CN113209337A - Medical disinfection robot - Google Patents
Medical disinfection robot Download PDFInfo
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- CN113209337A CN113209337A CN202110449540.8A CN202110449540A CN113209337A CN 113209337 A CN113209337 A CN 113209337A CN 202110449540 A CN202110449540 A CN 202110449540A CN 113209337 A CN113209337 A CN 113209337A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 57
- 238000004140 cleaning Methods 0.000 claims abstract description 54
- 239000000645 desinfectant Substances 0.000 claims abstract description 35
- 238000007726 management method Methods 0.000 claims description 45
- 238000000034 method Methods 0.000 claims description 39
- 230000008569 process Effects 0.000 claims description 37
- 238000004891 communication Methods 0.000 claims description 23
- 230000006870 function Effects 0.000 claims description 21
- 238000009826 distribution Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000000249 desinfective effect Effects 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 claims description 8
- 238000007619 statistical method Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 claims 1
- 206010011409 Cross infection Diseases 0.000 abstract description 4
- 206010029803 Nosocomial infection Diseases 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 230000001954 sterilising effect Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 238000004590 computer program Methods 0.000 description 6
- ZAMOUSCENKQFHK-UHFFFAOYSA-N Chlorine atom Chemical compound [Cl] ZAMOUSCENKQFHK-UHFFFAOYSA-N 0.000 description 4
- 229910052801 chlorine Inorganic materials 0.000 description 4
- 239000000460 chlorine Substances 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- B08B1/143—
-
- B08B1/32—
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
Abstract
The invention relates to the technical field of intelligent robots, in particular to a medical disinfection robot. Including the host computer body, the front of the host computer body is close to upper end department and is equipped with electronic display screen, the inboard rule of electronic display screen is equipped with camera and a plurality of sensor, the internal portion of host computer is close to upper end department rule and is equipped with power manager, treater and controller, the internal portion of host computer bottom is equipped with running gear, the host computer body bottom is close to front end department and is equipped with the shower nozzle, the bottom of the host computer body is close to rear end department and has cleaned the mop through the hinge is articulated, the internal portion of host computer is equipped with the disinfectant box, the outside of the host computer body is rotated and is connected with automatically cleaning arm. The disinfection robot designed by the invention can complete disinfection and cleaning work in a designated area, does not need manual operation, improves the cleaning effect, improves the cleaning coverage rate, reduces the cleaning blind area, saves manpower and time, thereby reducing the cross infection between medical care personnel and patients and ensuring the personnel safety.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a medical disinfection robot.
Background
Aiming at some infectious diseases such as new coronary pneumonia, the patient needs to be treated by fixed-point recovery and isolation treatment. In a fixed-point receiving and treating hospital, it is important to thoroughly disinfect an isolation ward. However, the conventional disinfection operation is completed manually, so that people can easily cross-infect patients when entering or exiting the isolation area, and meanwhile, a cleaning blind area is easily formed during manual operation, namely, the problem of incomplete disinfection exists. Therefore, in the case of limited manpower and materials, it is considered to design a sterilization robot to share the sterilization and cleaning operation of the isolated disease area, but at present, there is no sterilization robot and its control system with complete functions.
Disclosure of Invention
The invention aims to provide a medical disinfection robot to solve the problems in the background technology.
In order to solve the technical problems, one of the purposes of the invention is to provide a medical disinfection robot, which comprises a main machine body, wherein an electronic display screen is arranged on the front side of the main machine body close to the upper end, a camera and a plurality of sensors are regularly arranged on the inner side of the electronic display screen, a key panel is arranged under the electronic display screen, a wireless charging plate is arranged on the back side of the main machine body close to the upper end, a power supply manager, a processor and a controller are regularly arranged in the main machine body close to the upper end, a walking mechanism is arranged in the bottom end of the main machine body, a spray head is arranged at the bottom end of the main machine body close to the front end, a cleaning mop is hinged to the bottom end of the main machine body close to the rear end through a hinge, a disinfection liquid box is arranged in the main machine body, and a self-cleaning mechanical arm is rotatably connected to the outer side of the main machine body.
