is properly decelerated, and when the actual moving speed of the robot is smaller than the calculated moving speed, the robot is properly accelerated.
Step S103, controlling a sprayer preset on the robot to spray and kill the target area in the moving process of the robot.
Specifically, the sprayer preset on the robot can be controlled to spray and kill the target area according to various parameters such as the calculated spraying form, the spraying speed, the spraying angle and the like. When the area of the target area is larger, a water columnar spray form, a faster spray speed and a larger spray angle are adopted, and when the area of the target area is smaller, a mist spray form, a slower spray speed and a smaller spray angle are adopted.
Further, during the moving process of the robot, the remaining amount of the disinfectant in the sprayer arranged on the robot can be detected in real time, and the disinfectant consumption of a second area is estimated according to the disinfectant consumption of a first area, wherein the first area is an area in which spray disinfection is performed in the target area, and the second area is an area in which spray disinfection is not performed in the target area. If the residual amount of the disinfectant is smaller than the disinfectant consumption of the second area, a prompt message is sent to a user so that the user can add the disinfectant in time.
Further, in the moving process of the robot, obstacle detection can be performed on the moving path, if an obstacle is detected on the moving path, the robot is controlled to stop moving, collision of the robot is avoided, and a sprayer on the robot is closed, so that long-time spraying on a place is avoided.
Further, in the moving process of the robot, if the robot detects that the electric quantity is low, the robot can automatically return to a preset recharging seat for recharging.
Further, after the robot completes the spray disinfection task in the target area, the robot can return to the starting position to wait for the next task to start. The user can flexibly customize the spraying and sterilizing task according to the actual situation, and the robot automatically starts work according to the task customized by the user.
In summary, in the embodiment of the present application, a map is created for a target area to be sprayed and killed by using a robot, a navigation map of the target area is obtained, and a travel path of the robot is planned according to the navigation map; controlling the robot to move in the target area according to the travel path; and in the moving process of the robot, controlling a sprayer preset on the robot to spray and kill the target area. Through this application embodiment, use the robot to replace the manual work to carry out the spraying of target area and kill, saved a large amount of time and human cost, in spraying disinfection process moreover, also can not cause harm to staff's health.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Corresponding to the spray disinfection method described in the above embodiments, fig. 2 shows a block diagram of a robot according to an embodiment of the present application.
In this embodiment, the robot may include:
the radar navigation module 201 is configured to map a target area to be sprayed and killed, obtain a navigation map of the target area, and plan a travel path of the robot according to the navigation map;
a motion control module 202 for controlling the robot to move in the target area according to the travel path;
and the spray disinfection module 203 is used for controlling a sprayer preset on the robot to spray and disinfect the target area in the moving process of the robot.
Further, the robot may further include:
the visual monitoring module 204 is configured to determine an area of the target area, and send the area of the target area to the system control module;
the system control module 205 is configured to calculate various parameters of spray disinfection performed by the robot according to an area of the target area, and send the various parameters to the motion control module and the spray disinfection module respectively; the parameters include: movement speed, spray pattern, spray speed and spray angle;
the system control module can specifically calculate various parameters of the robot for spraying and sterilizing according to the following formula:
RobotVel＝PosFuncRV(Area)
SprayVel＝PosFuncSV(Area)
SprayAngle＝PosFuncSA(Area)
the Area is the Area of the target Area, posFuncRV is a preset first function, posFuncSV is a preset second function, posFuncSA is a preset third function, the first function, the second function and the third function are positive correlation functions, threshold is a preset Area Threshold, robotvel is the moving speed, sprayform is the spraying form, mist is the Mist form, columbn is the water columnar form, sprayvel is the spraying speed, sprayAngle is the spraying angle.
The motion control module is also used for adjusting the motion speed of the robot according to the parameters;
the spray disinfection module is specifically used for controlling a sprayer preset on the robot to spray and disinfect the target area according to the parameters.
Further, the spray disinfection module is further used for detecting the remaining amount of the disinfectant in the sprayer arranged on the robot and sending the remaining amount of the disinfectant to the system control module;
the system control module is further used for estimating the consumption of the disinfectant in a second area according to the consumption of the disinfectant in a first area, wherein the first area is an area which is subjected to spray disinfection in the target area, and the second area is an area which is not subjected to spray disinfection in the target area; and if the residual quantity of the disinfectant is smaller than the consumption quantity of the disinfectant in the second area, sending a prompt message to a user.
