CN112318515A - Intelligent air sterilizing and epidemic preventing robot system - Google Patents
Intelligent air sterilizing and epidemic preventing robot system Download PDFInfo
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- CN112318515A CN112318515A CN202010309148.9A CN202010309148A CN112318515A CN 112318515 A CN112318515 A CN 112318515A CN 202010309148 A CN202010309148 A CN 202010309148A CN 112318515 A CN112318515 A CN 112318515A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/015—Disinfection, sterilisation or deodorisation of air using gaseous or vaporous substances, e.g. ozone
- A61L9/02—Disinfection, sterilisation or deodorisation of air using gaseous or vaporous substances, e.g. ozone using substances evaporated in the air by heating or combustion
- A61L9/03—Apparatus therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/16—Disinfection, sterilisation or deodorisation of air using physical phenomena
- A61L9/18—Radiation
- A61L9/20—Ultra-violet radiation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
- A61L2209/10—Apparatus features
- A61L2209/11—Apparatus for controlling air treatment
- A61L2209/111—Sensor means, e.g. motion, brightness, scent, contaminant sensors
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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
- A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
- A61L2209/10—Apparatus features
- A61L2209/14—Filtering means
Abstract
The invention discloses an intelligent air sterilization and epidemic prevention robot system which comprises an intelligent air sterilization and epidemic prevention robot, a charging pile and a remote epidemic prevention management information system, wherein the intelligent air sterilization and epidemic prevention robot comprises a chlorine dioxide air sterilizer, an ultraviolet air sterilizer, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a communication interface module, a data processing and control module, a battery power supply module, a charging power plug and the like, the charging pile comprises a direct current stabilized power supply, a charging power socket and the like, and the remote epidemic prevention management information system comprises a server and a client. The system has the characteristics of man-machine co-location, chemical and physical double-factor disinfection, autonomous positioning, autonomous navigation, obstacle avoidance, automatic charging and the like, can realize high-efficiency disinfection and epidemic prevention of air, and is particularly suitable for being used in personnel gathering areas such as hospitals, office places, public places and the like.
Description
Technical Field
The invention belongs to the technical field of disinfection and epidemic prevention robots and artificial intelligence, and particularly relates to an intelligent air disinfection and epidemic prevention robot system.
Background
The existing air disinfection and epidemic prevention robot system has the following problems:
(1) a static disinfection working mode with man-machine separation. The existing air sterilizing robot products are mostly in a static sterilizing working mode of man-machine separation. When the machine is started, people need to leave an air disinfection area, and the machine is not suitable for application scenes needing man-machine coexistence, such as hospitals, office places, public places and the like. For example, there are products that are sterilized by means of ultra-dry atomized hydrogen peroxide. The hydrogen peroxide can damage eyes, respiratory mucous membranes and the like of people and animals, and people are prohibited from entering a disinfected space when air is disinfected.
(2) The single-factor disinfection mode can not realize 360-degree dead-angle-free disinfection. For example, some products adopt a chlorine dioxide gas disinfection mode, but the released chlorine dioxide gas is unevenly distributed in the air, so that the disinfection concentration of the chlorine dioxide gas in corresponding areas is insufficient, and different pathogens have different disinfection effects on the chlorine dioxide gas, and the single chlorine dioxide gas disinfection mode cannot ensure 360-degree dead-corner-free disinfection.
(3) The automatic walking cannot be performed or reliable automatic walking cannot be realized. Some products cannot automatically walk, some products cannot accurately and automatically position, navigate and avoid obstacles, reliable automatic walking cannot be realized, manual operation is needed to complete walking, and consumption of human resources cannot be effectively reduced.
(4) Automatic charging is not possible. Manual operations are required, which not only affect the efficiency of the work, but also risk exposure to the transmitted pathogens.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides an intelligent air disinfection and epidemic prevention robot system, so that the technical problems that the existing air disinfection and epidemic prevention robot system cannot realize 360-degree dead-angle-free disinfection, cannot automatically walk or cannot realize reliable automatic walking, cannot automatically charge and the like due to a man-machine separation static disinfection working mode and a single-factor disinfection mode are solved.
In order to achieve the purpose, the invention provides an intelligent air sterilization and epidemic prevention robot system which comprises an intelligent air sterilization and epidemic prevention robot, a charging pile and a remote epidemic prevention management information system, wherein the intelligent air sterilization and epidemic prevention robot comprises a chlorine dioxide air sterilizer, an ultraviolet air sterilizer, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a communication interface module, a data processing and control module, a battery power supply module and a charging power plug; the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform and the communication interface module are respectively connected with the data processing and control module, the battery power supply module is used for respectively supplying power to the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module and the data processing and control module, the charging power plug is connected with the battery power supply module, the charging power socket is connected with the direct current stabilized power supply, and the client is connected with the server; when the intelligent air disinfection epidemic prevention robot is charged, the charging power supply plug is connected with the charging power supply socket, and the direct-current voltage-stabilizing power supply charges the battery power supply module; the intelligent air disinfection and epidemic prevention robot is connected with the server, and data interaction is carried out between the intelligent air disinfection and epidemic prevention robot and the server.
