CN111494684A

CN111494684A - Public transport means disinfection robot

Info

Publication number: CN111494684A
Application number: CN202010446084.7A
Authority: CN
Inventors: 李宁; 肖伟; 刘咏华
Original assignee: Wuxi Zhonghui Tianze Environmental Protection Technology Co ltd
Current assignee: Wuxi Zhonghui Tianze Environmental Protection Technology Co ltd
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2020-08-07

Abstract

The invention relates to a robot, in particular to a public transport vehicle disinfection robot. The device comprises a walking chassis, a hood is arranged above the walking chassis, a spraying mechanism, a control device and a battery are arranged in the hood, and the control device is connected with the battery through a lead. The spraying mechanism is characterized by comprising a liquid supply device and an electric centrifugal nozzle, wherein the liquid supply device is connected with the electric centrifugal nozzle through a pipeline, and the liquid supply device and the electric centrifugal nozzle are electrically connected with the control device. The robot has the advantages of higher working efficiency, better disinfection effect, less consumed manpower, controllable spraying amount and standard spraying.

Description

Public transport means disinfection robot

Technical Field

The invention relates to a robot, in particular to a public transport disinfection robot for disinfecting public transport [ m1] of subways, buses, high-speed rails, airplanes and the like.

Background

At present, the existing disinfection robot is generally suitable for public places with wide moving space, such as hospitals, markets, office buildings, airports, railway stations and the like. The existing disinfection robot has two disinfection modes, one is to adopt an ultraviolet lamp for irradiation, and the other is aerosol spraying. However, although the ultraviolet lamp can kill the surrounding air and the surface of an object, the ultraviolet lamp can achieve the killing effect only after being operated for a long time at a certain fixed position, and the efficiency is low. Aerosol spray is mainly used for air disinfection, aerosol particles sprayed by the existing disinfection robot are usually smaller than 10 microns, and can quickly bounce off when touching the surface of an object, the attachment effect is poor, and the disinfection effect on the surfaces of objects such as seats, handrails, luggage racks, the inner wall of a carriage and a driver steering wheel in public transport is also poor. Therefore, the prior art mostly adopts a manual disinfection mode to disinfect public transportation vehicles. However, manual disinfection requires more manpower, and has the disadvantages of uncontrollable spraying amount, irregular spraying, low operation efficiency and the like.

Disclosure of Invention

The invention aims to provide a public transport vehicle disinfection robot which is high in working efficiency, good in disinfection effect, low in consumed manpower, controllable in spraying amount and standard in spraying.

In order to solve the problems, the following technical scheme is provided:

the public transport vehicle disinfection robot comprises a walking chassis, wherein a hood is arranged above the walking chassis, a spraying mechanism, a control device and a battery are arranged in the hood, and the control device is connected with the battery through a lead. The spraying mechanism is characterized by comprising a liquid supply device and an electric centrifugal nozzle, wherein the liquid supply device is connected with the electric centrifugal nozzle through a pipeline, and the liquid supply device and the electric centrifugal nozzle are electrically connected with the control device.

The liquid supply device comprises a solution tank and a water pump, a liquid outlet of the solution tank is connected with a liquid inlet of the water pump through a pipeline, a liquid outlet of the water pump is connected with the electric centrifugal nozzle through a pipeline, and a flow meter is arranged on the section of pipeline between the solution tank and the water pump. The water pump, the electric centrifugal nozzle and the flow meter are electrically connected with the control device.

The machine cover is provided with an ultrasonic ranging sensor and a camera, and the ultrasonic ranging sensor and the camera are electrically connected with the control device. The walking chassis comprises a box body, the hood is fixed on the periphery of the top of the box body, the bottom of the box body is provided with an omnidirectional wheel, the omnidirectional wheel is connected with a servo motor, and the servo motor is electrically connected with the control device.

The liquid level meter and the state indication alarm lamp are both electrically connected with the control device.

The control device comprises an embedded control module, a power distribution module, a motor driving module, a water pump speed regulating module and a data transmission module. The battery is connected with the power distribution module through a wire, and the power distribution module is respectively connected with the embedded control module, the motor driving module, the water pump speed regulating module, the data transmission module, the ultrasonic distance measuring sensor, the liquid level meter, the flow meter, the electric centrifugal nozzle, the camera and the state indicating alarm lamp through wires. The embedded control module is respectively connected with the ultrasonic distance measuring sensor, the liquid level meter, the flow meter, the water pump speed regulating module, the motor driving module, the electric centrifugal nozzle and the state indicating alarm lamp through leads; the data transmission module is connected with the embedded control module and the camera through network cables, and the data transmission module is connected with an antenna. The motor driving module is connected with the servo motor through a lead, and the water pump speed regulating module is connected with the water pump through a lead. The embedded control module is connected with a start button and a stop button through a lead.

