CN111645854B - Unmanned aerial vehicle monitoring and sampling system for high-infectivity environment medical treatment - Google Patents
Unmanned aerial vehicle monitoring and sampling system for high-infectivity environment medical treatment Download PDFInfo
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- CN111645854B CN111645854B CN202010235682.XA CN202010235682A CN111645854B CN 111645854 B CN111645854 B CN 111645854B CN 202010235682 A CN202010235682 A CN 202010235682A CN 111645854 B CN111645854 B CN 111645854B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
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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
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultra-violet radiation
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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
- A61L2/16—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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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
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
A unmanned aerial vehicle monitoring sampling system for high infectivity environmental medical treatment includes: the top of the unmanned aerial vehicle body is fixed with a plurality of airbags, a pair of propellers and electric motors are fixed on two opposite sides of the unmanned aerial vehicle body, the unmanned aerial vehicle body is also provided with a movable camera device, a main board controller and a positioning module, and the movable camera device comprises a plurality of tracking cameras and a wireless transmission module; track this personnel and will track the image and pass to the mainboard controller through wireless communication module when having personnel in the space to track the camera, mainboard controller control electric motor drive screw motion is so that unmanned aerial vehicle utilizes orientation module and limit mark to fix a position and remove in limit mark limited area, control gas generation controlling means passes to the gasbag with mist through can controlling the interface, control electric motor stall is controlled when unmanned aerial vehicle is located from the top and bottom of this personnel's assigned position, control gas generation controlling means reduces or increases the interior aerostatic body of gasbag and makes unmanned aerial vehicle float in assigned position department just.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle monitoring, in particular to an unmanned aerial vehicle monitoring and sampling system for high-infectivity environmental medical treatment, which is suitable for emergency treatment and transportation of personnel in emergency state or disaster period.
Background
The existing unmanned aerial vehicle is mainly designed outdoors, and focuses on solving the problems of upwind flight, attitude control, accurate positioning and the like, but is limited by a four-axis or multi-axis inherent system in a narrow indoor environment, so that the existing unmanned aerial vehicle has the conflicts of complex operation and control, short dead time, high requirement of load equipment and limited battery function endurance; further, in a high-infectivity medical environment, the existing unmanned aerial vehicle can stay or move in the air only by continuous propeller motion, so that the existing unmanned aerial vehicle is extremely unreliable (risk of potential aerosol pollution diffusion), and how to realize the unmanned aerial vehicle system work in an indoor narrow severe environment is a key problem to be solved urgently; an indoor robot applied to highly pathogenic infectious diseases, such as a wheeled food delivery video detection robot, has many problems of large investment, large occupied space, need to run on flat ground, and the like, and can be used as an unmanned robot system with small floor area, flexible use, and multiple functions?
In addition, according to the prevention and control experience of highly pathogenic infectious diseases, related medical personnel need to frequently enter and exit a high infection risk area according to the change of the illness state of a patient to be treated, due to the requirement of personal protection, the health and the endurance of the medical personnel are examined, the monitoring and the guidance of personnel outside the area are needed when the personnel enter and exit protective equipment, the problem that the wiring of an indoor fixed camera is adopted in the past is solved, but a series of problems of complex wiring, fixed position of the camera, potential dead angle, incapability of locking and tracking personnel, multi-screen viewing and the like exist before design, then the problems that if the visual angle problem is difficult to correct at the first time, repeated internal debugging and the like exist in operation, and the development of the current high-performance video audio information transmission technology, particularly the 5G technology and the like is combined, and the monitoring, the monitoring and the taking-off of the personnel in the related specific environment are expected by means of onboard high-performance equipment, Sampling detection and sterilization provide a new overall solution.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides a novel unmanned aerial vehicle monitoring and sampling system for high-infectivity environmental medical treatment.
The invention solves the technical problems through the following technical scheme:
the invention provides an unmanned aerial vehicle monitoring and sampling system for high-infectivity environmental medical treatment, which is characterized by comprising an unmanned aerial vehicle and a plurality of limit marks arranged in a space, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body, one or more airbags at least containing hydrogen or helium or a mixture of hydrogen and helium are fixed at the top of the unmanned aerial vehicle body, the airbags are connected with a gas generation control device through an adjustable interface, a pair of propellers and electric motors respectively connected with the propellers are fixed on two opposite sides of the unmanned aerial vehicle body, a movable camera device is further arranged on the unmanned aerial vehicle body, the movable camera device comprises a plurality of tracking cameras and a wireless transmission module, and a main board controller and a positioning module are arranged on the unmanned aerial vehicle body.
