CN112316175B - Ultraviolet light disinfection robot - Google Patents
Ultraviolet light disinfection robot Download PDFInfo
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- CN112316175B CN112316175B CN202011389475.6A CN202011389475A CN112316175B CN 112316175 B CN112316175 B CN 112316175B CN 202011389475 A CN202011389475 A CN 202011389475A CN 112316175 B CN112316175 B CN 112316175B
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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
- A61L2/24—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
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/11—Apparatus for generating biocidal substances, e.g. vaporisers, UV lamps
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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
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
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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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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The invention provides an ultraviolet light disinfection robot, which comprises a robot body, wherein an ultraviolet lamp acting on a space to be disinfected, a scanner, a light regulation mechanism, a displacement driving device, a biological identification sensor, a timer and a controller are arranged on the robot body, and the ultraviolet light disinfection robot also comprises a projector. The ultraviolet lamp disinfection device operates according to actual stop points and the time quantity of the ultraviolet lamp staying at each actual stop point by operating the illumination adjusting mechanism and/or the displacement driving device, so that the light energy generated by the ultraviolet lamp can be reasonably distributed among the positions to be disinfected according to the polluted degree of the positions to be disinfected in a limited time, the light energy utilization rate is high, and the disinfection effect is good.
Description
Technical Field
The invention relates to the field of ultraviolet disinfection equipment, in particular to an ultraviolet disinfection robot.
Background
The disinfection is one of means for preventing and controlling exogenous infection of patients in medical institutions, and is basic work for improving medical quality and ensuring the safety of patients in the medical institutions.
Ultraviolet light of a sufficiently short wavelength generated by an ultraviolet lamp has been confirmed to cause DNA strand breakage of organisms, causing nucleic acid and protein to be broken, and thus causing microorganisms to die, and on the basis of this, sterilization using ultraviolet light is a common disinfection means in existing medical institutions. However, the existing ultraviolet disinfection equipment has low intelligent degree, can only deliver the light energy generated by the ultraviolet lamp in a simple mode, cannot reasonably distribute the light energy generated by the ultraviolet lamp among all positions to be disinfected according to the degree of pollution at the positions to be disinfected within a limited time, and has low light energy utilization rate and poor disinfection effect.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the ultraviolet light disinfection robot which can reasonably distribute the light energy generated by the ultraviolet lamp among the positions to be disinfected according to the degree of pollution at the positions to be disinfected within a limited time, and has higher light energy utilization rate and better disinfection effect.
The invention adopts the following technical scheme.
The utility model provides an ultraviolet ray disinfection robot, includes the robot body, be equipped with the ultraviolet lamp that acts on the space of waiting to disinfect on the robot body, still include:
the projector is used for projecting preset patterns at a plurality of specified positions of the space to be disinfected respectively so as to mark the area to be disinfected, wherein the range and the content of the patterns can be modified;
still be equipped with on the robot body:
the scanner is used for scanning the space to be disinfected, acquiring three-dimensional coordinate information of the space to be disinfected and identifying a pattern projected by the projector, wherein the scanner respectively determines the position and the range of an area to be disinfected according to the position and the range of the pattern in the space to be disinfected and determines the priority of the area to be disinfected according to the content of the pattern;
an illumination adjustment mechanism for concentrating light generated by the ultraviolet lamp in a desired direction;
the displacement driving device is used for moving the robot body in the space to be disinfected;
the biological identification sensor is used for capturing biological information in an illumination range of the ultraviolet lamp and determining the position of a living being in a space to be disinfected;
the timer is used for setting the running time of the ultraviolet lamp and can independently accumulate the time duration of each area to be disinfected irradiated by the ultraviolet lamp;
a controller for performing the steps of:
s1, forming N preset stop points in the space to be disinfected according to the three-dimensional coordinate information of the space to be disinfected, regarding ultraviolet lamps as points and stopping the ultraviolet lamps in the preset stop points in sequence according to the positions of the areas to be disinfected in the space to be disinfected, and calculating the ultraviolet light delivery rate of the ultraviolet lamps which are regarded as points to any one preset stop point when the ultraviolet lamps are located at any one preset stop point according to the distance from each preset stop point to each area to be disinfected and the angle between each preset stop point and each area to be disinfected;