The battery has a power button located on the upper portion of the hood sidewall. There are four stands in the aircraft bonnet, and the stand is all fixed the box top, the solution tank is fixed between four stands, and has the interval between the bottom of solution tank and the box, the water pump is fixed in the bottom of solution tank. A support is arranged in the hood, the bottom of the rack is fixed to the top of the box body, an upper partition plate and a lower partition plate are horizontally arranged on the upper portion of the support, and the lower partition plate is located above the solution tank. The electric centrifugal nozzle is positioned on the rack above the upper partition plate, and the spraying end of the electric centrifugal nozzle penetrates through the back surface of the hood and extends out; the battery and the control device are both arranged on the upper plate surface of the lower partition plate. The camera is installed on the aircraft bonnet openly, ultrasonic ranging sensor has four, and two are installed in the aircraft bonnet openly, and two symmetries are installed in the aircraft bonnet side. The antenna is mounted on the top of the hood.

There is the pit in the front of aircraft bonnet, and two lateral walls of pit horizontal direction all are the slope and outwards arrange, are located two ultrasonic ranging sensor symmetries that the aircraft bonnet is positive and set up on two slope lateral walls of pit.

By adopting the scheme, the method has the following advantages:

the spraying mechanism of the public transport vehicle disinfection robot comprises the liquid supply device and the electric centrifugal nozzle, wherein the liquid supply device is connected with the electric centrifugal nozzle through a pipeline, and the liquid supply device and the electric centrifugal nozzle are electrically connected with the control device. The disinfection robot controls the electric centrifugal nozzle to carry out spray disinfection by using the control device, and greatly improves the working efficiency compared with ultraviolet lamp irradiation disinfection in the background technology. Meanwhile, the electric centrifugal nozzle can atomize liquid drops of the liquid medicine, the atomized particles are 30-50 microns, and the atomized particles can be attached to the surfaces of objects such as seats, handrails, luggage racks, walls and the like in the vehicle to effectively disinfect the objects, and the disinfection effect is good. Moreover, by adopting the robot, the staff can automatically disinfect only by opening the switch of the battery, and compared with manual disinfection in the background technology, the consumption of manpower is greatly reduced. In addition, the control device is utilized to control the liquid supply device, so that the spraying amount can be controlled, the spraying specification is ensured, and the working efficiency is further improved.

Drawings

FIG. 1 is a schematic view of the construction of a public transportation disinfecting robot of the present invention;

FIG. 2 is a schematic left side view of FIG. 1;

FIG. 3 is a control schematic diagram of the public transportation disinfecting robot of the present invention;

fig. 4 is an obstacle avoidance schematic diagram of the public transportation disinfection robot of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in figures 1-3, the public transport vehicle disinfection robot comprises a walking chassis, a hood 3 is arranged above the walking chassis, a spraying mechanism, a control device 13 and a battery 16 are arranged in the hood 3, and the control device 13 is connected with the battery 16 through a lead. The spraying mechanism comprises a liquid supply device and an electric centrifugal nozzle 15. The liquid supply device comprises a solution tank 6 and a water pump 4, a liquid outlet of the solution tank 6 is connected with a liquid inlet of the water pump 4 through a pipeline, a liquid outlet of the water pump 4 is connected with an electric centrifugal nozzle 15 through a pipeline, and a flow meter 18 is arranged on the section of pipeline between the solution tank 6 and the water pump 4. The water pump 4, the electric centrifugal nozzle 15 and the flow meter 18 are all electrically connected with the control device 13.

There are ultrasonic ranging sensor 9 and camera 11 on the aircraft bonnet 3, ultrasonic ranging sensor 9 and camera 11 all with controlling means 13 is the electricity and links to each other. The walking chassis comprises a box body 2, a hood 3 is fixed around the top of the box body 2, omnidirectional wheels 1 are arranged at the bottom of the box body 2, the omnidirectional wheels 1 are four and are Mecanum wheels, the four omnidirectional wheels 1 are respectively positioned at four corners of a rectangle, the four omnidirectional wheels 1 are equally divided and are respectively connected with a servo motor 19, and the servo motor 19 is electrically connected with a control device 13.

A state indicating alarm lamp 14 is arranged on the hood 3, a liquid level meter 5 is arranged on the solution tank 6, and the liquid level meter 5 and the state indicating alarm lamp 14 are electrically connected with the control device 13.