As a further improvement of the invention, the intelligent air disinfection and epidemic prevention robot further comprises an electric zoom camera, a camera pitching stepping motor, a display screen pitching stepping motor, a microphone and a loudspeaker; the electronic camera that zooms, camera every single move step motor, display screen every single move step motor, microphone, speaker respectively with data processing and control module connect, battery power supply module is right respectively electronic camera, camera every single move step motor, display screen every single move step motor, microphone, speaker power supply.
As a further improvement of the present invention, an imaging lens used by the electric zoom camera is an electric zoom lens, the electric zoom lens is connected to the data processing and control module, the battery power supply module supplies power to the electric zoom lens, the data processing and control module adjusts an imaging focal length of the electric zoom camera through the electric zoom lens, and the data processing and control module adjusts a pitch angle of the electric zoom camera through the camera pitch stepping motor.
In the technical scheme, the disinfection and epidemic prevention personnel do not need to arrive at the site, and the imaging focal length of the electric zoom camera can be remotely adjusted by clicking a 'push lens' or 'pull lens' button on the display screen of the client. The imaging focal length is shortened, the imaging field angle is enlarged, and the overall situation is conveniently observed; the imaging focal length is lengthened, the imaging field angle is reduced, the target can be conveniently drawn, and the observation details can be enlarged. The zooming process is stable, and the sterilization and epidemic prevention personnel can use the device conveniently.
As a further improvement of the invention, the intelligent air disinfection and epidemic prevention robot further comprises a lens cover and a lens cover opening and closing stepping motor, wherein the lens cover is installed in front of the electric zoom camera, when the lens cover is opened, the electric zoom camera is not shielded by the lens cover and can shoot the environment and the people, and when the lens cover is closed, the electric zoom camera is shielded by the lens cover and cannot shoot the environment and the people; the lens cap opening and closing stepping motor is connected with the data processing and control module, the battery power supply module supplies power to the lens cap opening and closing stepping motor, and the data processing and control module controls the opening and closing of the lens cap through the lens cap opening and closing stepping motor.
By adopting the technical scheme, when the lens cover is opened, the camera shoots the environment and people; when the lens cap is closed, the environment and people cannot be photographed, and the privacy of the people is protected.
As a further improvement of the invention, the data processing and control module adjusts the pitch angle of the display screen through the display screen pitch stepping motor.
As a further improvement of the invention, the chlorine dioxide air sterilizer comprises a chlorine dioxide sterilizing pill storage, a transmission mechanism, a water tank, a heater, a gas-water separator, a first fan rotating speed sensor, a first fan rotating speed controller, a chlorine dioxide gas sensor, a first communication interface circuit, a first data processing and control circuit and a first power supply circuit; the chlorine dioxide disinfection pill storage device, the transmission mechanism, the water tank, the heater, the gas-water separator, the fan I, the fan rotating speed sensor I, the fan rotating speed controller I, the chlorine dioxide gas sensor and the communication interface circuit I are respectively connected with the data processing and control circuit I, and the power supply circuit I respectively supplies power to the chlorine dioxide disinfection pill storage device, the transmission mechanism, the water tank, the heater, the gas-water separator, the fan I, the fan rotating speed sensor I, the fan rotating speed controller I, the chlorine dioxide gas sensor, the communication interface circuit I and the data processing and control circuit I; the chlorine dioxide air sterilizer is connected with the data processing and control module through the first communication interface circuit.
Chlorine dioxide is classified as a safe and efficient green sterilizing disinfectant of A1 grade by World Health Organization (WHO), American environmental organization (EPA), Food and Agricultural Organization (FAO) of the United nations and the like, and is the only authenticator in the disinfection industry. It can kill all pathogenic microorganisms, is not easy to generate drug resistance, has good killing and inhibiting effects on typhoid, hepatitis A, hepatitis B, polio, AIDS virus and the like, has no carcinogenesis, teratogenicity and mutagenicity, and is widely applied to the industries of water treatment and the like in foreign countries as early as 70 years. Chlorine dioxide has good broad-spectrum disinfection effect, small dosage, quick action and long disinfection action duration, and can kill microorganisms including Escherichia coli, Staphylococcus albus, Candida albicans, Staphylococcus aureus, Pseudomonas aeruginosa, Aspergillus niger, poliovirus, fungi, natural bacteria, etc. It also has peculiar functions of deodorization and fresh-keeping, and has been programmed into the national health regulations for use.
The new coronavirus is an enveloped virus. In addition to the capsid formed by the proteins and the genetic material (single-stranded RNA) they enclose, they also have an envelope. The envelope surface has three glycoproteins: spike glycoprotein, small envelope glycoprotein and membrane glycoprotein. The new coronavirus can be inactivated by either destroying the RNA or inactivating the protein. Chlorine dioxide inactivates coronaviruses mainly because of its strong oxidizing action, and when exposed to new coronaviruses, it can damage oxidation by removing electrons from the envelope protein of the new coronaviruses, and can attack the bases and sugar-phosphate backbone of nucleotides, thus destroying the biological structure and function of the new coronaviruses.