s2, selecting a plurality of preset stopping points as actual stopping points according to the priority of each area to be disinfected and the ultraviolet light delivery rate of each preset stopping point to each area to be disinfected, and setting the priority of each actual stopping point;
s3, calculating the stay time of the ultraviolet lamp at each actual stop point according to the running time of the ultraviolet lamp set by the timer and the ultraviolet light delivery rate of each actual stop point to each area to be disinfected;
s4, controlling the ultraviolet lamp to operate;
s5, controlling the illumination adjusting mechanism and/or the displacement driving device to operate according to the priority of each actual stop point and the stay time of the ultraviolet lamp at each actual stop point, so that the areas to be disinfected receive the light energy projected by the ultraviolet lamp within the operation time of the ultraviolet lamp set by the timer and are arranged according to the priority of each area to be disinfected;
if the organisms captured by the biological recognition sensor enter the illumination range of the ultraviolet lamp, the controller executes the following operations:
t1, controlling the illumination adjusting mechanism and/or the displacement driving device to operate according to the position of the living being in the space to be disinfected, so that the light energy generated by the ultraviolet lamp is concentrated on a plurality of areas to be disinfected which are staggered with the living being, and meanwhile, adjusting the priority of the areas to be disinfected according to the ultraviolet light delivery rate of the areas to be disinfected where the ultraviolet lamp is currently located and the time length of the areas to be disinfected which are irradiated by the ultraviolet lamp;
t2, steps S2 to S5 are re-executed in accordance with the newly determined priorities of the respective areas to be sterilized in T1.
The step S2 further includes:
a1, dividing all areas to be disinfected with the same priority into the same area set, selecting an area set, extracting an area to be disinfected which is not extracted from the selected area set, and selecting a preset stopping point meeting the following conditions as an actual stopping point according to the extracted area to be disinfected:
4) the predetermined dwell point is the largest in number for values where the ultraviolet light delivery rates of a plurality of areas to be disinfected in the selected area set are not zero and are equal;
5) the ultraviolet light delivery rate of the preset stopping point to the plurality of areas to be disinfected in the selected area set is not zero and is equal to a value larger than any value of the ultraviolet light delivery rate of the preset stopping point to each area to be disinfected outside the selected area set;
6) any value of the ultraviolet light delivery rate of the preset stay point to a plurality of areas to be disinfected in the selected area set is greater than any value of the ultraviolet light delivery rate of each extracted area to be disinfected in the selected area set;
a2, regarding a plurality of areas to be disinfected in the selected area set corresponding to the selected actual stop points as extracted areas;
a3, repeating the steps A1 and A2 until all the areas to be disinfected which are not extracted are extracted.
The step S3 further includes:
dividing the running time of the ultraviolet lamps set by the timer into a plurality of unit time quantum, wherein the number of the unit time quantum is larger than or equal to the number of the actual stop points, regarding the product of the ultraviolet light delivery rate corresponding to the areas to be sterilized and the time length irradiated by the ultraviolet lamps as the ultraviolet light receiving quantity, respectively substituting different numbers of the unit time quantum into the actual stop points by using an interpolation method, and if the ultraviolet light receiving quantity corresponding to each area to be sterilized is arranged according to the priority sequence corresponding to each area to be sterilized, and the maximum value and the minimum value of the ultraviolet light receiving quantity of each area to be sterilized adjacent to the priority are in a preset range, regarding the product of the number of the unit time quantum substituted into each actual stop point and the unit time quantum as the time quantum of the ultraviolet lamps at each actual stop point.
Further, illumination adjustment mechanism includes the mounting bracket, with the first driving piece of mounting bracket looks drive connection, with mounting bracket looks articulated support frame, with the second driving piece of support frame looks drive connection, locate the third driving piece on the support frame to and locate the reflector of third driving piece output, the ultraviolet lamp is located in the reflector, first driving piece, second driving piece and third driving piece all are connected with the controller electricity.
The invention further comprises an indicator light, wherein the indicator light is used for generating a mark point at a designated position of the space to be disinfected, the scanner determines the position of the mark point in the space to be disinfected based on the identification of the mark point, so that the three-dimensional coordinate information of the space to be disinfected is obtained, the scanner feeds the three-dimensional coordinate information back to the controller, and the controller controls the displacement driving device to move to the position of the mark point.