As a further improvement of the technical scheme, the inner side of the rear end of the main machine body is slidably connected with a drawer grid, a disinfectant box is clamped in the drawer grid, and the disinfectant box is connected with the spray head through a hose.
As a further improvement of the technical solution, the power manager is abutted to the wireless charging pad, and the power manager and the controller are electrically connected to the processor through wires respectively.
The other purpose of the invention is to provide a sterilization system of a medical sterilization robot, which is loaded in the processor of the medical sterilization robot and is used for controlling the whole operation process of the robot, and the sterilization system comprises
The system comprises an infrastructure unit, an intelligent regulation and control unit and a functional service unit; the infrastructure unit, the intelligent regulation and control unit and the function service unit are sequentially connected through Ethernet communication; the infrastructure unit is used for providing basic application, service and technology supporting system operation; the intelligent control unit is used for performing centralized control on the operation process of the system and separately managing each actuator; the function service unit is used for improving the functionality of the robot by adding various services;
the infrastructure unit comprises a parameter setting module, a state sensing module, a data processing module and a network communication module;
the intelligent regulation and control unit comprises a unified centralized control module, a distributed autonomous module and a power management module;
the function service unit comprises a cruise management module, a capacity monitoring module and an information feedback module.
As a further improvement of the technical solution, the parameter setting module, the state sensing module and the data processing module are sequentially connected through ethernet communication; the parameter setting module is used for providing a channel for inputting and adjusting preset parameters for a user; the state perception module is used for acquiring state parameters of an external environment of the robot in the running process in real time through various sensors; the data processing module is used for collecting, counting and analyzing data and applying a data calculation result to the operation process of the robot; the network communication module is used for establishing a channel for connection and data transmission among all layers of the system.
The types of sensors include, but are not limited to, solenoid valves, level gauges, infrared detectors, distance sensors, cameras, speed sensors, and the like.
The network communication technology mainly comprises wireless WiFi, data traffic and a 5G network.
As a further improvement of the technical scheme, the data processing module comprises a map importing module, an acquisition and classification module, an analysis and matching module and a path planning module; the signal output end of the map importing module is connected with the signal input end of the collecting and classifying module, the signal output end of the collecting and classifying module is connected with the signal input end of the statistical analysis matching module, and the signal output end of the statistical analysis matching module is connected with the signal input end of the path planning module; the map importing module is used for importing map data of a robot work area into the system processor; the acquisition and classification module is used for acquiring the state data acquired by each sensor and classifying and summarizing the data; the analysis matching module is used for counting and analyzing the state data, combining the data result with the map information and then carrying out comprehensive analysis; and the path planning module is used for planning the operation path of the robot according to the set working area and by combining various data calculation results.
As a further improvement of the technical solution, the path planning module adopts a manhattan distance algorithm, and its formula is:
d＝|x1-x2|+|y1-y2|；
wherein (x)1，y1) Coordinates of the advancing destination of the robot, (x)2，y2) D is the distance between the robot and the destination.
As a further improvement of the technical scheme, the unified centralized control module, the distributed autonomous module and the power management module are sequentially in communication connection through the ethernet and operate independently; the unified centralized control module is used for carrying out unified distribution management and centralized control on the whole operation process of the system through the processor; the distribution autonomous module is used for respectively managing and controlling each basic execution mechanism; the power supply management module is used for managing and distributing the charging and discharging process of the power supply and monitoring the electric quantity change of the power supply.
As a further improvement of the technical scheme, the distribution autonomous module comprises a walking management module, a spraying distribution module, a cleaning management and control module and a wiping control module; the walking management module, the spraying distribution module, the cleaning management and control module and the wiping control module operate independently; the walking management module is used for controlling the starting and stopping process of the walking mechanism and the adjustment of the walking speed through the controller; the spraying distribution module is used for controlling the flow of the sprayed disinfectant by controlling the opening and closing of the electromagnetic valve through the controller; the cleaning management and control module is used for controlling the rotation of the cleaning mop through the controller so that the cleaning mop is in contact with the ground to achieve the purpose of cleaning; the wiping control module is used for controlling the rotation of the self-cleaning mechanical arm through the controller so as to realize the process of automatically wiping the outer wall.