By adopting the technical scheme, the chlorine dioxide air sterilizer automatically puts the chlorine dioxide sterilizing pills in the chlorine dioxide sterilizing pill storage into the water tank through the transmission mechanism to form chlorine dioxide solution, the chlorine dioxide solution is heated by the heater, gas-water separation and diffusion are carried out through the gas-water separator to form molecular chlorine dioxide gas, and the first fan releases pure chlorine dioxide molecules to a space to be sterilized so as to fulfill the aim of air sterilization and epidemic prevention. The chlorine dioxide gas sensor is arranged in the air purifier, the concentration of chlorine dioxide gas in the air is measured in real time, and the release amount of the chlorine dioxide gas is controlled through the first fan rotating speed sensor and the first fan rotating speed controller. When the concentration of chlorine dioxide gas is lower than 500 ppm, the influence on a human body can be ignored, no influence can be generated on the human body when the concentration is lower than 100 ppm, a man-machine coexisting dynamic disinfection working mode is realized, the killing rate on staphylococcus albus is 100%, the killing rate on natural bacteria is 99.99%, the killing rate on escherichia coli is 99.99%, the killing rate on staphylococcus aureus is 99.99%, and the killing rate on salmonella typhimurium is 99.99%, so that the airborne aerosol-transmitted disease is effectively blocked.
As a further improvement of the invention, the ultraviolet air sterilizer comprises a coarse-effect air filter, a medium-effect air filter, a second fan rotating speed sensor, a second fan rotating speed controller, an ultraviolet lamp tube, a high-efficiency air filter, a second communication interface circuit, a second data processing and control circuit and a second power supply circuit; the coarse effect air filter, the middle effect air filter, the fan II, the fan rotating speed sensor II, the fan rotating speed controller II, the ultraviolet lamp tube, the high-efficiency air filter and the communication interface circuit II are respectively connected with the data processing and control circuit II, and the power supply circuit II is used for respectively supplying power to the coarse effect air filter, the middle effect air filter, the fan II, the fan rotating speed sensor II, the fan rotating speed controller II, the ultraviolet lamp tube, the high-efficiency air filter, the communication interface circuit II and the data processing and control circuit II; the ultraviolet air sterilizer is connected with the data processing and control module through the second communication interface circuit.
The ultraviolet sterilization and disinfection is to use C-band ultraviolet with the wavelength range of 200-275 nm to destroy the molecular structure of DNA or RNA in microbial organism cells, so as to cause the death of growing cells or regenerative cells, thereby achieving the effect of sterilization and disinfection.
The ultraviolet lamp tube is sealed inside the intelligent air disinfection and epidemic prevention robot and can not irradiate the outside, so that the intelligent air disinfection and epidemic prevention robot can be co-located by man and machine during air disinfection, does not harm people and surrounding objects, and can ensure the safety of human bodies and property. And air in the space to be sterilized is filtered by the second fan through the coarse effect air filter and the medium effect air filter in sequence, pathogens in the air are sterilized by utilizing ultraviolet rays, and finally clean air is discharged through the high efficiency air filter. And the second fan rotating speed sensor and the second fan rotating speed controller can control the circulating air volume generated by the second fan.
As a further improvement of the invention, the number of the laser radars is one or more, the laser radars are respectively installed at different heights of the intelligent air disinfection and epidemic prevention robot, the horizontal distances between 360-degree omnibearing objects, people and animals around the intelligent air disinfection and epidemic prevention robot and the laser radars at different azimuth angles are measured in real time and output to the data processing and control module, and the data processing and control module carries out instant positioning, map construction and walking path planning according to the measurement and controls the walking direction of the mobile platform; the ultrasonic sensors are respectively arranged in front of, behind, on the left side or/and on the right side of the intelligent air disinfection and epidemic prevention robot at different heights, the distances between objects, people and animals on the front, behind, on the left side or/and on the right side in the advancing direction of the intelligent air disinfection and epidemic prevention robot and the ultrasonic sensors are respectively measured in real time and output to the data processing and control module, and the data processing and control module judges the distances according to the distances and controls the mobile platform to walk around obstacles or stop walking; the human body infrared sensors are one or more than one, the human body infrared sensors are respectively installed on the front, the back, the left or/and the right of the intelligent air disinfection and epidemic prevention robot at different heights, the distances between the front, the back, the left or/and the right of the intelligent air disinfection and epidemic prevention robot and the human body infrared sensors are respectively measured in real time and output to the data processing and control module, and the data processing and control module judges the distance according to the distance and controls the mobile platform to avoid obstacles to walk or stop walking.
As a further improvement of the invention, the mobile platform is a wheeled mobile platform adopting four or more wheels or a crawler-type mobile platform adopting two rows of crawler tracks, and the data processing and control module controls the mobile platform to move forwards, backwards, turn and rotate on site.
By adopting the technical scheme, manual operation is not needed, the intelligent air disinfection and epidemic prevention robot accurately and automatically positions, navigates and avoids barriers, reliable automatic walking is realized, and the consumption of human resources is effectively reduced.
As a further improvement of the invention, the intelligent air sterilization and epidemic prevention robot further comprises a power cover and a power cover opening and closing stepping motor, wherein the power cover is installed in front of the charging power plug, when the power cover is opened, the charging power plug is not shielded by the power cover, the charging power plug is connected with the charging power socket, so that the direct-current voltage-stabilizing power supply charges the battery power supply module, when the power cover is closed, the charging power plug is shielded by the power cover, the charging power plug cannot be connected with the charging power socket, and the direct-current voltage-stabilizing power supply cannot charge the battery power supply module; the power cover opening and closing stepping motor is connected with the data processing and control module, the battery power supply module is right for supplying power to the power cover opening and closing stepping motor, and the data processing and control module is right for controlling the power cover to be opened and closed through the power cover opening and closing stepping motor.