The control device 13 comprises an embedded control module, a power distribution module, a motor driving module, a water pump 4 speed regulating module and a data transmission module. The battery 16 is connected with the power distribution module through a lead, and the power distribution module is respectively connected with the embedded control module, the motor driving module, the water pump 4 speed regulation module, the data transmission module, the ultrasonic distance measurement sensor 9, the liquid level meter 5, the flowmeter 18, the electric centrifugal nozzle 15, the camera 11 and the state indication alarm lamp 14 through leads. The embedded control module is respectively connected with the ultrasonic distance measuring sensor 9, the liquid level meter 5, the flow meter 18, the water pump 4 speed regulating module, the motor driving module, the electric centrifugal nozzle 15 and the state indicating alarm lamp 14 through leads; the data transmission module is connected with the embedded control module and the camera 11 through network cables, and the data transmission module is connected with an antenna 12. The motor driving module is connected with the servo motor 19 through a lead, and the speed regulating module of the water pump 4 is connected with the water pump 4 through a lead. The embedded control module is connected with a start button 22 and a stop button 23 through wires.

The battery 16 has a power button 21, and the power button 21 is located at an upper portion of a sidewall of the hood 3. There are four stands 17 in the aircraft bonnet 3, and stand 17 all fixes 2 tops of box, solution tank 6 is fixed between four stands 17, and has the interval between the bottom of solution tank 6 and box 2, water pump 4 is fixed in the bottom of solution tank 6. A support 7 is arranged in the hood 3, the bottom of the frame is fixed at the top of the box body 2, an upper partition plate 10 and a lower partition plate 8 which are horizontally arranged are arranged at the upper part of the support 7, and the lower partition plate 8 is positioned above the solution tank 6. The electric centrifugal nozzle 15 is positioned on the frame above the upper partition plate 10, and the spraying end of the electric centrifugal nozzle 15 penetrates through the back surface of the hood 3 and extends out. The battery 16 and the control device 13 are both mounted on the upper plate surface of the lower partition plate 8. The camera 11 is installed on the positive face of the hood 3, the ultrasonic distance measuring sensors 9 are four in number, two are installed on the positive face of the hood 3, and two are symmetrically installed on the side face of the hood 3. The antenna 12 is mounted on top of the enclosure 3.

There is pit 20 in the front of aircraft bonnet 3, and pit 20 horizontal direction's two lateral walls all are the slope outwards to be arranged, and two ultrasonic ranging sensor 9 symmetries that are located aircraft bonnet 3 front set up on two slope lateral walls of pit 20. The improved method has the advantage that the two ultrasonic ranging sensors 9 positioned on the front surface of the hood 3 are arranged in an inscribed mode, so that obstacle avoidance calculation is more accurate.

In order to charge the battery 16, the upper portion of the housing 3 has a charging jack 24, and the charging jack 24 is connected to the battery 16 through a wire.

The public transport tool disinfection robot of the invention has the main advantages that:

(1) the chassis adopts a small and exquisite and flexible four-wheel omnidirectional chassis, can translate in any direction in a plane and simultaneously moves along with rotation, so that the robot can rapidly move in a narrow passage of a public transport means and freely move forwards and backwards.

(2) The spray head adopts a high-speed electric centrifugal spray head 15, liquid drops of the liquid medicine can be atomized, the atomized particles are 30-50 microns, and the atomized particles can be attached to the surfaces of objects such as seats, handrails, luggage racks and vehicle walls in the vehicle to effectively disinfect the objects.

(3) The spray head adopts the high-speed electric centrifugal spray head 15, can realize 360-degree omnidirectional spraying, and can comprehensively cover and disinfect the interior of the public transport means.

(4) The speed-regulating water pump 4 and the flow meter 18 are adopted to form closed-loop control, and the control of the spraying amount is realized by combining the real-time adjustment of the speed of the robot, so that the uniformity of liquid medicine spraying is ensured.

(5) The camera 11 and the ultrasonic ranging sensor 9 are used for networking, and the image recognition and obstacle avoidance algorithm of the embedded control module is combined, so that the robot can recognize and classify the obstacles 25, and further the chassis motion is controlled to avoid the obstacles.

The public transport tool disinfection robot of the invention mainly comprises the following working steps:

starting the robot: the robot is placed in or operated to move to a specified disinfection operation point at the head of a public transport means, a power button 21 is pressed, the robot is electrified to carry out electrical state self-checking, after the self-checking is passed, a state indication alarm lamp 14 displays a pre-working state, a starting button 22 is pressed, the state indication alarm lamp 14 displays a normal operation state, an embedded control module controls a water pump 4 and an electric centrifugal nozzle 15 to be started, meanwhile, a control signal is sent to a motor driving module, the motor driving module drives a corresponding servo motor 19, the servo motor 19 drives an omnidirectional wheel 1 to move, and the robot carries out linear motion.