Further, the robot may further include:
an obstacle detection module 206, configured to detect an obstacle on the travel path, and send obstacle information to a system control module when the obstacle is detected; the obstacle detection module comprises a radar navigation sub-module, an ultrasonic obstacle avoidance sub-module, an RGBD obstacle avoidance sub-module and/or an infrared obstacle avoidance sub-module;
the system control module is further used for respectively sending braking instructions to the motion control module and the spray disinfection module after receiving the obstacle information;
the motion control module is further used for controlling the robot to stop moving after receiving the braking instruction;
the spray disinfection module is further used for closing the sprayer on the robot after receiving the braking instruction.
Further, the robot may further include:
the automatic recharging module 207 is configured to automatically return to a preset recharging seat for recharging if the electric quantity is detected to be low during the moving process of the robot.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described apparatus, modules and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Fig. 3 shows a schematic block diagram of a robot provided in an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.
As shown in fig. 3, the robot 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30, when executing the computer program 32, implements the steps of the various spray disinfection method embodiments described above, such as steps S101 through S103 shown in fig. 1. Alternatively, the processor 30 may implement the functions of the modules/sub-modules of the apparatus embodiments described above, such as the functions of the modules 201-207 of fig. 2, when executing the computer program 32.
By way of example, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 32 in the robot 3.
It will be appreciated by those skilled in the art that fig. 3 is only an example of a robot 3 and does not constitute a limitation of the robot 3, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the robot 3 may further include input and output devices, network access devices, buses, etc.
The processor 30 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the robot 3, such as a hard disk or a memory of the robot 3. The memory 31 may be an external storage device of the robot 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the robot 3. Further, the memory 31 may also include both an internal memory unit and an external memory device of the robot 3. The memory 31 is used for storing the computer program as well as other programs and data required by the robot 3. The memory 31 may also be used for temporarily storing data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the apparatus/robot embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each method embodiment described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (6)
1. A spray disinfection method applied to a robot, comprising the following steps:
mapping a target area to be sprayed and killed to obtain a navigation map of the target area, and planning a travel path of the robot according to the navigation map;
determining the area of the target area;
calculating various parameters of spraying and sterilizing of the robot according to the area of the target area:
RobotVel＝PosFuncRV(Area)
SprayVel＝PosFuncSV(Area)
SprayAngle＝PosFuncSA(Area)
the Area is the Area of the target Area, posFuncRV is a preset first function, posFuncSV is a preset second function, posFuncSA is a preset third function, the first function, the second function and the third function are positive correlation functions, threshold is a preset Area Threshold, robotVel is the moving speed, sprayForme is the spraying form, mist is the form of Mist, columb is the form of water Column, sprayVel is the spraying speed, sprayAngle is the spraying angle;
controlling the robot to move in the target area according to the travel path;
and in the moving process of the robot, controlling a sprayer preset on the robot to spray and kill the target area according to the parameters.
2. The spray disinfection method of claim 1, further comprising, during movement of said robot:
detecting the remaining amount of the sterilizing liquid in the sprayer provided on the robot;
estimating the consumption of the disinfectant in a second area according to the consumption of the disinfectant in a first area, wherein the first area is an area which is subjected to spray disinfection in the target area, and the second area is an area which is not subjected to spray disinfection in the target area;
and if the residual quantity of the disinfectant is smaller than the consumption quantity of the disinfectant in the second area, sending a prompt message to a user.
3. The spray disinfection method of any one of claims 1-2, further comprising, during movement of the robot:
performing obstacle detection on the travel path;
and if an obstacle is detected on the travelling path, controlling the robot to stop moving, and closing a sprayer on the robot.
4. A robot, comprising:
the radar navigation module is used for mapping a target area to be sprayed and killed to obtain a navigation map of the target area, and planning a travel path of the robot according to the navigation map;
the visual monitoring module is used for determining the area of the target area and sending the area of the target area to the system control module;
the system control module is used for calculating various parameters of spraying and sterilizing of the robot according to the area of the target area:
RobotVel＝PosFuncRV(Area)
SprayVel＝PosFuncSV(Area)
SprayAngle＝PosFuncSA(Area)
the method comprises the steps that Area is the Area of a target Area, posFuncRV is a preset first function, posFuncSV is a preset second function, posFuncSA is a preset third function, the first function, the second function and the third function are positive correlation functions, threshold is a preset Area Threshold, robotVel is the moving speed, sprayForm is in a spraying mode, mist is in a Mist form, columb is in a water Column form, sprayVel is the spraying speed, sprayAngle is the spraying angle, and all parameters are sent to a motion control module and a spraying disinfection module respectively;
the motion control module is used for controlling the robot to move in the target area according to the travelling path and adjusting the motion speed of the robot according to the parameters;
and the spray disinfection module is used for controlling a sprayer preset on the robot to spray and disinfect the target area according to the parameters in the moving process of the robot.