Furthermore, the invention also comprises a plurality of distance sensors which are distributed along the circumferential direction of the robot body at intervals, wherein the distance sensors are used for measuring the distance between the robot body and the obstacle in the space to be disinfected and feeding back the distance of the obstacle to the controller, and the controller controls the displacement driving device to operate, so that the robot body avoids the obstacle in the moving process.
The invention has the beneficial effects that:
the ultraviolet lamp disinfection device operates according to actual stop points and the time quantity of the ultraviolet lamp staying at each actual stop point by operating the illumination adjusting mechanism and/or the displacement driving device, so that the light energy generated by the ultraviolet lamp can be reasonably distributed among the positions to be disinfected according to the polluted degree of the positions to be disinfected in a limited time, the light energy utilization rate is high, and the disinfection effect is good.
In addition, a user can determine the position of the area to be disinfected in the space to be disinfected by operating the projector, and determine the range and the priority of the area to be disinfected by editing the range and the content of the pattern projected by the projector, so that the operation is convenient and fast, and the flexibility is good;
furthermore, the invention is provided with the biological recognition sensor, if the biological recognition sensor catches the organisms which enter the illumination range of the ultraviolet lamp, the controller controls the illumination adjusting mechanism and/or the displacement driving device to operate, so that the light energy generated by the ultraviolet lamp is concentrated on a plurality of areas to be disinfected which are staggered with the biological phases, thereby not only avoiding the harm of the ultraviolet light to people and pets, but also continuously disinfecting the areas to be disinfected, meanwhile, the priority of the areas to be disinfected is adjusted according to the ultraviolet light delivery rate of the areas to be disinfected where the ultraviolet lamps are located and the time length of the areas to be disinfected irradiated by the ultraviolet lamps, then, according to the newly determined priority of each area to be disinfected, the actual stop points and the time quantity of the ultraviolet lamp staying at each actual stop point are recalculated, so that each area to be disinfected can receive the irradiation of the ultraviolet lamp according to the initially set priority.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot body according to the present embodiment;
FIG. 2 is a schematic structural diagram of the projector of this embodiment
Fig. 3 is a schematic structural view of the space to be sterilized of the present embodiment.
Description of reference numerals:
the robot comprises a robot body 1, an ultraviolet lamp 2, a scanner 3, a displacement driving device 4, a biological identification sensor 5, a distance sensor 6, a mounting frame 71, a first driving piece 72, a supporting frame 73, a second driving piece 74, a third driving piece 75 and a reflecting cover 76,
a projector 8 and an indicator light 9.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for a better understanding of the present embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent actual product dimensions.
It will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
An ultraviolet light disinfection robot as shown in figures 1 and 2, including robot body 1, be equipped with the ultraviolet lamp 2 that acts on the space of waiting to disinfect on robot body 1, still include:
the projector 8 is used for projecting preset patterns at a plurality of designated positions of the space to be disinfected respectively so as to mark the area to be disinfected, wherein the range and the content of the patterns can be modified; preferably, the projector 8 is a portable projector; the content of the pattern may include, but is not limited to, fonts, symbols, stars, etc.;
the robot body 1 is further provided with:
the scanner 3 is used for scanning the space to be disinfected, acquiring three-dimensional coordinate information of the space to be disinfected and identifying a pattern projected by the projector, wherein the scanner 3 determines the position and the range of an area to be disinfected respectively according to the position and the range of the pattern in the space to be disinfected and determines the priority of the area to be disinfected according to the content of the pattern; the scanner 3 divides the area of the space to be disinfected, which is not projected with patterns, into a plurality of areas to be disinfected, and the priority of the areas to be disinfected can be preset;
the illumination adjusting mechanism is used for concentrating the light energy generated by the ultraviolet lamp 2 in a required direction;
a displacement driving device 4, the displacement driving device 4 is used for moving the robot body 1 in the space to be disinfected, wherein the displacement driving device 4 is a widely used technology, so the device is not further described in the invention;
the biological recognition sensor 5 is used for capturing organisms entering the illumination range of the ultraviolet lamp 2 and determining the positions of the organisms in the space to be disinfected; preferably, the biometric sensors 5 are provided in plurality and spaced apart along the circumference of the robot body 1.
