CN113031608A - Travelling mechanism of movable disinfection trolley - Google Patents
Travelling mechanism of movable disinfection trolley Download PDFInfo
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- CN113031608A CN113031608A CN202110253842.8A CN202110253842A CN113031608A CN 113031608 A CN113031608 A CN 113031608A CN 202110253842 A CN202110253842 A CN 202110253842A CN 113031608 A CN113031608 A CN 113031608A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 238000005507 spraying Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 238000000691 measurement method Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 3
- 230000001954 sterilising effect Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000249 desinfective effect Effects 0.000 description 2
- 241000711573 Coronaviridae Species 0.000 description 1
- 240000007651 Rubus glaucus Species 0.000 description 1
- 235000011034 Rubus glaucus Nutrition 0.000 description 1
- 235000009122 Rubus idaeus Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
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Abstract
A traveling mechanism of a movable disinfection trolley relates to a traveling mechanism control system, which comprises an external equipment end, a power supply module, an LED lamp, a drive control mainboard, a power mechanism, an infrared sensor, an ultrasonic sensor, a spraying disinfection module and a USB camera, wherein a control port is connected with the drive control mainboard, the LED lamp is connected with the drive control mainboard through the power supply module, the drive control mainboard is connected with the power mechanism, the infrared sensor, the ultrasonic sensor and the spraying disinfection module are connected with the drive control mainboard, and the drive control mainboard is connected with the USB camera. The efficiency of dolly is gone is improved, prevents that the dolly from receiving the barrier collision.
Description
Technical Field
The invention relates to a travelling mechanism control system, in particular to a travelling mechanism of a movable disinfection trolley.
Background
With the rapid development of computers and microelectronic technologies, the development of intelligent technologies is faster and faster, the intelligent degree is higher and higher, and the application range is greatly expanded. The intelligent vehicle system is based on the rapidly developed automobile electronic technology and covers a plurality of subjects such as electronics, computers, machinery, sensing technology and the like. Meanwhile, the development of the current robot technology is different day by day, and the robot technology is applied to numerous fields such as archaeology, exploration, national defense and the like. Unmanned spacecrafts, extraterrestrial exploration, intelligent production and the like do not benefit from the development of robotics. Some developed countries have designed robot competitions as a strategic means of innovative education. In a sense, the robotics reflects the level of comprehensive technical strength of a country. Meanwhile, with the development of integrated circuits, raspberry groups play an important role in the field of image processing and machine control, and mobile robots with good expansibility can be manufactured by means of embedded programming and the like in combination with strong peripheral circuits.
In 2020, various intensive public places such as schools, markets, hospitals and the like need disinfection and sterilization to keep sanitation due to the influence of new coronavirus all over the world. The automatic moving disinfection trolley based on machine vision just accords with a novel intelligent moving trolley which is produced by taking the current situation, and has huge actual value for development of intelligent automobiles in reality.
In order to disinfect large places such as hospitals and markets, an automatic moving disinfection trolley model based on machine vision is constructed, the trolley is combined with a disinfection water spraying device through an obstacle avoidance trolley, the functions of automatically spraying disinfection liquid and avoiding simple obstacles in strange environments can be achieved in a set planned line, and the functions are related to camera monitoring. In the prior art.
Disclosure of Invention
The invention aims to provide a travelling mechanism of a movable disinfection trolley in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a travelling mechanism of mobile disinfection dolly, it includes external device end 1, power module 2, LED lamp 3, drive control mainboard 4, power unit 5, infrared sensor 6, ultrasonic sensor 7, sprays disinfection module 8, USB camera 9, control port 1 and drive control mainboard 4 interconnect, and LED lamp 3 is connected with drive control mainboard 4 through power module 2, and drive control mainboard 4 connects power unit 5, infrared sensor 6, ultrasonic sensor 7 and spray disinfection module 8 and be connected with drive control mainboard 4, and drive control mainboard 4 connects USB camera 9.
More specifically, the driving control main board 4 includes a main board control module 41 and a power driving module 42, and the main board control module 41 is electrically connected to the power driving module 42.
More specifically, the connection mode between the external device terminal 1 and the motherboard control module 41 includes but is not limited to WIFI connection, GPRS connection, bluetooth connection, and wired optical cable and optical fiber connection.