As a further improvement of the invention, the intelligent air disinfection and epidemic prevention robot further comprises an automatic charging positioning camera, the charging pile further comprises an automatic charging positioning light source, the automatic charging positioning camera is connected with the data processing and control module, the battery power supply module supplies power to the automatic charging positioning camera, and the direct-current voltage-stabilizing power supply supplies power to the automatic charging positioning light source; when the intelligent air sterilization and epidemic prevention robot is charged, the automatic charging positioning camera images the lightened automatic charging positioning light source, the data processing and control module controls the intelligent air sterilization and epidemic prevention robot to advance, retreat, turn and rotate in place through the mobile platform, so that the charging power supply plug is aligned with the charging power supply socket and then advances to be inserted into the charging power supply socket, and the direct-current voltage-stabilizing power supply is used for charging the battery power supply module.
As a further improvement of the invention, the automatic charging positioning light source is three or more near-infrared LEDs, and when the intelligent air disinfection and epidemic prevention robot works, the near-infrared LEDs are in a normally-on state, so that the intelligent air disinfection and epidemic prevention robot can be automatically charged at any time.
As a further improvement of the invention, the battery power supply module comprises a constant-current constant-voltage charging circuit, a lithium battery pack, a direct-current voltage stabilizer and an electric quantity detection circuit, when the intelligent air disinfection and epidemic prevention robot is charged, the input end of the constant-current constant-voltage charging circuit is connected with the direct-current voltage stabilizer through the charging power plug and the charging power socket to obtain the power supply of the direct-current voltage stabilizer; the output end of the constant-current constant-voltage charging circuit is connected with the output end of the lithium battery pack, the lithium battery pack is subjected to constant-current charging at a set constant charging current, and when the voltage of the output end of the lithium battery pack reaches a set constant-voltage charging voltage, the constant-current constant-voltage charging circuit is automatically switched to perform constant-voltage charging at the set constant-voltage charging voltage; the input end of the direct current voltage stabilizer is respectively connected with the charging power supply plug and the output end of the lithium battery pack, when the charging power supply plug is connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is powered by the direct current voltage stabilizer, and when the charging power supply plug is not connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is automatically powered by the output end of the lithium battery pack; the output end of the direct current voltage stabilizer supplies power to the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the electric zoom camera, the electric zoom lens, the camera pitching stepping motor, the lens cover opening and closing stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the laser radar, the ultrasonic sensor, the human body infrared sensor, the power cover opening and closing stepping motor, the automatic charging positioning camera, the mobile platform, the communication interface module, the data processing and control module and the electric quantity detection circuit; the electric quantity detection circuit is connected with the data processing and control module, the electric quantity detection circuit detects the voltage of the output end of the lithium battery pack in real time, and if the voltage is lower than a set voltage value, the data processing and control module controls the intelligent air sterilizing and epidemic preventing robot to automatically walk to the charging pile for charging; the input end of the direct current stabilized power supply is connected with alternating current voltage of a power grid, and the output end of the direct current stabilized power supply outputs stable direct current voltage.
By adopting the technical scheme, when the electric quantity is insufficient, the intelligent air disinfection and epidemic prevention robot automatically walks to charge before the charging pile, manual operation is not needed, the working efficiency is improved, and the contact propagation risk is eliminated.
As a further improvement of the present invention, the communication interface module includes at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, RJ45 network port wired communication, USB, RS232, and RS485, the data processing and control module performs data connection with the server and the client through at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, and the like, of the communication interface module, and the data processing and control module performs data connection with other external devices through at least one of RJ45 network port wired communication, USB, RS232, and RS485, and the like, of the communication interface module.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) and a man-machine co-location dynamic disinfection working mode. The technical scheme of the man-machine co-located dynamic air sterilization working mode is adopted, so that the air sterilization device is particularly suitable for being used in personnel gathering areas such as hospitals, office places, public places and the like, does not cause harm to the safety of people, and realizes effective sterilization and epidemic prevention of air.
(2) Chemical and physical double-factor air disinfection mode. Two air disinfection modes of chlorine dioxide gas and ultraviolet are integrated, wherein the chlorine dioxide gas is disinfected by chemical factors, the ultraviolet is disinfected by physical factors, and the combination of the chemical and physical double-factor and double-factor air disinfection modes can ensure the air disinfection quality.
(3) The automatic walking robot has the advantages that manual operation is not needed, automatic positioning, navigation and obstacle avoidance are accurately achieved, reliable automatic walking is achieved, and consumption of human resources is effectively reduced.
(4) When the electric quantity is not enough, the electric quantity automatically walks to the front of the charging pile for charging, manual operation is not needed, the working efficiency is improved, and the contact propagation risk is eliminated.
Drawings
Fig. 1 is a schematic block diagram of an intelligent air disinfection and epidemic prevention robot system provided by the embodiment of the invention.
Fig. 2 is a schematic block diagram of a chlorine dioxide air sterilizer provided by an embodiment of the present invention.
Fig. 3 is a schematic block diagram of an ultraviolet air sterilizer provided by an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a battery-powered module according to an embodiment of the present invention.