The timer is used for setting the running time of the ultraviolet lamp 2 and can independently accumulate the time duration of each area to be disinfected irradiated by the ultraviolet lamp 2;
a controller for performing the steps of:
s1, forming N preset stop points in the space to be disinfected according to the three-dimensional coordinate information of the space to be disinfected, regarding the ultraviolet lamps 2 as points and stopping the points in the preset stop points in sequence according to the positions of the areas to be disinfected in the space to be disinfected, calculating the ultraviolet light delivery rate of the ultraviolet lamps 2 which are regarded as points to any one area to be disinfected when the ultraviolet lamps are positioned at any one preset stop point according to the distance from each preset stop point to each area to be disinfected and the influence of the angle between each preset stop point and each area to be disinfected, and obtaining the ultraviolet light delivery rate of the preset stop points to the areas to be disinfected, wherein the simplified ultraviolet light delivery rate calculation formula is that
(p is the ultraviolet light delivery rate, alpha is the included angle between the connecting line of the ultraviolet lamp and the point on the area to be disinfected and the surface of the point, L is the length of the connecting line, and p is regarded as zero under the condition that alpha is equal to zero);
s2, selecting a plurality of preset stopping points as actual stopping points according to the priority of each area to be disinfected and the ultraviolet light delivery rate of each preset stopping point to each area to be disinfected, and setting the priority of each actual stopping point;
s3, calculating the stay time of the ultraviolet lamp 2 at each actual stop point according to the running time of the ultraviolet lamp 2 set by the timer and the ultraviolet light delivery rate of each actual stop point to each area to be disinfected;
s4, controlling the ultraviolet lamp 2 to operate;
s5, controlling the illumination adjusting mechanism and/or the displacement driving device 4 to operate according to the priority of each actual stop point and the stay time of the ultraviolet lamp 2 at each actual stop point, so that the light energy of each area to be disinfected received by the ultraviolet lamp within the operation time of the ultraviolet lamp set by the timer is arranged according to the priority of each area to be disinfected;
if the organism captured by the organism recognition sensor 5 enters the illumination range of the ultraviolet lamp 2, the controller executes the following operations:
t1, controlling the illumination adjusting mechanism and/or the displacement driving device 4 to operate according to the position of the living being in the space to be disinfected, so that the light energy generated by the ultraviolet lamp 2 is concentrated on a plurality of areas to be disinfected which are staggered with the living being, and meanwhile, adjusting the priority of the areas to be disinfected according to the ultraviolet light delivery rate of the areas to be disinfected where the ultraviolet lamp 2 stays and the duration of the areas to be disinfected which are irradiated by the ultraviolet lamp 2;
t2, according to the priorities of the respective areas to be sterilized newly determined in T1, re-executes operations S2 to S5.
Preferably, the controller is a chip.
Step S2 further includes:
a1, dividing all areas to be disinfected with the same priority into the same area set, selecting an area set, extracting an area to be disinfected which is not extracted from the selected area set, and selecting a preset stopping point meeting the following conditions as an actual stopping point according to the extracted area to be disinfected:
1) the predetermined dwell point is the largest in number for values for which the ultraviolet light delivery rates of a number of areas to be disinfected in the selected set of areas are not zero and are equal;
2) the ultraviolet light delivery rate of the preset stopping point to the plurality of areas to be disinfected in the selected area set is not zero and is equal to a value larger than any value of the ultraviolet light delivery rate of the preset stopping point to each area to be disinfected outside the selected area set;
3) any value of the ultraviolet light delivery rate of the preset stopping point to the plurality of areas to be disinfected in the selected area set is larger than any value of the ultraviolet light delivery rate of each extracted area to be disinfected in the selected area set by the preset stopping point;
if a plurality of preset stopping points meeting all the conditions exist, one stopping point is randomly selected as an actual stopping point;
a2, regarding a plurality of areas to be disinfected in the selected area set which meet all the conditions with the selected actual stopping point as extracted, and regarding all the areas to be disinfected in the selected area set which do not meet all the conditions with the actual stopping point as not extracted;
a3, repeating the steps A1 and A2 until all the areas to be disinfected which are not extracted are extracted.