More specifically, the power mechanism 5 includes a steering engine 51 and a motor 52, and the steering engine 51 and the motor 52 are electrically connected to the power driving module 42.
More specifically, the traveling judgment step of the traveling mechanism is starting; the control is carried out through the external equipment terminal 1 or the automatic scanning control is carried out through the infrared sensor 6 and the ultrasonic sensor 7, and meanwhile, the USB camera 9 starts real-time intelligent identification data; a mainboard control module 41 on the drive control mainboard 4 receives data scanned by the infrared sensor 6 and the ultrasonic sensor 7 and two-dimensional code data identified by the USB camera 9, and the mainboard control module 41 judges and calculates a path; the main board control module 41 transmits the instruction to the power driving module 42, the power driving module 42 drives the power mechanism 5 through the driving control main board 4, and simultaneously starts the spraying disinfection module 8 and starts the LED lamp; the power mechanism 5 adjusts the direction of the command information through the drive control main board 4 by the internal steering engine 51, and the motor 52 moves forward and stops by the command information, thereby completing the command and ending the command.
More specifically, the step of determining the ultrasonic sensing information of the drive control main board 4 is: acquiring the information of the ultrasonic sensor 7, and starting a time difference distance measurement method formula: s = v Δ t/2, calculating the ultrasonic distance, and judging that the distance value of the ultrasonic sensor 7 is greater than 0cm and smaller than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 7 again; and when the distance value is larger than 25cm, the moving process is continued.
More specifically, the infrared sensing information determination step of the drive control main board 4 is as follows: and acquiring information of the infrared sensor 6, driving and adopting a color resolution judgment method, judging to stop if at least one sensor scans a black line on the left side and the right side, and if not, judging to be next. And if at least one sensor on the left side scans a black line and the black line is not scanned on the right side, judging that the vehicle turns to the left, and if not, judging next. If at least one sensor on the right scans a black line and the left does not scan the black line, the vehicle is judged to turn right, if the three conditions do not exist, the vehicle is judged to move forward, and the vehicle is restarted to continue the judgment by adopting a color resolution judgment method.
The working principle of the invention is as follows: when needs use equipment, the staff should guarantee that power module 2 can provide sufficient electric power, when power module 2 electric power is enough, the staff will normally use equipment, when using, staff's accessible external device end 1 carries out artificial control, external device end 1 can be for removing end and PC end, through external device end 1 control steering wheel 51 and motor 52, and carry out the disinfection operation of environment through spraying disinfection module 8, and USB camera 9 can automatic identification's two-dimensional code data when equipment carries out automatic operation, infrared sensor 6 and ultrasonic sensor 7 acquire external information simultaneously, the infrared induction information judgement step of drive control mainboard 4 is: and acquiring information of the infrared sensor 6, driving and adopting a color resolution judgment method, judging to stop if at least one sensor scans a black line on the left side and the right side, and if not, judging to be next. And if at least one sensor on the left side scans a black line and the black line is not scanned on the right side, judging that the vehicle turns to the left, and if not, judging next. If at least one sensor on the right scans a black line and the left does not scan the black line, the vehicle is judged to turn right, if the three conditions do not exist, the vehicle is judged to move forward, and the vehicle is restarted to continue the judgment by adopting a color resolution judgment method. The ultrasonic sensing information judgment step of the drive control main board 4 is as follows: acquiring the information of the ultrasonic sensor 7, and starting a time difference distance measurement method formula: s = v Δ t/2, calculating the ultrasonic distance, and judging that the distance value of the ultrasonic sensor 7 is greater than 0cm and smaller than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 7 again; continuing to advance when the distance value is larger than 25 cm; the mainboard control module 41 on the drive control mainboard 4 receives the data scanned by the infrared sensor 6 and the ultrasonic sensor 7 and the two-dimensional code data identified by the USB camera 9, the motherboard control module 41 determines and calculates the path, the motherboard control module 41 transmits the instruction to the power driving module 42, the power driving module 42 drives the power mechanism 5 through the driving control motherboard 4, simultaneously, the spraying and disinfecting module 8 is started and the LED lamp is started, the power mechanism 5 adjusts the direction of the instruction information of the driving control main board 4 through the internal steering engine 51, the motor 52 advances and stops through the instruction information, the motors 52 are arranged on the four wheels of the trolley, meanwhile, the two motors 52 are controlled in parallel, and after the command is completed, a user can check the real-time image information transmitted by the USB camera 9 through the external equipment terminal 1, so that the user can conveniently process related information in real time.