The tracking camera is used for tracking personnel when the personnel exist in the space and transmitting the tracking image to the mainboard controller and an external monitoring system through the wireless communication module, the unmanned aerial vehicle enables external monitoring personnel to realize smooth two-way communication of video and audio information with medical personnel in a room, the main board controller is used for controlling the electric motor to drive the propeller to move so that the unmanned aerial vehicle can be accurately positioned and moved in an area defined by the limit marks of the space by using the positioning module and the limit marks, the main board controller controls the gas generation control device to transmit the mixed gas to the air bag through the adjustable interface, the main board controller is used for controlling the electric motor to stop running when the unmanned aerial vehicle is above or below the designated position of the person, and controlling the gas generation control device to reduce or increase the mixed gas in the air bag so that the unmanned aerial vehicle just floats at the specified position.
Preferably, the bottom of unmanned aerial vehicle body is fixed with light descending support.
Preferably, unmanned aerial vehicle monitoring sampling system still including arranging the stop platform in the space in, the unmanned aerial vehicle body descends and parks on stop platform through light descending support.
Preferably, stop the platform and embed there is the induction charging coil to the realization charges to unmanned aerial vehicle's non-precision contact.
Preferably, the docking station communicates with a buoyant gas line from the wall to replenish the bladder with buoyant gas.
Preferably, the junction of the propeller on the unmanned aerial vehicle body and the output shaft of electric motor is fixed with universal joint.
Preferably, be provided with the multitask load platform interface on the unmanned aerial vehicle body, the multitask load platform interface is used for connecting ultraviolet or other disinfection module and the directional module that sprays of liquid of shining.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
1. the device can freely walk and lock and track along with an observed object in an indoor space, and solves the problems that a fixed position camera cannot comprehensively track and guide the behaviors of medical personnel in a high-infectivity environment and the state of a patient, and has partial dead angles or monitoring blind areas;
2. the related unmanned aerial vehicle system can solve the indoor high-strength wiring burden through wireless information transmission technologies such as 5G and the like, and meanwhile, the problems of correction and change caused by unreasonable wiring and the like are avoided;
3. the unmanned aerial vehicle system designed by the mini airship gives consideration to the problems of the idle time and the motion flexibility of the unmanned aerial vehicle to the maximum extent, and avoids the contradiction between the idle time, the volume and the flexibility of the traditional four-axis or multi-axis unmanned aerial vehicle in a narrow indoor space;
4. the disturbance of the relevant unmanned aerial vehicle to the air is very small (mainly airflow pushing in the horizontal direction is realized, and the vertical direction is realized by depending on the adjustment of the buoyancy of an air bag of the unmanned aerial vehicle), the propeller can be stopped to stay in the air for a long time, the propeller does not need to continuously operate like the traditional unmanned aerial vehicle, and the risk that the medical operating personnel and patients are possibly broken and injured indoors is greatly reduced;
5. whole unmanned aerial vehicle system relatively moves quietly, can adopt low noise or noiseless paddle further to reduce relevant noise pollution, whole equipment load capacity is bigger simultaneously, can realize indoor more potential pollutant sample sampling (medical personnel and patient closely sample) and more targeted directional spraying or ultraviolet disinfection in the spatial range, cooperation a series of indoor sample unmanned on duty automatic processing monitoring system can realize automatic quick sample analysis monitoring, the burden and the contaminated probability of unnecessary personnel business turn over can be reduced to the disinfection of pertinence.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle monitoring and sampling system according to a preferred embodiment of the present invention.
Fig. 2 is a control schematic diagram of the unmanned aerial vehicle monitoring and sampling system according to the preferred embodiment of the invention.
Fig. 3 is a schematic view of the operation of the unmanned aerial vehicle along with medical staff entering an infectious ward according to the preferred embodiment of the present invention.
Fig. 4 is a schematic view of the unmanned aerial vehicle staying on the platform according to the preferred embodiment of the invention.
Fig. 5 is a plan view of the layout of the unmanned aerial vehicle according to the preferred embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1-5, the present embodiment provides an unmanned aerial vehicle monitoring and sampling system for high-contagious environmental medical treatment, which comprises an unmanned aerial vehicle and a plurality of limit marks 1 arranged in the space, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body 2, one or more air bags 3 which can be filled with hydrogen or helium or a mixed gas containing the two gases are fixed on the top of the unmanned aerial vehicle body 2, the air bag 3 is connected with a gas generation control device 5 through an adjustable interface 4, a pair of propellers 6 and electric motors 7 respectively connected with the propellers 6 are fixed on two opposite sides of the unmanned aerial vehicle body 2, but unmanned aerial vehicle body is last 2 still to be equipped with portable camera device 8, but portable camera device includes a plurality of tracking cameras and wireless transmission module, be provided with mainboard controller 9 and orientation module 10 on the unmanned aerial vehicle body 2.