Step S3 further includes:
dividing the running time of the ultraviolet lamps 2 set by the timer into a plurality of unit time quantum, wherein the number of the unit time quantum is larger than or equal to the number of the actual stop points, regarding the product of the ultraviolet light delivery rate corresponding to the areas to be sterilized and the time quantum irradiated by the ultraviolet lamps 2 as the ultraviolet light receiving quantity, respectively substituting different numbers of the unit time quantum into the actual stop points by using an interpolation method, and if the ultraviolet light receiving quantity corresponding to each area to be sterilized is arranged according to the priority sequence corresponding to each area to be sterilized, and the maximum value and the minimum value of the ultraviolet light receiving quantity of each area to be sterilized adjacent to the priority are in a preset range, regarding the product of the number of the unit time quantum substituted into each actual stop point and the unit time quantum as the time quantum of the ultraviolet lamps 2 staying at each actual stop point.
The illumination adjusting mechanism comprises an installation frame 71, a first driving piece 72 in driving connection with the installation frame 71, a support frame 73 hinged to the installation frame 71, a second driving piece 74 in driving connection with the support frame 73, a third driving piece 75 arranged on the support frame 73, a reflector 76 arranged at the output end of the third driving piece 75, and an ultraviolet lamp 2 arranged in the reflector 76, wherein the first driving piece 72, the second driving piece 74 and the third driving piece 75 are all electrically connected with the controller. The first driving member 72 is used for adjusting the height of the ultraviolet lamp 2, the second driving member 74 is used for adjusting the vertical angle of the ultraviolet lamp 2, and the third driving member 75 can drive the reflector 76 and the ultraviolet lamp 2 to rotate. Preferably, the first drive member 72 is an electric push rod, and the second drive member 74 and the third drive member 75 are motors.
The invention also comprises an indicator light 9, the indicator light 9 is used for generating a mark point at the designated position of the space to be disinfected, the scanner 3 determines the position of the mark point in the space to be disinfected based on the identification point, so that the three-dimensional coordinate information of the space to be disinfected is obtained, the scanner feeds the three-dimensional coordinate information back to the controller, and the controller controls the displacement driving device 4 to operate, so that the robot body 1 moves to the position of the mark point. Preferably, the indicator light 9 is an infrared light and is provided on the projector 8.
The robot comprises a robot body 1, a plurality of distance sensors 6 distributed along the circumferential direction of the robot body 1 at intervals, wherein the distance sensors 6 are used for measuring the distance between the robot body 1 and an obstacle in a space to be disinfected and feeding back the distance of the obstacle to a controller, and the controller controls a displacement driving device 4 to operate so as to avoid the collision between the robot body 1 and the obstacle in the moving process.
This embodiment is provided in a space to be disinfected as shown in fig. 2, where area to be disinfected A, B, C, D, E, F, area to be disinfected A, B, C, D, E, F are equal in height and all vertical surfaces, area to be disinfected A, B, C is at a first priority, area to be disinfected D, E is at a second priority, and area to be disinfected F is at a third priority. The course of determining the actual dwell points and the amount of time the uv lamp 2 stays at each actual dwell point within the space to be sterilised is:
1) forming 6 preset stop points, namely a, b, c, d, e, f and g, in the space to be disinfected according to the three-dimensional coordinate information of the space to be disinfected, regarding the ultraviolet lamps 2 as points and sequentially arranging the points in each preset stop point according to the position of each area to be disinfected in the space to be disinfected, and calculating the ultraviolet light delivery rate of the ultraviolet lamps 2 which are regarded as points to any area to be disinfected when the ultraviolet lamps 2 are positioned at any preset stop point by considering the distance from each preset stop point to each area to be disinfected and the influence of the angle between each preset stop point and each area to be disinfected to obtain the ultraviolet light delivery rate of each preset stop point to each area to be disinfected;
2) dividing the area to be sanitized A, B, C into a first set of areas, dividing the area to be sanitized D, E into a second set of areas, and dividing the area to be sanitized F into a third set of areas;
3) extracting the area a to be sterilized from the first set of areas, and finding that the number of values at which the ultraviolet light delivery rates of the predetermined stagnation points c to the areas B, C to be sterilized in the first set of areas are not zero and are equal is the largest after calculation; the ultraviolet light delivery rate of the predetermined dwell point c to the area to be disinfected B, C in the first set of zones is not zero and is equal to a value greater than any value of the ultraviolet light delivery rate of the predetermined dwell point c to the area to be disinfected D, E, F in the second set of zones and the third set of zones, taking the predetermined dwell point c as a first actual dwell point;