As a further improvement of the technical scheme, the cruise management module, the capacity monitoring module and the information feedback module are sequentially connected through ethernet communication and operate independently; the cruise management module is used for managing the cruise process of the robot, and comprises path adjustment, speed regulation, automatic obstacle avoidance and the like; the capacity monitoring module is used for monitoring the liquid surplus in the disinfectant box through a liquid level meter; the information feedback module is used for displaying information such as a working area, a cruising speed and disinfectant surplus of the robot through the electronic display screen and popping up an alarm pop-up window when an abnormal condition occurs.
The invention also aims to provide an operation method of the medical disinfection robot, which comprises the following steps:
s1, fully charging the robot with electricity, starting the robot and performing trial operation to ensure the normal operation of the robot;
s2, pulling the drawer grids 17 open, opening the disinfectant box 5, filling chlorine-containing disinfectant, and closing the drawer grids 17 tightly;
s3, operating the main body 1 through the key panel 12, importing a map and defining the working area range of the robot;
s4, automatically planning the walking path of the robot by the processor according to preset parameters;
s5, the robot walks according to the planned walking path, the processor 15 controls the electromagnetic valve to be opened through the controller 16, and chlorine-containing disinfectant is sprayed to the ground through the spray head 3;
s6, in the walking process of the robot, the processor 15 controls the cleaning mop 4 to rotate downwards to contact with the ground through the controller 16, and the ground sprayed with the disinfectant is cleaned along with the walking process of the robot, so that the disinfectant is uniformly diffused to cover the ground and the disinfectant is promoted to evaporate quickly;
s7, in the working process of the robot, a camera collects the environmental image information in front of the robot in real time, the condition in front of walking is judged by combining an infrared detector, a distance sensor and the like, and obstacle avoidance is automatically planned after recognition and analysis;
s8, after the robot finishes the disinfection work, the processor 15 controls the self-cleaning mechanical arm 6 to rotate through the controller 16, and the outer side wall of the main machine body 1 is automatically wiped and cleaned;
and S9, after the robot finishes the disinfection and cleaning work, the robot automatically walks and returns to the original position, and the robot is automatically charged through the wireless charging panel 13.
It is a fourth object of the present invention to provide an operating device of a fixed-point sterilization system, which includes a processor, a memory, and a computer program stored in the memory and operated on the processor, wherein the processor is configured to implement any one of the above medical sterilization robots when executing the computer program.
A fifth object of the present invention is to provide the computer-readable storage medium storing a computer program which, when executed by a processor, realizes any one of the above medical disinfecting robots.
Compared with the prior art, the invention has the beneficial effects that:
1. in the medical disinfection robot, the robot with disinfectant spraying, cleaning and self-cleaning functions is arranged, the robot can finish disinfection and cleaning work in a designated area, and meanwhile, the robot has the self-cleaning function, manual operation is not needed, the cleaning effect is improved, the cleaning blind area is reduced, manpower and time are saved, so that the cross infection between medical care personnel and patients can be reduced, and the safety of the personnel is ensured;
2. in the medical disinfection robot's disinfection system, through leading-in map information, can carry out intelligent location and regional division to the operation region of robot, improve and clean the coverage, the robot can cruise automatically simultaneously, carry out wireless charging voluntarily, improve the intelligence and the functionality of robot.
Drawings
FIG. 1 is a schematic diagram of the front structure of the integrated device of the present invention;
FIG. 2 is a schematic diagram of the back structure of the integrated device of the present invention;
FIG. 3 is a schematic diagram of a back side structure of a partial device according to the present invention;
FIG. 4 is a schematic view of a partial structure of the present invention;
FIG. 5 is a block diagram of the overall system apparatus of the present invention;
FIG. 6 is a diagram of one embodiment of a local system device architecture;
FIG. 7 is a second block diagram of a local system apparatus according to the present invention;
FIG. 8 is a third block diagram of a local system apparatus according to the present invention;
FIG. 9 is a fourth embodiment of the present invention;
FIG. 10 is a fifth embodiment of the present invention;
fig. 11 is a schematic structural diagram of a cloud platform apparatus according to the present invention.