5. The robot of claim 4, wherein:
the spray disinfection module is also used for detecting the residual quantity of the disinfectant in the sprayer arranged on the robot and sending the residual quantity of the disinfectant to the system control module;
the system control module is further used for estimating the consumption of the disinfectant in a second area according to the consumption of the disinfectant in a first area, wherein the first area is an area which is subjected to spray disinfection in the target area, and the second area is an area which is not subjected to spray disinfection in the target area; and if the residual quantity of the disinfectant is smaller than the consumption quantity of the disinfectant in the second area, sending a prompt message to a user.
6. The robot of any one of claims 4 to 5, further comprising:
the obstacle detection module is used for detecting an obstacle on the travelling path and sending obstacle information to the system control module when the obstacle is detected; the obstacle detection module comprises a radar navigation sub-module, an ultrasonic obstacle avoidance sub-module, an RGBD obstacle avoidance sub-module and/or an infrared obstacle avoidance sub-module;
the system control module is further used for respectively sending braking instructions to the motion control module and the spray disinfection module after receiving the obstacle information;
the motion control module is further used for controlling the robot to stop moving after receiving the braking instruction;
the spray disinfection module is further used for closing the sprayer on the robot after receiving the braking instruction.
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| CN112162572B (en) * | 2020-09-27 | 2023-01-06 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot and disinfection control method and device thereof |
| CN112386735B (en) * | 2020-10-29 | 2022-03-29 | 中国人民解放军疾病预防控制中心 | Variable-frequency intelligent robot, spray disinfection method and system |
| CN113117117A (en) * | 2021-05-11 | 2021-07-16 | 刘明 | Control method, device and system of disinfection robot |
| CN113483757A (en) * | 2021-06-17 | 2021-10-08 | 浙江图讯科技股份有限公司 | Control system of sterilization robot |
| CN113524185B (en) * | 2021-07-19 | 2023-04-07 | 上海擎朗智能科技有限公司 | Robot control method and device and electronic equipment |
| CN114003037A (en) * | 2021-10-29 | 2022-02-01 | 深圳市优必选科技股份有限公司 | Ultraviolet ray killing method, device, robot and computer readable storage medium |
| CN114619452A (en) * | 2022-04-01 | 2022-06-14 | 沈阳吕尚科技有限公司 | Control system and control method of sterilizing robot |
| CN115245584A (en) * | 2022-08-23 | 2022-10-28 | 中科朗劢技术有限公司 | Intelligent sterilizing robot |
| CN115364649A (en) * | 2022-08-30 | 2022-11-22 | 秦皇岛首创思泰意达环保科技有限公司 | Intelligent deodorization system and method for waste incineration power plant |
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| CN104750126A (en) * | 2015-03-27 | 2015-07-01 | 广西田园生化股份有限公司 | Intelligent control method and device for unmanned rotor wing pesticide applying machine |
| CN105497936A (en) * | 2016-01-28 | 2016-04-20 | 佛山市爱普克斯环保科技有限公司 | Disinfecting and epidemic preventing robot |
| CN209108193U (en) * | 2017-12-26 | 2019-07-16 | 广东嘉腾机器人自动化有限公司 | Disinfection robot and disinfection control system |
| CN108161941B (en) * | 2018-03-06 | 2021-03-16 | 广东工业大学 | Robot track optimization method and device applied to wood spraying industry |
| CN109568623B (en) * | 2018-12-28 | 2020-12-15 | 珠海市一微半导体有限公司 | Disinfection path control method and chip of portable intelligent disinfection robot |
| CN110038144A (en) * | 2019-05-14 | 2019-07-23 | 孙艳 | A kind of clinical laboratory's cover type sterilizing unit |
| CN111001025B (en) * | 2020-03-09 | 2020-06-16 | 广州赛特智能科技有限公司 | Sterilizing robot and method for sterilizing hospital departments by using same |
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