4) the area to be disinfected B, C within the first set of areas is considered to have been extracted and the area to be disinfected A within the first set of areas is considered to have not been extracted;
5) extracting an area A to be disinfected from the first area set, and finding that the number of values with the preset stopping point a, the ultraviolet light delivery rate of which is not zero and is equal to the ultraviolet light delivery rate of the area A to be disinfected is the largest after calculation; the ultraviolet light delivery rate of predetermined dwell point a to area a to be sanitized within the first set of areas is not zero and is equal to a value greater than any one of the ultraviolet light delivery rates of predetermined dwell point a to area D, E, F to be sanitized within the second set of areas and the third set of areas; the value of the ultraviolet light delivery rate of the predetermined dwell point a for the area a to be disinfected within the first set of areas is greater than any value of the ultraviolet light delivery rate of the predetermined dwell point a for the area B, C to be disinfected that has already been extracted within the first set of areas, taking the predetermined dwell point a as the second actual dwell point;
6) extracting an area D to be disinfected from the second area set, and finding that the number of values with the preset stopping point e, the ultraviolet light delivery rate of which is not zero and is equal to the ultraviolet light delivery rate of the area D to be disinfected is the largest after calculation; the ultraviolet light delivery rate of the predetermined dwell point e to the areas D to be disinfected in the second set of areas is not zero and is equal to a value greater than any value of the ultraviolet light delivery rate of the predetermined dwell point e to the areas A, B, C, F to be disinfected in the first set of areas and the third set of areas, and the predetermined dwell point e is taken as a third actual dwell point;
7) regarding an area D to be disinfected in the second area set as extracted, and regarding an area E to be disinfected in the second area set as not extracted;
8) extracting an area E to be disinfected from the second area set, and finding that the number of values with the preset stopping point g, the ultraviolet light delivery rate of which is not zero and is equal to the ultraviolet light delivery rate of which is the largest after calculation; the ultraviolet light delivery rate of the predetermined dwell point g to the areas D to be sanitized within the second set of areas is not zero and is equal to a value greater than any one of the ultraviolet light delivery rates of the predetermined dwell point g to the areas A, B, C, F to be sanitized within the first set of areas and the third set of areas; the value of the ultraviolet light delivery rate of the preset stop point g to the area E to be disinfected in the second area set is larger than the value of the ultraviolet light delivery rate of the preset stop point g to the extracted area D to be disinfected in the second area set, and the preset stop point g is used as a fourth actual stop point;
9) extracting an area F to be disinfected from the second area set, and finding that the number of values with the preset stopping point F, the ultraviolet light delivery rate of which is not zero and is equal to the ultraviolet light delivery rate of which is the largest after calculation; the ultraviolet light delivery rate of the predetermined dwell point F for the area to be sterilized F in the second set of areas is not zero and is equal to a value greater than any one of the ultraviolet light delivery rates of the predetermined dwell point F for the areas to be sterilized A, B, C, D, E in the first and second sets of areas, taking the predetermined dwell point F as the fifth actual dwell point;
10) dividing the running time of the ultraviolet lamp 2 set by the timer into 11 unit time quantum within 110 minutes, respectively substituting different amounts of unit time quantum into each actual dwell point by using an interpolation method, and finding that if the unit time quantum is substituted into 3 unit time quantum at the first actual dwell point and the second actual dwell point; substituting 2 unit time quantities into the third actual stop point and the fourth actual stop point; substituting 1 unit time amount into the fifth actual dwell point, the ultraviolet light receiving amount corresponding to the area to be sterilized A, B, C is 3; the ultraviolet light receiving amount corresponding to the area to be sterilized D, E is 2; the ultraviolet light receiving amount corresponding to the area F to be disinfected is 1, the maximum value and the minimum value of the ultraviolet light receiving amount of the areas to be disinfected adjacent to the priority are in a preset range, and the staying time amount of the ultraviolet lamp 2 at the first actual staying point and the second actual staying point is calculated to be 30 minutes; the amount of time that the ultraviolet lamp 2 stays at the third actual dwell point and the fourth actual dwell point is 20 minutes; the amount of time the uv lamp 2 stays at the fifth actual dwell point is 10 minutes.