After the technical scheme is adopted, the invention has the beneficial effects that: the equipment has automatic operation, can keep away multinomial functions such as barrier, real-time image transmission and target detection by oneself, can control through outside port equipment, and the running mode of driving mechanism is reasonable swift, carries out the disinfection operation of surrounding environment simultaneously, and better help people carry out the disinfection operation of environment, improves the dolly efficiency of traveling, prevents that the dolly from receiving the barrier collision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a block flow diagram of the present invention.
Fig. 3 is a block diagram showing a determination flow of the ultrasonic sensor 7 according to the present invention.
Fig. 4 is a block diagram showing a determination process of the infrared sensor 6 of the present invention.
Description of reference numerals: the device comprises an external device end 1, a power module 2, an LED lamp 3, a drive control mainboard 4, a power mechanism 5, an infrared sensor 6, an ultrasonic sensor 7, a spraying disinfection module 8, a USB camera 9, a mainboard control module 41, a power drive module 42, a steering engine 51 and a motor 52.
Detailed Description
Referring to fig. 1 to 4, the technical solution adopted by the present embodiment is: it includes external device end 1, power module 2, LED lamp 3, drive control mainboard 4, power unit 5, infrared sensor 6, ultrasonic sensor 7, sprays disinfection module 8, USB camera 9, control port 1 and drive control mainboard 4 interconnect, LED lamp 3 is connected with drive control mainboard 4 through power module 2, and drive control mainboard 4 connects power unit 5, infrared sensor 6, ultrasonic sensor 7 and spray disinfection module 8 and be connected with drive control mainboard 4, and drive control mainboard 4 connects USB camera 9, external device end 1 includes WIFI with mainboard control module 41's connected mode and is not limited to and connect, GPRS connects, bluetooth is connected and wired optical cable and optical fiber connection. The drive control main board 4 comprises a main board control module 41 and a power supply drive module 42, the main board control module 41 is electrically connected with the power supply drive module 42, the power mechanism 5 comprises a steering engine 51 and a motor 52, and the steering engine 51, the motor 52 and the power supply drive module 42 are electrically connected.
The traveling judgment step of the traveling mechanism is to start; the control is carried out through the external equipment terminal 1 or the automatic scanning control is carried out through the infrared sensor 6 and the ultrasonic sensor 7, and meanwhile, the USB camera 9 starts real-time intelligent identification data; a mainboard control module 41 on the drive control mainboard 4 receives data scanned by the infrared sensor 6 and the ultrasonic sensor 7 and two-dimensional code data identified by the USB camera 9, and the mainboard control module 41 judges and calculates a path; the main board control module 41 transmits the instruction to the power driving module 42, the power driving module 42 drives the power mechanism 5 through the driving control main board 4, and simultaneously starts the spraying disinfection module 8 and starts the LED lamp; the power mechanism 5 adjusts the direction of the instruction information of the driving control main board 4 through an internal steering engine 51, and the motor 52 moves forwards and stops through the instruction information;
the instruction is completed and ends.
The ultrasonic sensing information judgment step of the drive control main board 4 is as follows: acquiring information of the ultrasonic sensor 7; starting a time difference distance measurement method formula: s = v Δ t/2 calculating the ultrasonic distance; judging that the distance value of the ultrasonic sensor 7 is more than 0cm and less than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 7 again; and when the distance value is larger than 25cm, the moving process is continued.
The infrared induction information judgment step of the drive control main board 4 is as follows: and acquiring information of the infrared sensor 6, driving and adopting a color resolution judgment method, judging to stop if at least one sensor scans a black line on the left side and the right side, and if not, judging to be next. And if at least one sensor on the left side scans a black line and the black line is not scanned on the right side, judging that the vehicle turns to the left, and if not, judging next. If at least one sensor on the right scans a black line and the left does not scan the black line, the vehicle is judged to turn right, if the three conditions do not exist, the vehicle is judged to move forward, and the vehicle is restarted to continue the judgment by adopting a color resolution judgment method.