The various reference numbers in the figures mean:
1. a main body; 11. an electronic display screen; 111. a camera; 112. a sensor; 12. a key panel; 13. a wireless charging pad; 14. a power manager; 15. a processor; 16. a controller; 17. a drawer grid;
2. a traveling mechanism;
3. a spray head;
4. cleaning the mop;
5. a disinfectant box; 51. a hose;
6. self-cleaning mechanical arms;
100. an infrastructure unit; 101. a parameter setting module; 102. a state sensing module; 103. a data processing module; 1031. a map import module; 1032. a collecting and classifying module; 1033. a statistical matching module; 1034. a path planning module; 104. a network communication module;
200. an intelligent control unit; 201. a unified centralized control module; 202. a distribution autonomous module; 2021. a walking management module; 2022. a spray distribution module; 2023. a cleaning management and control module; 2024. a wiping control module; 203. a power management module;
300. a function service unit; 301. a cruise management module; 302. a capacity monitoring module; 303. and an information feedback module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "intermediate," "upper," "lower," "front," "rear," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and therefore should not be construed as limiting the present invention.
Further, in the description of the present invention, "a number" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example 1
As shown in fig. 1-4, the present embodiment provides a medical disinfection robot, which includes a main body 1, an electronic display screen 11 is disposed on the front side of the main body 1 near the upper end, a traveling mechanism 2 is disposed inside the bottom end of the main body 1, a nozzle 3 is disposed at the bottom end of the main body 1 near the front end, a mop 4 is hinged to the bottom end of the main body 1 near the rear end through a hinge, a disinfectant box 5 is disposed inside the main body 1, and a self-cleaning mechanical arm 6 is rotatably connected to the outer side of the main body 1.
In this embodiment, the inner side of the electronic display screen 11 is regularly provided with a camera 111 and a plurality of sensors 112.
In particular, the electronic display screen 11 is preferably a transparent display screen, so that the camera 111 and the sensor 112 can work normally.
The sensor 112 includes a distance sensor, an infrared detection sensor, and the like.
Further, a key panel 12 is disposed under the electronic display screen 11, and the key panel 12 may be of a touch type, so as to prevent external impurities, liquid or bacteria from entering the main body 1.
Further, a wireless charging panel 13 is arranged on the back of the main body 1 near the upper end, and a wireless charging process of the robot can be realized through a matched wireless charger.
Further, a power manager 14, a processor 15 and a controller 16 are regularly provided inside the main body 1 near the upper end.
In this embodiment, a drawer grid 17 is slidably connected to the inner side of the rear end of the main body 1.
Further, disinfectant box 5 joint is in drawer check 17, is convenient for supply the antiseptic solution through pull drawer check 17.
Wherein, a liquid level meter is arranged in the disinfectant box 5 and used for monitoring the residual quantity of the disinfectant.
Further, the disinfectant box 5 is connected with the spray head 3 through a hose 51, and an electromagnetic valve is arranged at one end of the hose 51 close to the disinfectant box 5 or one end of the spray head 3 for controlling the spraying operation.
In this embodiment, the power manager 14 is in contact with the wireless charging pad 13, and the power manager 14 is connected to the wireless charging pad 13 by a wire.
Further, the power manager 14 and the controller 16 are electrically connected to the processor 15 through wires, respectively, and the power manager 14 provides power to the processor 15 and the controller 16.
Furthermore, the traveling mechanism 2, the rotating device of the cleaning mop 4, the electromagnetic valve, the driving motor of the self-cleaning mechanical arm 6, and other mechanisms are respectively connected with the controller 16 through wires, and work instructions are sent to the controller 16 through the processor 16 and are respectively executed by each basic executing mechanism.
In addition, disinfectant box 5 can also be connected with self-cleaning mechanical arm 6 through the pipeline, is convenient for carry out the disinfection operation to main engine body 1 outer wall among the self-cleaning process.