In the above process, no organism is found by the biological recognition sensor 5 to enter the illumination range of the ultraviolet lamp 2.
The controller controls the displacement driving device 4 to operate, so that the robot body 1 sequentially passes through the first to fifth actual stopping points, wherein the robot body stops at the first actual stopping point and the second actual stopping point for 30 minutes; staying for 20 minutes at the third actual stopping point and the fourth actual stopping point; stay at the fifth virtual dwell point for 10 minutes. The controller controls the first driving piece 72 to operate, and adjusts the height of the ultraviolet lamp 2, so that the ultraviolet lamp 2 is lifted to a horizontal plane with the same height as the area to be disinfected; the controller controls the second driving piece 74 to operate, and adjusts the vertical angle of the ultraviolet lamp 2, so that the ultraviolet lamp 2 swings to a vertical surface parallel to the area to be disinfected; the controller controls the operation of the third driving member to rotate the reflector 76 and the ultraviolet lamp 2 at a constant speed, and the ultraviolet light is delivered to each area to be disinfected.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. The utility model provides an ultraviolet ray disinfection robot, includes the robot body, be equipped with the ultraviolet lamp that acts on the space of waiting to disinfect on the robot body, its characterized in that still includes:
the projector is used for projecting preset patterns at a plurality of designated positions of the space to be disinfected respectively so as to mark the area to be disinfected, wherein the range and the content of the patterns can be modified;
still be equipped with on the robot body:
the scanner is used for scanning the space to be disinfected, acquiring three-dimensional coordinate information of the space to be disinfected and identifying a pattern projected by the projector, wherein the scanner respectively determines the position and the range of an area to be disinfected according to the position and the range of the pattern in the space to be disinfected and determines the priority of the area to be disinfected according to the content of the pattern;
an illumination adjustment mechanism for concentrating light generated by the ultraviolet lamp in a desired direction;
the displacement driving device is used for moving the robot body in the space to be disinfected;
a biometric sensor for capturing biometric information within the illumination range of the ultraviolet lamp and determining the location of a living being in the space to be disinfected;
the timer is used for setting the running time of the ultraviolet lamp and can independently accumulate the time duration of each area to be disinfected irradiated by the ultraviolet lamp;
a controller for performing the steps of:
s1, forming N preset stop points in the space to be disinfected according to the three-dimensional coordinate information of the space to be disinfected, regarding ultraviolet lamps as points and stopping the ultraviolet lamps in the preset stop points in sequence according to the positions of the areas to be disinfected in the space to be disinfected, and calculating the ultraviolet light delivery rate of the ultraviolet lamps which are regarded as points to any one preset stop point when the ultraviolet lamps are located at any one preset stop point according to the distance from each preset stop point to each area to be disinfected and the angle between each preset stop point and each area to be disinfected;
s2, selecting a plurality of preset stopping points as actual stopping points according to the priority of each area to be disinfected and the ultraviolet light delivery rate of each preset stopping point to each area to be disinfected, and setting the priority of each actual stopping point;
s3, calculating the stay time of the ultraviolet lamp at each actual stop point according to the running time of the ultraviolet lamp set by the timer and the ultraviolet light delivery rate of each actual stop point to each area to be disinfected;
s4, controlling the ultraviolet lamp to operate;
s5, controlling the illumination adjusting mechanism and/or the displacement driving device to operate according to the priority of each actual stop point and the stay time of the ultraviolet lamp at each actual stop point, so that the areas to be disinfected receive the light energy projected by the ultraviolet lamp within the operation time of the ultraviolet lamp set by the timer and are arranged according to the priority of each area to be disinfected;
if the biological identification sensor catches that a biological enters the illumination range of the ultraviolet lamp, the controller executes the following operations:
t1, controlling the illumination adjusting mechanism and/or the displacement driving device to operate according to the position of the living being in the space to be disinfected, so that the light energy generated by the ultraviolet lamp is concentrated on a plurality of areas to be disinfected which are staggered with the living being, and meanwhile, adjusting the priority of the areas to be disinfected according to the ultraviolet light delivery rate of the areas to be disinfected where the ultraviolet lamp is currently located and the time length of the areas to be disinfected which are irradiated by the ultraviolet lamp;
t2, steps S2 to S5 are re-executed in accordance with the newly determined priorities of the respective areas to be sterilized in T1.