Fig. 5 is a schematic block diagram of a communication interface module according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention relates to an intelligent air sterilization and epidemic prevention robot system, which comprises an intelligent air sterilization and epidemic prevention robot, a charging pile and a remote epidemic prevention management information system, wherein the intelligent air sterilization and epidemic prevention robot comprises a chlorine dioxide air sterilizer, an ultraviolet air sterilizer, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a communication interface module, a data processing and control module, a battery power supply module and a charging power plug; the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform and the communication interface module are respectively connected with the data processing and control module, the battery power supply module is used for respectively supplying power to the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module and the data processing and control module, the charging power plug is connected with the battery power supply module, the charging power socket is connected with the direct current stabilized power supply, and the client is connected with the server; when the intelligent air disinfection epidemic prevention robot is charged, the charging power supply plug is connected with the charging power supply socket, and the direct-current voltage-stabilizing power supply charges the battery power supply module; the intelligent air disinfection and epidemic prevention robot is connected with the server, and data interaction is carried out between the intelligent air disinfection and epidemic prevention robot and the server.
By adopting the technical scheme, the intelligent air disinfection and epidemic prevention robot system realizes a man-machine co-location dynamic disinfection working mode, a chemical and physical double-factor air disinfection mode, automatic walking and automatic charging.
Fig. 1 is a schematic block diagram of an intelligent air disinfection and epidemic prevention robot system according to an embodiment of the present invention. In the system shown in fig. 1, the intelligent air disinfection and epidemic prevention robot 1, the charging pile 2 and the remote epidemic prevention management information system 3 are included, the intelligent air disinfection and epidemic prevention robot 1 includes a chlorine dioxide air disinfector 101, an ultraviolet air disinfector 102, an electric zoom camera 103, an electric zoom lens 104, a camera pitching stepping motor 105, a lens cover opening and closing stepping motor 106, a display screen 107, a display screen pitching stepping motor 108, a microphone 109, a loudspeaker 110, a laser radar 111, an ultrasonic sensor 112, a human body infrared sensor 113, a power cover opening and closing stepping motor 114, an automatic charging positioning camera 115, a mobile platform 116, a communication interface module 117, a data processing and control module 118, a battery power supply module 119 and a charging power plug 120, the charging pile 2 includes a direct current stabilized voltage power supply 21, a charging power socket 22 and an automatic charging positioning light source 23, the remote epidemic prevention management information system 3 comprises a server 31 and a client 32; the chlorine dioxide air sterilizer 101, the ultraviolet air sterilizer 102, the electric zoom camera 103, the electric zoom lens 104, the camera pitching stepping motor 105, the lens cover opening and closing stepping motor 106, the display screen 107, the display screen pitching stepping motor 108, the microphone 109, the loudspeaker 110, the laser radar 111, the ultrasonic sensor 112, the human body infrared sensor 113, the power cover opening and closing stepping motor 114, the automatic charging positioning camera 115, the mobile platform 116 and the communication interface module 117 are respectively connected with the data processing and control module 118, and the battery power supply module 119 is respectively connected with the chlorine dioxide air sterilizer 101, the ultraviolet air sterilizer 102, the electric zoom camera 103, the electric zoom lens 104, the camera pitching stepping motor 105, the lens cover opening and closing stepping motor 106, the display screen 107, the display screen pitching stepping motor 108, the microphone 109, the battery power supply module 106, the chlorine dioxide air sterilizer 102, the electric zoom camera 103, the electric zoom, The system comprises a loudspeaker 110, a laser radar 111, an ultrasonic sensor 112, a human body infrared sensor 113, a power cover opening and closing stepping motor 114, an automatic charging positioning camera 115, a mobile platform 116, a communication interface module 117 and a data processing and control module 118, wherein a charging power plug 120 is connected with a battery power supply module 119, a charging power socket 22 is connected with a direct current stabilized power supply 21, and a client 32 is connected with a server 31; when the intelligent air disinfection and epidemic prevention robot 1 is charged, the charging power plug 120 is connected with the charging power socket 22, and the direct-current stabilized power supply 21 charges the battery power supply module 119; the intelligent air disinfection and epidemic prevention robot 1 is connected with the server 31, and data interaction is carried out between the intelligent air disinfection and epidemic prevention robot and the server 31.
In an alternative embodiment, as shown in fig. 2, the chlorine dioxide air sterilizer 101 includes a chlorine dioxide sterilizing pill storage 10101, a transmission mechanism 10102, a water tank 10103, a heater 10104, a gas-water separator 10105, a fan one 10106, a fan speed sensor one 10107, a fan speed controller one 10108, a chlorine dioxide gas sensor 10109, a communication interface circuit one 10110, a data processing and control circuit one 10111, and a power supply circuit one 10112; the chlorine dioxide disinfection pill storage 10101, the transmission mechanism 10102, the water tank 10103, the heater 10104, the gas-water separator 10105, the fan I10106, the fan rotational speed sensor I10107, the fan rotational speed controller I10108, the chlorine dioxide gas sensor 10109 and the communication interface circuit I10110 are respectively connected with the data processing and control circuit I10111, and the power circuit I10112 respectively supplies power to the chlorine dioxide disinfection pill storage 10101, the transmission mechanism 10102, the water tank 10103, the heater 10104, the gas-water separator 10105, the fan I10106, the fan rotational speed sensor I10107, the fan rotational speed controller I10108, the chlorine dioxide gas sensor 10109, the communication interface circuit I10110 and the data processing and control circuit I10111.