During linear motion: the embedded control module calculates the slope of the two-side object relative to the movement of the robot within a period of time through a fitting algorithm according to the real-time data of the two-side object from the robot, which is measured by the two-side ultrasonic ranging sensors 9, and calculates the probability of the slope. If the probability is too small, the motion slope is considered to be excessively dispersed and cannot be used as a judgment basis; if the probability is in the control range, the object slope can be regarded as a judgment basis. After the slopes of the objects on the two sides are obtained, the next judgment can be carried out. If the slopes of the two sides are the same and are not zero, the robot is considered to have deviated from the parallel line motion of the objects on the two sides, and the traveling direction correction is needed. The correction method of the advancing direction comprises the following steps: and controlling the rotation speed and the rotation time of the omnidirectional wheel 1, and correcting the traveling direction of the robot into a direction parallel to the objects on two sides. If one side has a slope of zero and the other side is not zero, the current motion direction is considered to be an object parallel to the side with the slope of zero, and the current motion direction is not corrected as long as the side with the slope of non-zero does not obstruct the current motion track of the robot by judging that the side has no obstacle 25. The robot can be made to walk along the aisle in a straight line through the control algorithm. On the basis that the robot walks along the straight line of the aisle, the average distance between two sides in a past period is obtained, and whether the current robot deviates from the center line or not is judged. If the robot deviates from the center line, the deviation direction and the deviation distance are calculated to control the moving direction, the moving distance and the moving time of the omnidirectional wheel 1, so that the problem that the robot moves to deviate from the center line is corrected. The robot can move in a mode of being parallel to the objects on the two sides along the midline position of the objects on the two sides through the two steps.

Obstacle avoidance movement, as shown in fig. 4, the distance L from the current robot front object to the ultrasonic ranging sensor 9 is measured through the two front ultrasonic ranging sensors [ m1]9, the distance a from the front object to the front end of the robot and the distance b + e from the object to the edge of the robot are calculated according to a trigonometric function, then the width H of the robot is subtracted from the distance from the object to the edge of the robot, if the value is a negative number, the object is considered as an obstacle 25, the distance from the obstacle 25 to the two side walls is calculated according to the distance from the current robot to the two side walls (measured by the ultrasonic ranging sensors 9 on the two sides of the robot) and the distance from the obstacle 25 to the central axis of the robot, the left-right movement direction of the robot is calculated according to the distance from the obstacle 25 to the edge of the robot and the left-right movement speed of the robot, the time required for the robot to move left and right is calculated according to the formula t = s/v where the time equals to the distance divided by the speed, the distance, the time required for the robot to move left and right after the robot moves, the distance from the current obstacle 25, the distance to the left-right movement of the robot is considered as the distance, the robot is not possible to pass the current obstacle 25, and the robot, if the robot is not possible to pass the current obstacle is found, the robot, the distance is considered as the distance, the distance is not possible to pass the current obstacle is found, the current obstacle is 1, and the robot.

Stopping the robot: when the robot detects that the tail of the carriage is reached, the robot rotates in place for 360 degrees in a self-rotating mode so as to achieve complete disinfection of the whole carriage. Then the embedded control module closes the water pump 4 and the electric centrifugal nozzle 15, stops the movement of the walking chassis, enables the state indicating alarm lamp [ m1]14 to display the stop state, sends out prompt sound, and also displays the corresponding state at the remote monitoring terminal to remind an operator to finish the current disinfection operation flow. So far, the whole public transport means is completely disinfected.

In the walking process, if the liquid level in the solution tank 6 is lower than the corresponding position, the liquid level meter 5 sends a medicine shortage signal to the embedded control module, the embedded control module immediately turns off the water suction pump 4 and the [ m1] electric centrifugal nozzle 15, the motion of the chassis is stopped, the state indicating alarm lamp [ m1]14 displays the medicine shortage state and gives out an alarm sound, the corresponding state can be displayed at the remote monitoring terminal to remind an operator to add medicine, the start button 22 is pressed after the medicine is added, and the robot continues to perform disinfection work.

In the walking process, if the robot needs to be manually stopped in case of emergency, the stop button 23 can be pressed, the robot stops all actions, current state parameters are stored, and after the emergency is eliminated, the start button 22 is pressed, and the robot can continue to perform disinfection operation. If the operation is not required to be continued, the power button 21 is pressed to cut off the power of the robot.