As shown in fig. 5-11, the present embodiment further provides a sterilization system for a medical sterilization robot, which is loaded in the processor 15 of the medical sterilization robot and is used for controlling the whole operation process of the robot, including
The system comprises an infrastructure unit 100, an intelligent regulation and control unit 200 and a function service unit 300; the infrastructure unit 100, the intelligent control unit 200 and the function service unit 300 are sequentially connected through Ethernet communication; the infrastructure unit 100 is used for providing basic applications, services and technologies supporting system operation; the intelligent control unit 200 is used for performing centralized control on the operation process of the system and separately managing each actuator; the function service unit 300 is used to complete the functionality of the robot by adding various services;
the infrastructure unit 100 comprises a parameter setting module 101, a state sensing module 102, a data processing module 103 and a network communication module 104;
the intelligent regulation and control unit 200 comprises a unified centralized control module 201, a distributed autonomous module 202 and a power management module 203;
the function service unit 300 includes a cruise management module 301, a capacity monitoring module 302, and an information feedback module 303.
In this embodiment, the parameter setting module 101, the state sensing module 102, and the data processing module 103 are sequentially connected via ethernet communication; the parameter setting module 101 is used for providing a channel for inputting and adjusting preset parameters for a user; the state sensing module 102 is used for acquiring state parameters of an external environment of the robot in the running process in real time through various sensors; the data processing module 103 is used for collecting, counting and analyzing data and applying a data calculation result to the operation process of the robot; the network communication module 104 is used to establish a connection and a channel for data transmission between the layers of the system.
The types of sensors include, but are not limited to, solenoid valves, level gauges, infrared detectors, distance sensors, cameras, speed sensors, and the like.
The network communication technology mainly comprises wireless WiFi, data traffic and a 5G network.
Further, the data processing module 103 includes a map importing module 1031, an acquisition and classification module 1032, an analysis matching module 1033, and a path planning module 1034; a signal output end of the map importing module 1031 is connected with a signal input end of the acquisition and classification module 1032, a signal output end of the acquisition and classification module 1032 is connected with a signal input end of the statistical analysis matching module 1033, and a signal output end of the statistical analysis matching module 1033 is connected with a signal input end of the path planning module 1034; the map importing module 1031 is configured to import map data of the robot work area into the system processor; the acquisition and classification module 1032 is used for acquiring the state data acquired by each sensor and classifying and summarizing the data; the statistical analysis matching module 1033 is used for performing statistics and analysis on the state data, and comprehensively analyzing after combining the data result with the map information; the path planning module 1034 is configured to plan a working path of the robot according to the set working area and by combining various data calculation results.
Specifically, in the collection classification module 1032, the calculation formula of data classification is as follows:
sim(S1.ei,S2.ej)＝AGG(simf(S1.ei,S2.ej))；
where ei and ej are two attributes belonging to the patterns S1 and S2, simf is a similarity algorithm based on the feature f, and AGG is an aggregation function.
Specifically, the path planning module 1034 employs a manhattan distance algorithm, whose formula is:
d＝|x1-x2|+|y1-y2|；
wherein (x)1，y1) Coordinates of the advancing destination of the robot, (x)2，y2) D is the distance between the robot and the destination.
In this embodiment, the unified centralized control module 201, the distributed autonomous module 202, and the power management module 203 are sequentially connected through ethernet communication and operate independently; the unified centralized control module 201 is used for performing unified distribution management and centralized control on the whole operation process of the system through the processor 15; the distributed autonomous module 202 is used for managing and controlling each basic execution mechanism respectively; the power management module 203 is used for managing and distributing the charging and discharging processes of the power supply and monitoring the electric quantity change of the power supply.
Further, the distribution autonomous module 202 includes a walking management module 2021, a spraying distribution module 2022, a cleaning management and control module 2023, and a wiping control module 2024; the walking management module 2021, the spraying distribution module 2022, the cleaning management and control module 2023 and the wiping control module 2024 operate independently; the walking management module 2021 is used for controlling the start-stop process and the walking speed adjustment of the walking mechanism 2 through a controller; the spraying distribution module 2022 is used for controlling the flow of the sprayed disinfectant by controlling the opening and closing of the electromagnetic valve through the controller; the cleaning management and control module 2023 is used for controlling the rotation of the cleaning mop 4 through the controller to enable the cleaning mop to be in contact with the ground so as to achieve the purpose of cleaning; the wiping control module 2024 is used for controlling the rotation of the self-cleaning mechanical arm 6 through a controller to realize the automatic wiping process of the outer wall.