The working principle of the invention is as follows: when needs use equipment, the staff should guarantee that power module 2 can provide sufficient electric power, when power module 2 electric power is enough, the staff will normally use equipment, when using, staff's accessible external device end 1 carries out artificial control, external device end 1 can be for removing end and PC end, through external device end 1 control steering wheel 51 and motor 52, and carry out the disinfection operation of environment through spraying disinfection module 8, and USB camera 9 can automatic identification's two-dimensional code data when equipment carries out automatic operation, infrared sensor 6 and ultrasonic sensor 7 acquire external information simultaneously, the infrared induction information judgement step of drive control mainboard 4 is: and acquiring information of the infrared sensor 6, driving and adopting a color resolution judgment method, judging to stop if at least one sensor scans a black line on the left side and the right side, and if not, judging to be next. And if at least one sensor on the left side scans a black line and the black line is not scanned on the right side, judging that the vehicle turns to the left, and if not, judging next. If at least one sensor on the right scans a black line and the left does not scan the black line, the vehicle is judged to turn right, if the three conditions do not exist, the vehicle is judged to move forward, and the vehicle is restarted to continue the judgment by adopting a color resolution judgment method. The ultrasonic sensing information judgment step of the drive control main board 4 is as follows: acquiring the information of the ultrasonic sensor 7, and starting a time difference distance measurement method formula: s = v Δ t/2, calculating the ultrasonic distance, and judging that the distance value of the ultrasonic sensor 7 is greater than 0cm and smaller than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor 7 again; continuing to advance when the distance value is larger than 25 cm; the mainboard control module 41 on the drive control mainboard 4 receives the data scanned by the infrared sensor 6 and the ultrasonic sensor 7 and the two-dimensional code data identified by the USB camera 9, the motherboard control module 41 determines and calculates the path, the motherboard control module 41 transmits the instruction to the power driving module 42, the power driving module 42 drives the power mechanism 5 through the driving control motherboard 4, simultaneously, the spraying and disinfecting module 8 is started and the LED lamp is started, the power mechanism 5 adjusts the direction of the instruction information of the driving control main board 4 through the internal steering engine 51, the motor 52 advances and stops through the instruction information, the motors 52 are arranged on the four wheels of the trolley, meanwhile, the two motors 52 are controlled in parallel, and after the command is completed, a user can check the real-time image information transmitted by the USB camera 9 through the external equipment terminal 1, so that the user can conveniently process related information in real time.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. The utility model provides a travelling mechanism of mobile disinfection dolly which characterized in that: it includes external device end (1), power module (2), LED lamp (3), drive control mainboard (4), power unit (5), infrared sensor (6), ultrasonic sensor (7), sprays disinfection module (8), USB camera (9), control port (1) and drive control mainboard (4) interconnect, and LED lamp (3) are connected with drive control mainboard (4) through power module (2), and power unit (5) are connected in drive control mainboard (4), infrared sensor (6), ultrasonic sensor (7) and spray disinfection module (8) and be connected with drive control mainboard (4), and USB camera (9) are connected in drive control mainboard (4).
2. The travelling mechanism of the mobile disinfection trolley as claimed in claim 1, wherein: the drive control main board (4) comprises a main board control module (41) and a power drive module (42), wherein the main board control module (41) is electrically connected with the power drive module (42).
3. The travelling mechanism of the mobile disinfection trolley as claimed in claim 1, wherein: the connection mode of the external equipment end (1) and the mainboard control module (41) comprises and is not limited to WIFI connection, GPRS connection, Bluetooth connection, wired optical cable and optical fiber connection.
4. The travelling mechanism of the mobile disinfection trolley as claimed in claim 1, wherein: the power mechanism (5) comprises a steering engine (51) and a motor (52), and the steering engine (51) and the motor (52) are electrically connected with the power supply driving module (42).