The tracking camera is used for tracking a person in a space when the person exists in the space, tracking images are transmitted to the main board controller 9 and an external monitoring system through the wireless communication module, the unmanned aerial vehicle enables external monitoring personnel and medical personnel in the space to achieve smooth information communication (video transmission and audio bidirectional transmission), the main board controller 9 is used for controlling the electric motor 7 to drive the propeller 6 to move so that the unmanned aerial vehicle can be accurately positioned and moved in a region limited by a limit mark of the space by utilizing the positioning module 10 and the limit mark 1, the main board controller 9 controls the gas generation control device 5 to transmit mixed gas to the airbag 3 through the adjustable interface 4, the main board controller 9 is used for controlling the electric motor 7 to stop running when the unmanned aerial vehicle is above or below an appointed position of the person, and controlling the gas generation control device 5 to reduce or increase floating gas in the airbag 3 so that the unmanned aerial vehicle can float in the appointed position just right At the location.
In the invention, the air stagnation of the unmanned aerial vehicle does not depend on the airflow movement of the propeller 6, mainly depends on the buoyancy of the gas (including hydrogen, helium or hydrogen and helium) stored in the air bag 3 (in order to avoid the loss of the buoyancy caused by the rupture of a single air bag, the air bag is designed into a plurality of air bags) in the air, the propeller 6 positioned below the air bag is mainly responsible for the accurate positioning and movement of the unmanned aerial vehicle in the indoor space, and once the unmanned aerial vehicle is in place, the unmanned aerial vehicle floats in the air depending on the buoyancy, and the propeller 2 stops moving, so that the air stagnation time is prolonged to the maximum extent. Furthermore, the space movement in the narrow chamber is relatively low in relation to the speed requirement, so that the propulsion of the propeller can be at a low speed, thereby further reducing the associated operating noise. Further, the motion of the propeller is obviously reduced compared with that of the existing multi-axis unmanned aerial vehicle, and the potential diffusion of aerosol containing infectious viruses or germs indoors is greatly reduced.
The portable camera device 8 that unmanned aerial vehicle body 2 carried on can realize following the real-time bidirectional transfer of the image sound after medical personnel got into indoor space, a plurality of pursuit cameras among the portable camera device 8 can realize the wide angle and the long focus image acquisition of same scene, be used for patient and medical personnel's image acquisition on the one hand, the image of on the other hand accessible collection and the comparison of indoor space collection image pinpoint unmanned aerial vehicle position in the air, can be at indoor relevant position, corresponding limit marker 1 is kept somewhere in advance to position such as head of a bed, corner, limit marker 1 (stipulate unmanned aerial vehicle can independently the indoor space of safe operation promptly, its upper limit has been stipulated, also stipulate its lower limit) can avoid unmanned aerial vehicle to get into the non-work area and fall or the emergence of personnel collision.
Moreover, the bottom of unmanned aerial vehicle body 2 is fixed with light descending support 11, unmanned aerial vehicle monitoring sampling system is still including arranging stop platform 12 in the space in, unmanned aerial vehicle body 2 descends and parks on stop platform 12 through light descending support 11, stop platform 12 embeds there is induction charging coil 13 to the realization charges to unmanned aerial vehicle's non-contact, stop platform 12 intercommunication is from the buoyancy gas pipeline 14 of wall in order to supply the body of floating air for this gasbag 3.
Unmanned aerial vehicle's two cameras or many cameras design can realize tracking the locking that gets into indoor medical personnel along with to realize that medical personnel are in the no dead angle of indoor operation and detect, relevant unmanned aerial vehicle can be one or many in a room, perhaps follow as required from medical personnel entering pollution area and follow promptly, leave pollution area until personnel, unmanned aerial vehicle can realize the self-guide with the help of machine vision, the self-return stops platform 12 and carries out energy and gas supplementation.
The front and back left and right movement on the plane is realized through the power output of different propellers, meanwhile, a universal joint 15 is arranged at the joint of the propeller 6 and the power output shaft of the electric motor 7, the propeller 6 can rotate in different directions through the universal joint 15, and then the random selected point movement towards the indoor space can be realized by combining the power output of different degrees.
Be provided with multitask load platform interface on the unmanned aerial vehicle body, multitask load platform interface is used for connecting ultraviolet or other disinfection module, the directional module that sprays of liquid etc. of shining. The unmanned aerial vehicle can be flexibly positioned to any indoor selected position by virtue of air buoyancy and a small amount of necessary propeller movement, the multi-task load platform interface can load the disinfection module as required, and disinfection of a small-range pollution area (a patient secretion spraying area, a patient direct or potential contact area, pollution carried by a jacket of medical personnel entering a room and the like) of a patient in a ward is realized by fixed-point ultraviolet light illumination or fixed-point spraying of a small amount of disinfectant.