2. The ultraviolet light disinfection robot of claim 1, wherein said step S2 further comprises:
a1, dividing all areas to be disinfected with the same priority into the same area set, selecting an area set, extracting an area to be disinfected which is not extracted from the selected area set, and selecting a preset stopping point meeting the following conditions as an actual stopping point according to the extracted area to be disinfected:
1) the predetermined dwell point is the largest in number for values for which the ultraviolet light delivery rates of a number of areas to be disinfected in the selected set of areas are not zero and are equal;
2) the ultraviolet light delivery rate of the preset stopping point to the plurality of areas to be disinfected in the selected area set is not zero and is equal to a value larger than any value of the ultraviolet light delivery rate of the preset stopping point to each area to be disinfected outside the selected area set;
3) any value of the ultraviolet light delivery rate of the preset stopping point to a plurality of areas to be disinfected in the selected area set is larger than any value of the ultraviolet light delivery rate of each extracted area to be disinfected in the selected area set;
a2, regarding a plurality of areas to be disinfected in the selected area set corresponding to the selected actual stop points as extracted areas;
a3, repeating the steps A1 and A2 until all the areas to be disinfected which are not extracted are extracted.
3. The ultraviolet light disinfection robot of claim 1, wherein said step S3 further comprises:
dividing the running time of the ultraviolet lamps set by the timer into a plurality of unit time quantum, wherein the number of the unit time quantum is larger than or equal to the number of the actual stop points, regarding the product of the ultraviolet light delivery rate corresponding to the areas to be sterilized and the time length irradiated by the ultraviolet lamps as the ultraviolet light receiving quantity, respectively substituting different numbers of the unit time quantum into the actual stop points by using an interpolation method, and if the ultraviolet light receiving quantity corresponding to each area to be sterilized is arranged according to the priority sequence corresponding to each area to be sterilized, and the maximum value and the minimum value of the ultraviolet light receiving quantity of each area to be sterilized adjacent to the priority are in a preset range, regarding the product of the number of the unit time quantum substituted into each actual stop point and the unit time quantum as the time quantum of the ultraviolet lamps at each actual stop point.
4. The ultraviolet light disinfection robot of claim 1, wherein the illumination adjustment mechanism comprises an installation frame, a first driving member in driving connection with the installation frame, a support frame hinged to the installation frame, a second driving member in driving connection with the support frame, a third driving member arranged on the support frame, and a reflector arranged at an output end of the third driving member, the ultraviolet light is arranged in the reflector, and the first driving member, the second driving member and the third driving member are all electrically connected with the controller.
5. The ultraviolet disinfection robot of claim 1, further comprising an indicator light for generating a marking point at a designated position of the space to be disinfected, wherein the scanner determines the position of the marking point in the space to be disinfected based on the identification of the marking point, thereby achieving the acquisition of three-dimensional coordinate information of the space to be disinfected, wherein the scanner feeds back the three-dimensional coordinate information to the controller, and the controller controls the displacement drive device to move to the position of the marking point.
6. The ultraviolet light sterilization robot as claimed in claim 1, further comprising a plurality of distance sensors spaced along a circumference of the robot body, wherein the distance sensors are configured to measure a distance between the robot body and an obstacle in the space to be sterilized and feed the distance of the obstacle back to the controller, and the controller controls the displacement driving device to operate so that the robot body avoids the obstacle during movement.
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| CN202011389475.6A CN112316175B (en) | 2020-12-02 | 2020-12-02 | Ultraviolet light disinfection robot |
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| CN202011389475.6A CN112316175B (en) | 2020-12-02 | 2020-12-02 | Ultraviolet light disinfection robot |
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| GB2551349B (en) * | 2016-06-14 | 2021-02-24 | Finsen Tech Limited | Method of calculating an exposure time for disinfecting a room using an ultraviolet disinfecting apparatus |
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