In this embodiment, the cruise management module 301, the capacity monitoring module 302, and the information feedback module 303 are sequentially connected through ethernet communication and operate independently; the cruise management module 301 is used for managing the cruise process of the robot, including path adjustment, speed adjustment, automatic obstacle avoidance and the like; the capacity monitoring module 302 is used for monitoring the liquid residual quantity in the disinfectant box 5 through a liquid level meter; the information feedback module 303 is configured to display information such as a working area, a cruising speed, a remaining amount of disinfectant, and the like of the robot through the electronic display screen 11, and pop up an alarm pop-up window when an abnormal condition occurs.
The embodiment also provides an operation method of the medical disinfection robot, which comprises the following steps:
s1, fully charging the robot with electricity, starting the robot and performing trial operation to ensure the normal operation of the robot;
s2, pulling the drawer grids 17 open, opening the disinfectant box 5, filling chlorine-containing disinfectant, and closing the drawer grids 17 tightly;
s3, operating the main body 1 through the key panel 12, importing a map and defining the working area range of the robot;
s4, automatically planning the walking path of the robot by the processor according to preset parameters;
s5, the robot walks according to the planned walking path, the processor 15 controls the electromagnetic valve to be opened through the controller 16, and chlorine-containing disinfectant is sprayed to the ground through the spray head 3;
s6, in the walking process of the robot, the processor 15 controls the cleaning mop 4 to rotate downwards to contact with the ground through the controller 16, and the ground sprayed with the disinfectant is cleaned along with the walking process of the robot, so that the disinfectant is uniformly diffused to cover the ground and the disinfectant is promoted to evaporate quickly;
s7, in the working process of the robot, a camera collects the environmental image information in front of the robot in real time, the condition in front of walking is judged by combining an infrared detector, a distance sensor and the like, and obstacle avoidance is automatically planned after recognition and analysis;
s8, after the robot finishes the disinfection work, the processor 15 controls the self-cleaning mechanical arm 6 to rotate through the controller 16, and the outer side wall of the main machine body 1 is automatically wiped and cleaned;
and S9, after the robot finishes the disinfection and cleaning work, the robot automatically walks and returns to the original position, and the robot is automatically charged through the wireless charging panel 13.
Referring to fig. 11, the present embodiment also provides an operating apparatus of a sterilization system of a medical sterilization robot, which includes a processor, a memory, and a computer program stored in the memory and operated on the processor.
The processor comprises one or more than one processing core, the processor is connected with the processor through a bus, the memory is used for storing program instructions, and the medical disinfection robot is realized when the processor executes the program instructions in the memory.
Alternatively, the memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
Furthermore, the present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a medical sterilization robot as described above.
Optionally, the present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the above aspects of the medical disinfecting robot.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, where the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
Example 2
In order to reduce the contact between the personnel and the disinfection robot and reduce the risk of cross infection, the personnel of the invention provide a medical disinfection robot and a disinfection system loaded in a processor 15 on the basis of embodiment 1, the medical disinfection robot comprises a main machine body 1, an electronic display screen 11 is arranged on the front side of the main machine body 1 close to the upper end, a walking mechanism 2 is arranged in the bottom end of the main machine body 1, a spray head 3 is arranged on the bottom end of the main machine body 1 close to the front end, a cleaning mop 4 is hinged to the bottom end of the main machine body 1 close to the rear end through a hinge, a disinfection liquid box 5 is arranged in the main machine body 1, and a self-cleaning mechanical arm 6 is rotatably connected to the outer side of the main machine body 1.