5. The travelling mechanism of the mobile disinfection trolley as claimed in claim 1, wherein: the traveling judgment step of the traveling mechanism is as follows:
1) starting;
2) the control is carried out through an external equipment terminal (1) or the automatic scanning control is carried out through an infrared sensor (6) and an ultrasonic sensor (7), and meanwhile, a USB camera (9) starts real-time intelligent identification data;
3) a mainboard control module (41) on the drive control mainboard (4) receives data scanned by the infrared sensor (6) and the ultrasonic sensor (7) and two-dimensional code data identified by the USB camera (9), and the mainboard control module (41) judges and calculates a path;
4) the mainboard control module (41) transmits the instruction to the power driving module (42), the power driving module (42) drives the power mechanism (5) through the driving control mainboard (4), and the spraying disinfection module (8) and the LED lamp are started simultaneously;
5) the power mechanism (5) adjusts the direction of the instruction information of the driving control main board (4) through an internal steering engine (51), and the motor (52) advances and stops through the instruction information;
6) the instruction is completed and ends.
6. A mobile sterilization trolley travelling mechanism according to claim (1), characterized in that: the ultrasonic induction information judgment step of the drive control main board (4) is as follows:
1) acquiring information of an ultrasonic sensor (7);
2) starting a time difference distance measurement method formula: s = v Δ t/2 calculating the ultrasonic distance;
3) judging that the distance value of the ultrasonic sensor (7) is more than 0cm and less than 25 cm; if the distance is larger than 25cm, advancing; if the distance is larger than 0cm and smaller than 25cm, stopping for waiting, turning left for waiting, and acquiring the information of the ultrasonic sensor (7) again; and when the distance value is larger than 25cm, the moving process is continued.
7. The travelling mechanism of the mobile disinfection trolley as claimed in claim 1, wherein: the infrared induction information judgment step of the drive control main board (4) is as follows:
1) acquiring information of an infrared sensor (6);
2) driving and adopting a color discrimination judgment method;
3) if at least one sensor on the left side and the right side scans the black line, judging to stop, and if not, judging to follow the next judgment;
4) if at least one sensor on the left side scans a black line and the black line is not scanned on the right side, judging that the vehicle turns to the left, and if not, judging next;
5) if at least one sensor on the right scans a black line and the black line is not scanned on the left, judging that the vehicle turns right;
6) if the three conditions do not exist, the judgment is made that the vehicle moves forwards, and the vehicle is restarted to continue the judgment by adopting a color resolution judgment method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253842.8A CN113031608A (en) | 2021-03-09 | 2021-03-09 | Travelling mechanism of movable disinfection trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253842.8A CN113031608A (en) | 2021-03-09 | 2021-03-09 | Travelling mechanism of movable disinfection trolley |
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| Publication Number | Publication Date |
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| CN113031608A true CN113031608A (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110253842.8A Pending CN113031608A (en) | 2021-03-09 | 2021-03-09 | Travelling mechanism of movable disinfection trolley |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778157A (en) * | 2021-09-14 | 2021-12-10 | 金陵科技学院 | Epidemic prevention detection and disinfection system based on Internet of things platform and working method thereof |
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| CN208126197U (en) * | 2018-02-28 | 2018-11-20 | 周凯 | A kind of unmanned trolley control system and unmanned trolley |
| CN212302292U (en) * | 2019-12-09 | 2021-01-05 | 南京信息工程大学 | Intelligence fire control dolly based on STM32 |
| CN212411071U (en) * | 2020-08-10 | 2021-01-26 | 金陵科技学院 | Intelligent disinfection trolley |
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2021
- 2021-03-09 CN CN202110253842.8A patent/CN113031608A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20030025472A1 (en) * | 2001-06-12 | 2003-02-06 | Jones Joseph L. | Method and system for multi-mode coverage for an autonomous robot |
| CN106528142A (en) * | 2016-10-31 | 2017-03-22 | 苏州乐派特机器人有限公司 | Tree-like combined instruction materialized programming method, application and materialized programming module. |
| CN208126197U (en) * | 2018-02-28 | 2018-11-20 | 周凯 | A kind of unmanned trolley control system and unmanned trolley |
| CN212302292U (en) * | 2019-12-09 | 2021-01-05 | 南京信息工程大学 | Intelligence fire control dolly based on STM32 |
| CN212411071U (en) * | 2020-08-10 | 2021-01-26 | 金陵科技学院 | Intelligent disinfection trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113778157A (en) * | 2021-09-14 | 2021-12-10 | 金陵科技学院 | Epidemic prevention detection and disinfection system based on Internet of things platform and working method thereof |
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Application publication date: 20210625 |