In an alternative embodiment, as shown in fig. 3, the uv air sterilizer 102 includes a coarse air filter 10201, a medium air filter 10202, a second fan 10203, a second fan speed sensor 10204, a second fan speed controller 10205, a uv lamp 10206, a high efficiency air filter 10207, a second communication interface circuit 10208, a second data processing and control circuit 10209, and a second power supply circuit 10210; the coarse effect air filter 10201, the medium effect air filter 10202, the second fan 10203, the second fan rotating speed sensor 10204, the second fan rotating speed controller 10205, the ultraviolet lamp 10206, the high-efficiency air filter 10207 and the second communication interface circuit 10208 are respectively connected with the second data processing and controlling circuit 10209, and the second power supply circuit 10210 is respectively used for supplying power to the coarse effect air filter 10201, the medium effect air filter 10202, the second fan 10203, the second fan rotating speed sensor 10204, the second fan rotating speed controller 10205, the ultraviolet lamp 10206, the high-efficiency air filter 10207, the second communication interface circuit 10208 and the second data processing and controlling circuit 10209.
In an optional embodiment, as shown in fig. 4, the battery power supply module 119 includes a constant-current constant-voltage charging circuit 1191, a lithium battery pack 1192, a dc regulator 1193, and a power detection circuit 1194, and when the intelligent air disinfection and epidemic prevention robot 1 is charged, an input end of the constant-current constant-voltage charging circuit 1191 is connected to the dc regulated power supply 21 through the charging power plug 120 and the charging power socket 22 to obtain power supply of the dc regulated power supply 21; the output end of the constant-current constant-voltage charging circuit 1191 is connected with the output end of the lithium battery pack 1192, the lithium battery pack 1192 is subjected to constant-current charging by using a set constant charging current, and when the voltage of the output end of the lithium battery pack 1192 reaches a set constant-voltage charging voltage, the voltage is automatically converted into a constant-voltage charging by using the set constant-voltage charging voltage; the input end of the direct current voltage stabilizer 1193 is respectively connected with the charging power supply plug 120 and the output end of the lithium battery pack 1192, when the charging power supply plug 120 is connected with the output end of the direct current voltage stabilizing power supply 21 through the charging power supply socket 22, the input end of the direct current voltage stabilizer 1193 is powered by the direct current voltage stabilizing power supply 21, and when the charging power supply plug 120 is not connected with the output end of the direct current voltage stabilizing power supply 21 through the charging power supply socket 22, the input end of the direct current voltage stabilizer 1193 automatically supplies power by the output end of the lithium battery pack 1192; the output end of the direct current voltage stabilizer 1193 supplies power to the chlorine dioxide air sterilizer 101, the ultraviolet air sterilizer 102, the electric zoom camera 103, the electric zoom lens 104, the camera pitching stepping motor 105, the lens cover opening and closing stepping motor 106, the display screen 107, the display screen pitching stepping motor 108, the microphone 109, the loudspeaker 110, the laser radar 111, the ultrasonic sensor 112, the human body infrared sensor 113, the power cover opening and closing stepping motor 114, the automatic charging positioning camera 115, the mobile platform 116, the communication interface module 117, the data processing and control module 118 and the electric quantity detection circuit 1194; the electric quantity detection circuit 1194 is connected to the data processing and control module 118, the electric quantity detection circuit 1194 detects the voltage at the output end of the lithium battery pack 1192 in real time, and if the voltage is lower than a set voltage value, the data processing and control module 118 controls the intelligent air sterilization and epidemic prevention robot 1 to automatically walk to the charging pile for charging; the input end of the direct current stabilized power supply 21 is connected with the alternating current voltage of the power grid, and the output end outputs stable direct current voltage.
In an alternative embodiment, as shown in fig. 5, the communication interface module 117 includes at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G and 5G wireless communication, RJ45 network port wired communication, USB, RS232 and RS485, the data processing and control module 118 performs data connection with the server 31 and the client 32 through at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G and 5G wireless communication, and the like of the communication interface module 117, and the data processing and control module 118 performs data connection with other external devices 4 through at least one of RJ45 network port wired communication, USB, RS232 and RS485, and the like of the communication interface module 117.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (14)
1. An intelligent air disinfection and epidemic prevention robot system is characterized by comprising an intelligent air disinfection and epidemic prevention robot, a charging pile and a remote epidemic prevention management information system, wherein the intelligent air disinfection and epidemic prevention robot comprises a chlorine dioxide air disinfector, an ultraviolet air disinfector, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a communication interface module, a data processing and control module, a battery power supply module and a charging power plug; the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform and the communication interface module are respectively connected with the data processing and control module, the battery power supply module is used for respectively supplying power to the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module and the data processing and control module, the charging power plug is connected with the battery power supply module, the charging power socket is connected with the direct current stabilized power supply, and the client is connected with the server; when the intelligent air disinfection epidemic prevention robot is charged, the charging power supply plug is connected with the charging power supply socket, and the direct-current voltage-stabilizing power supply charges the battery power supply module; the intelligent air disinfection and epidemic prevention robot is connected with the server, and data interaction is carried out between the intelligent air disinfection and epidemic prevention robot and the server.
2. The intelligent air disinfection and epidemic prevention robot system of claim 1, wherein the intelligent air disinfection and epidemic prevention robot further comprises an electric zoom camera, a camera pitching stepping motor, a display screen pitching stepping motor, a microphone, and a speaker; the electronic camera that zooms, camera every single move step motor, display screen every single move step motor, microphone, speaker respectively with data processing and control module connect, battery power supply module is right respectively electronic camera, camera every single move step motor, display screen every single move step motor, microphone, speaker power supply.