In this embodiment, the sterilization system of the medical sterilization robot loaded in the processor 15 of the medical sterilization robot is used for controlling the whole operation process of the robot, and includes
The system comprises an infrastructure unit 100, an intelligent regulation and control unit 200 and a function service unit 300; the infrastructure unit 100, the intelligent control unit 200 and the function service unit 300 are sequentially connected through Ethernet communication; the infrastructure unit 100 is used for providing basic applications, services and technologies supporting system operation; the intelligent control unit 200 is used for performing centralized control on the operation process of the system and separately managing each actuator; the function service unit 300 is used to complete the functionality of the robot by adding various services;
the infrastructure unit 100 comprises a parameter setting module 101, a state sensing module 102, a data processing module 103 and a network communication module 104;
the intelligent regulation and control unit 200 comprises a unified centralized control module 201, a distributed autonomous module 202 and a power management module 203;
the function service unit 300 includes a cruise management module 301, a capacity monitoring module 302, and an information feedback module 303.
Further, a voice control module is additionally arranged in the intelligent control unit 200 and is used for inputting voice information of a user, intelligently identifying voice content and automatically controlling the medical disinfection robot to execute a working instruction in the voice content.
Further, a shared code scanning module is additionally arranged in the function service unit 300 and used for automatically generating a shared public channel for accessing the system through a two-dimensional code technology, and a user can log in the system by scanning the two-dimensional code and remotely send a control instruction to the medical disinfection robot through a mobile terminal by using the mobile terminal such as a mobile phone.
Specifically, through above-mentioned functional module, can avoid medical personnel and medical disinfection robot direct contact, also can be under the condition of uncertain medical disinfection robot whether safe, control disinfection robot in advance carry out automatically cleaning and contact medical disinfection robot again after disinfecting certainly, guarantee medical personnel's safety, reduce cross infection's probability.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A medical disinfection robot, its characterized in that: comprises a main machine body (1), an electronic display screen (11) is arranged on the front side of the main machine body (1) near the upper end, a camera (111) and a plurality of sensors (112) are regularly arranged on the inner side of the electronic display screen (11), a key panel (12) is arranged under the electronic display screen (11), a wireless charging plate (13) is arranged on the back of the main machine body (1) near the upper end, a power supply manager (14), a processor (15) and a controller (16) are regularly arranged in the main body (1) close to the upper end, a walking mechanism (2) is arranged inside the bottom end of the main machine body (1), a spray head (3) is arranged at the bottom end of the main machine body (1) close to the front end, a cleaning mop (4) is hinged at the bottom end of the main machine body (1) close to the rear end through a hinge, the disinfection solution box (5) is arranged inside the main machine body (1), and the outer side of the main machine body (1) is rotatably connected with a self-cleaning mechanical arm (6).
2. The medical disinfecting robot of claim 1, wherein: the inboard sliding connection of rear end of the host computer body (1) has drawer check (17), and disinfectant box (5) joint is in drawer check (17), disinfectant box (5) through hose (51) with shower nozzle (3) are connected.
3. The medical disinfecting robot of claim 2, wherein: the power supply manager (14) is abutted to the wireless charging plate (13), and the power supply manager (14) and the controller (16) are electrically connected with the processor (15) through leads respectively.
4. The medical disinfecting robot of claim 3, wherein: the processor (15) is internally provided with a disinfection system of a medical disinfection robot, which is used for controlling the whole operation process of the robot and comprises
The system comprises an infrastructure unit (100), an intelligent regulation and control unit (200) and a function service unit (300); the infrastructure unit (100), the intelligent regulation and control unit (200) and the function service unit (300) are sequentially connected through Ethernet communication; the infrastructure unit (100) is used for providing basic applications, services and technologies supporting system operation; the intelligent control unit (200) is used for performing centralized control on the operation process of the system and separately managing each actuator; the function service unit (300) is used for improving the functionality of the robot by adding various services;
the infrastructure unit (100) comprises a parameter setting module (101), a state sensing module (102), a data processing module (103) and a network communication module (104);
the intelligent regulation and control unit (200) comprises a unified centralized control module (201), a distributed autonomous module (202) and a power management module (203);
the function service unit (300) comprises a cruise management module (301), a capacity monitoring module (302) and an information feedback module (303).