After the unmanned aerial vehicle finishes working or the task interval can stay on the stopping platform 12 through the light landing support 11 to perform energy and gas supplement operation and loading operation of different modules (ultraviolet or other irradiation disinfection modules, liquid directional spraying modules and the like) on the interface of the multi-task load platform. Stop platform 12's one side and wall connection, be located the wall in the middle of or the upper portion position, reducible block to business turn over personnel and relevant equipment like this, reduce unnecessary space and occupy, reduce unmanned aerial vehicle unnecessary flight consumption simultaneously (relevant stop platform 12 can be higher than personnel head of standing, unmanned aerial vehicle can follow the top and directly take off, and need not to rise to safe detention space level from positions such as ground or patient's bedside), stop platform 12 can embed response charging coil 13, realize that non-precision contact charges, still can supply necessary aerostatics for unmanned aerial vehicle through the buoyancy gas pipeline 14 that communicates from the wall simultaneously. The floating gas can be hydrogen gas with density lower than that of air, helium gas or mixed gas containing at least two gases, and the gas source can be generated by wall gas pipeline, compressed steel cylinder or weak acid and metal particles or water electrolysis.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (2)
1. An unmanned aerial vehicle monitoring and sampling system for high-infectivity environmental medical treatment is characterized by comprising an unmanned aerial vehicle and a plurality of limit marks arranged in a space, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body, one or more airbags filled with hydrogen and helium mixed gas are fixed at the top of the unmanned aerial vehicle body, the airbags are connected with a gas generation control device through an adjustable interface, a pair of propellers and electric motors respectively connected with the propellers are fixed on two opposite sides of the unmanned aerial vehicle body, a movable camera device is further arranged on the unmanned aerial vehicle body, the movable camera device comprises a plurality of tracking cameras and a wireless transmission module, and a main board controller and a positioning module are arranged on the unmanned aerial vehicle body;
the tracking camera is used for tracking personnel when the personnel exist in the space and transmitting the tracking image to the mainboard controller and an external monitoring system through the wireless communication module, the unmanned aerial vehicle enables external monitoring personnel to realize smooth two-way communication based on video and audio information with medical personnel in a room, the main board controller is used for controlling the electric motor to drive the propeller to move so that the unmanned aerial vehicle can be accurately positioned and moved in an area defined by the limit marks of the space by using the positioning module and the limit marks, the main board controller controls the gas generation control device to transmit the mixed gas to the air bag through the adjustable interface, the main board controller is used for controlling the electric motor to stop running when the unmanned aerial vehicle is above or below the designated position of the person, the gas generation control device is controlled to reduce or increase the mixed gas in the air bag so that the unmanned aerial vehicle just floats at a specified position;
a light landing bracket is fixed at the bottom of the unmanned aerial vehicle body;
the unmanned aerial vehicle monitoring and sampling system also comprises a stopping platform arranged in the space, and the unmanned aerial vehicle body descends through the light landing bracket and stops on the stopping platform;
an induction charging coil is arranged in the stopping platform to realize non-contact charging of the unmanned aerial vehicle;
the stay platform is communicated with a buoyancy gas pipeline of the wall so as to supplement the air bag with floating gas;
the propeller on the unmanned aerial vehicle body is fixed with universal joint with the junction of electric motor's output shaft.
2. The unmanned aerial vehicle monitoring and sampling system for high infectious environment medical treatment of claim 1, wherein a multitask loading platform interface is arranged on the unmanned aerial vehicle body, and is used for connecting the liquid directional spraying module and the ultraviolet or other irradiation disinfection module.
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| CN113053193A (en) * | 2021-02-26 | 2021-06-29 | 郑州天健网安技术有限公司 | A stand that is used for showing indoor anti-candid photograph |
| WO2022260636A1 (en) * | 2021-06-09 | 2022-12-15 | A.Ü.Strateji̇ Geli̇şti̇rme Dai̇resi̇ Başkanliği | A remote-controlled sterilization device |
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| CN104943845A (en) * | 2015-07-21 | 2015-09-30 | 中国科学院光电研究院 | Hydrogen energy source airship |
| CN205707276U (en) * | 2016-03-28 | 2016-11-23 | 深圳光启空间技术有限公司 | Lighter-than-air flight device |
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| CN106143888A (en) * | 2016-07-08 | 2016-11-23 | 李须真 | A kind of multi-rotor aerocraft during long boat |
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