Claims

1. A public transport vehicle disinfection robot comprises a walking chassis, a hood (3) is arranged above the walking chassis, a spraying mechanism, a control device (13) and a battery (16) are arranged in the hood (3), and the control device (13) is connected with the battery (16) through a lead; the spraying mechanism is characterized by comprising a liquid supply device and an electric centrifugal nozzle (15), wherein the liquid supply device is connected with the electric centrifugal nozzle (15) through a pipeline, and the liquid supply device and the electric centrifugal nozzle (15) are electrically connected with the control device (13).

2. A disinfection robot for public transport vehicles as claimed in claim 1, characterized in that said liquid supply means comprises a solution tank (6) and a water pump (4), the liquid outlet of the solution tank (6) is connected to the liquid inlet of the water pump (4) via a pipe, the liquid outlet of the water pump (4) is connected to the electric centrifugal nozzle (15) via a pipe, and the section of pipe between the solution tank (6) and the water pump (4) is provided with a flow meter (18); the water pump (4), the electric centrifugal nozzle (15) and the flow meter (18) are electrically connected with the control device (13).

3. A public transport vehicle disinfection robot as claimed in claim 2, wherein said hood (3) has an ultrasonic ranging sensor (9) and a camera (11), both the ultrasonic ranging sensor (9) and the camera (11) being electrically connected to said control device (13); the walking chassis comprises a box body (2), a hood (3) is fixed on the periphery of the top of the box body (2), an omnidirectional wheel (1) is arranged at the bottom of the box body (2), the omnidirectional wheel (1) is connected with a servo motor (19), and the servo motor (19) is electrically connected with a control device (13).

4. A disinfection robot as claimed in claim 3, characterised in that said hood (3) is provided with a status indicating warning lamp (14), said tank (6) is provided with a level gauge (5), said level gauge (5) and said status indicating warning lamp (14) being electrically connected to said control means (13).

5. A public transport vehicle disinfection robot as claimed in claim 4, characterized in that said control means (13) comprises an embedded control module, a power distribution module, a motor drive module, a water pump (4) speed regulation module and a data transmission module; the battery (16) is connected with the power distribution module through a lead, and the power distribution module is respectively connected with the embedded control module, the motor driving module, the water pump (4) speed regulation module, the data transmission module, the ultrasonic distance measurement sensor (9), the liquid level meter (5), the flow meter (18), the electric centrifugal nozzle (15), the camera (11) and the state indication alarm lamp (14) through leads; the embedded control module is respectively connected with the ultrasonic ranging sensor (9), the liquid level meter (5), the flow meter (18), the water pump (4) speed regulation module, the motor driving module, the electric centrifugal nozzle (15) and the state indication alarm lamp (14) through leads; the data transmission module is connected with the embedded control module and the camera (11) through a network cable, and the data transmission module is connected with an antenna (12); the motor driving module is connected with the servo motor (19) through a lead, and the speed regulating module of the water pump (4) is connected with the water pump (4) through a lead; the embedded control module is connected with a start button (22) and a stop button (23) through wires.

6. A public transportation disinfecting robot as claimed in claim 5, characterized in that said battery (16) has a power button (21), said power button (21) being located at the upper portion of the side wall of the hood (3); four upright posts (17) are arranged in the hood (3), the upright posts (17) are all fixed at the top of the box body (2), the solution tank (6) is fixed among the four upright posts (17), a space is reserved between the bottom of the solution tank (6) and the box body (2), and the water pump (4) is fixed at the bottom of the solution tank (6); a support (7) is arranged in the hood (3), the bottom of the rack is fixed to the top of the box body (2), an upper partition plate (10) and a lower partition plate (8) which are horizontally arranged are arranged at the upper part of the support (7), and the lower partition plate (8) is positioned above the solution tank (6); the electric centrifugal nozzle (15) is positioned on the rack above the upper partition plate (10), and the spraying end of the electric centrifugal nozzle (15) penetrates through the back surface of the hood (3) and extends out; the battery (16) and the control device (13) are both arranged on the upper plate surface of the lower clapboard (8); the cameras (11) are arranged on the front surface of the hood (3), the number of the ultrasonic ranging sensors (9) is four, two of the ultrasonic ranging sensors are arranged on the front surface of the hood (3), and the two ultrasonic ranging sensors are symmetrically arranged on the side surface of the hood (3); the antenna (12) is mounted on the top of the hood (3).

7. A disinfecting robot for public transport means according to claim 6, characterized in that said hood (3) has a recess (20) in its front face, both side walls of the recess (20) in the horizontal direction are arranged obliquely outward, and the two ultrasonic ranging sensors (9) located in the front face of the hood (3) are symmetrically arranged on both oblique side walls of the recess (20).