5. The medical disinfecting robot of claim 4, wherein: the parameter setting module (101), the state sensing module (102) and the data processing module (103) are sequentially connected through Ethernet communication; the parameter setting module (101) is used for providing a channel for inputting and adjusting preset parameters for a user; the state perception module (102) is used for acquiring state parameters of an external environment of the robot in the running process in real time through various sensors; the data processing module (103) is used for collecting, counting and analyzing data and applying a data calculation result to the operation process of the robot; the network communication module (104) is used for establishing connection and data transmission channels among all layers of the system.
6. The medical disinfecting robot of claim 5, wherein: the data processing module (103) comprises a map importing module (1031), an acquisition classifying module (1032), an analysis matching module (1033) and a path planning module (1034); a signal output end of the map import module (1031) is connected with a signal input end of the collection and classification module (1032), a signal output end of the collection and classification module (1032) is connected with a signal input end of the statistical analysis matching module (1033), and a signal output end of the statistical analysis matching module (1033) is connected with a signal input end of the path planning module (1034); the map importing module (1031) is used for importing map data of a robot working area into the system processor; the acquisition and classification module (1032) is used for acquiring the state data acquired by each sensor and classifying and summarizing the data; the statistical analysis matching module (1033) is used for carrying out statistics and analysis on the state data and carrying out comprehensive analysis after combining the data result with the map information; the path planning module (1034) is used for planning the operation path of the robot according to the set working area and the calculation result of various types of data.
7. The medical disinfecting robot of claim 6, wherein: the path planning module (1034) adopts a Manhattan distance algorithm, and the formula is as follows:
d＝|x1-x2|+|y1-y2|；
wherein (x)1，y1) Coordinates of the advancing destination of the robot, (x)2，y2) D is the distance between the robot and the destination.
8. The medical disinfecting robot of claim 4, wherein: the unified centralized control module (201), the distributed autonomous module (202) and the power management module (203) are sequentially in communication connection through Ethernet and operate independently; the unified centralized control module (201) is used for carrying out unified distribution management and centralized control on the whole operation process of the system through the processor (15); the distribution autonomous module (202) is used for respectively managing and controlling each basic execution mechanism; the power supply management module (203) is used for managing and distributing the charging and discharging process of the power supply and monitoring the electric quantity change of the power supply.
9. The medical disinfecting robot of claim 8, wherein: the distribution autonomous module (202) comprises a walking management module (2021), a spraying distribution module (2022), a cleaning management and control module (2023) and a wiping control module (2024); the walking management module (2021), the spraying distribution module (2022), the sweeping management and control module (2023) and the wiping control module (2024) operate independently; the walking management module (2021) is used for controlling the starting and stopping processes of the walking mechanism (2) and the adjustment of the walking speed through a controller; the spraying distribution module (2022) is used for controlling the flow of the sprayed disinfectant by controlling the opening and closing of the electromagnetic valve through the controller; the cleaning management and control module (2023) is used for controlling the rotation of the cleaning mop (4) through the controller to enable the cleaning mop to be in contact with the ground so as to achieve the purpose of cleaning; the wiping control module (2024) is used for controlling the rotation of the self-cleaning mechanical arm (6) through a controller so as to realize the automatic wiping process of the outer wall.
10. The medical disinfecting robot of claim 4, wherein: the cruise management module (301), the capacity monitoring module (302) and the information feedback module (303) are sequentially connected through Ethernet communication and operate independently; the cruise management module (301) is used for managing the cruise process of the robot, and comprises path adjustment, speed adjustment, automatic obstacle avoidance and the like; the capacity monitoring module (302) is used for monitoring the liquid residual quantity in the disinfectant box (5) through a liquid level meter; the information feedback module (303) is used for displaying information such as a working area, a cruising speed and a disinfectant surplus of the robot through the electronic display screen (11) and popping up an alarm pop-up window when an abnormal condition occurs.
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| CN112482552A (en) * | 2020-12-02 | 2021-03-12 | 安徽信息工程学院 | Intelligent city sewer dredging robot |
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