3. The intelligent air disinfection and epidemic prevention robot system according to claim 2, wherein the imaging lens used by the electric zoom camera is an electric zoom lens, the electric zoom lens is connected with the data processing and control module, the battery power supply module supplies power to the electric zoom lens, the data processing and control module adjusts the imaging focal length of the electric zoom camera through the electric zoom lens, and the data processing and control module adjusts the pitch angle of the electric zoom camera through the camera pitch stepping motor.
4. The intelligent air disinfection and epidemic prevention robot system according to claim 3, further comprising a lens cover and a lens cover opening and closing stepping motor, wherein the lens cover is installed in front of the electric zoom camera, when the lens cover is opened, the electric zoom camera is not shielded by the lens cover and can take a picture of the environment and people, and when the lens cover is closed, the electric zoom camera is shielded by the lens cover and cannot take a picture of the environment and people; the lens cap opening and closing stepping motor is connected with the data processing and control module, the battery power supply module supplies power to the lens cap opening and closing stepping motor, and the data processing and control module controls the opening and closing of the lens cap through the lens cap opening and closing stepping motor.
5. The intelligent air disinfection and epidemic prevention robot system of claim 2, wherein the data processing and control module adjusts the pitch angle of the display screen via the display screen pitch stepper motor.
6. The intelligent air disinfection and epidemic prevention robot system of claim 1, wherein the chlorine dioxide air disinfector comprises a chlorine dioxide disinfection pill storage, a transmission mechanism, a water tank, a heater, a gas-water separator, a first fan speed sensor, a first fan speed controller, a chlorine dioxide gas sensor, a first communication interface circuit, a first data processing and control circuit and a first power supply circuit; the chlorine dioxide disinfection pill storage device, the transmission mechanism, the water tank, the heater, the gas-water separator, the fan I, the fan rotating speed sensor I, the fan rotating speed controller I, the chlorine dioxide gas sensor and the communication interface circuit I are respectively connected with the data processing and control circuit I, and the power supply circuit I respectively supplies power to the chlorine dioxide disinfection pill storage device, the transmission mechanism, the water tank, the heater, the gas-water separator, the fan I, the fan rotating speed sensor I, the fan rotating speed controller I, the chlorine dioxide gas sensor, the communication interface circuit I and the data processing and control circuit I; the chlorine dioxide air sterilizer is connected with the data processing and control module through the first communication interface circuit.
7. The intelligent air disinfection and epidemic prevention robot system of claim 1, wherein the ultraviolet air disinfector comprises a coarse effect air filter, a medium effect air filter, a second fan speed sensor, a second fan speed controller, an ultraviolet lamp tube, a high efficiency air filter, a second communication interface circuit, a second data processing and control circuit and a second power supply circuit; the coarse effect air filter, the middle effect air filter, the fan II, the fan rotating speed sensor II, the fan rotating speed controller II, the ultraviolet lamp tube, the high-efficiency air filter and the communication interface circuit II are respectively connected with the data processing and control circuit II, and the power supply circuit II is used for respectively supplying power to the coarse effect air filter, the middle effect air filter, the fan II, the fan rotating speed sensor II, the fan rotating speed controller II, the ultraviolet lamp tube, the high-efficiency air filter, the communication interface circuit II and the data processing and control circuit II; the ultraviolet air sterilizer is connected with the data processing and control module through the second communication interface circuit.
8. The intelligent air disinfection and epidemic prevention robot system according to claim 1, wherein the number of the lidar is one or more than one, and the lidar is respectively mounted at different heights of the intelligent air disinfection and epidemic prevention robot, and is used for measuring horizontal distances between 360-degree omnibearing objects, people and animals around the intelligent air disinfection and epidemic prevention robot and the lidar at different azimuth angles in real time, outputting the distances to the data processing and control module, and the data processing and control module performs instant positioning, map construction and walking path planning according to the distances and controls the walking direction of the mobile platform; the ultrasonic sensors are respectively arranged in front of, behind, on the left side or/and on the right side of the intelligent air disinfection and epidemic prevention robot at different heights, the distances between objects, people and animals on the front, behind, on the left side or/and on the right side in the advancing direction of the intelligent air disinfection and epidemic prevention robot and the ultrasonic sensors are respectively measured in real time and output to the data processing and control module, and the data processing and control module judges the distances according to the distances and controls the mobile platform to walk around obstacles or stop walking; the human body infrared sensors are one or more than one, the human body infrared sensors are respectively installed on the front, the back, the left or/and the right of the intelligent air disinfection and epidemic prevention robot at different heights, the distances between the front, the back, the left or/and the right of the intelligent air disinfection and epidemic prevention robot and the human body infrared sensors are respectively measured in real time and output to the data processing and control module, and the data processing and control module judges the distance according to the distance and controls the mobile platform to avoid obstacles to walk or stop walking.
9. The intelligent air disinfection and epidemic prevention robot system of claim 1, wherein the mobile platform is a wheeled mobile platform using four or more wheels or a tracked mobile platform using two rows of tracks, and the data processing and control module controls the mobile platform to move forward, backward, turn, and rotate in place.
10. The intelligent air sterilization and epidemic prevention robot system according to claim 1, further comprising a power cover and a power cover opening and closing stepping motor, wherein the power cover is installed in front of the charging power plug, when the power cover is opened, the charging power plug is not shielded by the power cover, the charging power plug is connected with the charging power socket to charge the battery power supply module by the direct current voltage-stabilized power, when the power cover is closed, the charging power plug is shielded by the power cover, the charging power plug cannot be connected with the charging power socket, and the direct current voltage-stabilized power supply cannot charge the battery power supply module; the power cover opening and closing stepping motor is connected with the data processing and control module, the battery power supply module is right for supplying power to the power cover opening and closing stepping motor, and the data processing and control module is right for controlling the power cover to be opened and closed through the power cover opening and closing stepping motor.
11. The intelligent air disinfection and epidemic prevention robot system according to claim 1 or 10, wherein the intelligent air disinfection and epidemic prevention robot further comprises an automatic charging positioning camera, the charging pile further comprises an automatic charging positioning light source, the automatic charging positioning camera is connected with the data processing and control module, the battery power supply module supplies power to the automatic charging positioning camera, and the direct current voltage stabilization power supply supplies power to the automatic charging positioning light source; when the intelligent air sterilization and epidemic prevention robot is charged, the automatic charging positioning camera images the lightened automatic charging positioning light source, the data processing and control module controls the intelligent air sterilization and epidemic prevention robot to advance, retreat, turn and rotate in place through the mobile platform, so that the charging power supply plug is aligned with the charging power supply socket and then advances to be inserted into the charging power supply socket, and the direct-current voltage-stabilizing power supply is used for charging the battery power supply module.
12. The intelligent air disinfection and epidemic prevention robot system of claim 11, wherein the automatic charging positioning light source is three or more near infrared LEDs, and when the intelligent air disinfection and epidemic prevention robot works, the near infrared LEDs are in a normally on state, so that the intelligent air disinfection and epidemic prevention robot can automatically charge at any time.
13. The intelligent air sterilization and epidemic prevention robot system according to claim 1, wherein the battery power supply module comprises a constant-current constant-voltage charging circuit, a lithium battery pack, a direct-current voltage stabilizer and a power detection circuit, and when the intelligent air sterilization and epidemic prevention robot is charged, the input end of the constant-current constant-voltage charging circuit is connected with the direct-current stabilized power supply through the charging power supply plug and the charging power supply socket to obtain the power supply of the direct-current stabilized power supply; the output end of the constant-current constant-voltage charging circuit is connected with the output end of the lithium battery pack, the lithium battery pack is subjected to constant-current charging at a set constant charging current, and when the voltage of the output end of the lithium battery pack reaches a set constant-voltage charging voltage, the constant-current constant-voltage charging circuit is automatically switched to perform constant-voltage charging at the set constant-voltage charging voltage; the input end of the direct current voltage stabilizer is respectively connected with the charging power supply plug and the output end of the lithium battery pack, when the charging power supply plug is connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is powered by the direct current voltage stabilizer, and when the charging power supply plug is not connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is automatically powered by the output end of the lithium battery pack; the output end of the direct current voltage stabilizer supplies power to the chlorine dioxide air sterilizer, the ultraviolet air sterilizer, the electric zoom camera, the electric zoom lens, the camera pitching stepping motor, the lens cover opening and closing stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the laser radar, the ultrasonic sensor, the human body infrared sensor, the power cover opening and closing stepping motor, the automatic charging positioning camera, the mobile platform, the communication interface module, the data processing and control module and the electric quantity detection circuit; the electric quantity detection circuit is connected with the data processing and control module, the electric quantity detection circuit detects the voltage of the output end of the lithium battery pack in real time, and if the voltage is lower than a set voltage value, the data processing and control module controls the intelligent air sterilizing and epidemic preventing robot to automatically walk to the charging pile for charging; the input end of the direct current stabilized power supply is connected with alternating current voltage of a power grid, and the output end of the direct current stabilized power supply outputs stable direct current voltage.
14. The intelligent air disinfection and epidemic prevention robot system of claim 1, wherein the communication interface module comprises at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G and 5G wireless communication, RJ45 network port wired communication, USB, RS232 and RS485 and other interfaces, the data processing and control module is in data connection with the server and the client through at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G and 5G wireless communication and other interfaces of the communication interface module, and the data processing and control module is in data connection with other external devices through at least one of RJ45 network port wired communication, USB, RS232 and RS485 and other interfaces of the communication interface module.
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| CN202010309148.9A CN112318515A (en) | 2020-04-20 | 2020-04-20 | Intelligent air sterilizing and epidemic preventing robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211432A (en) * | 2021-04-16 | 2021-08-06 | 重庆市荣冠科技有限公司 | Epidemic situation robot composite monitoring and disposal system |
| CN115256403A (en) * | 2022-08-29 | 2022-11-01 | 杭州聚电科技有限公司 | Anti-strong-magnetic ultraviolet disinfection mobile robot |
-
2020
- 2020-04-20 CN CN202010309148.9A patent/CN112318515A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211432A (en) * | 2021-04-16 | 2021-08-06 | 重庆市荣冠科技有限公司 | Epidemic situation robot composite monitoring and disposal system |
| CN115256403A (en) * | 2022-08-29 | 2022-11-01 | 杭州聚电科技有限公司 | Anti-strong-magnetic ultraviolet disinfection mobile robot |
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