CN113230428A - Intelligent robot based on coronavirus UVC elimination and killing mechanism - Google Patents
Intelligent robot based on coronavirus UVC elimination and killing mechanism Download PDFInfo
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- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
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Abstract
The invention discloses an intelligent robot based on a coronavirus UVC disinfection mechanism, which comprises an intelligent control unit, a UVC disinfection unit and an intelligent software scheduling unit. The intelligent control unit detects environmental information in front of the robot and real-time position information of the robot, and plans and controls the operation process of the robot in a disinfection working process. And the UVC disinfection unit receives the operation planning instruction and the disinfection mode transmitted by the intelligent control module and disinfects the viruses in the environment. The intelligent software scheduling unit remotely regulates and controls a plurality of robots, adopts a cloud protocol to communicate with the intelligent control unit, and the robots have the function of controlling UVC irradiation time according to distance, so that the problems that the disinfection time is too short due to poor control time, the disinfection effect is poor, or the disinfection time is too long, so that the resource waste is caused are effectively solved.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to an intelligent robot based on a coronavirus UVC (ultraviolet C) killing mechanism.
Background
UVC (ultraviolet C radiation) refers to ultraviolet rays with the wavelength range of 200-275nm, and is also called short wave sterilization ultraviolet rays. Its penetration is the weakest and does not penetrate most transparent glasses and plastics. The short-wave ultraviolet rays contained in sunlight are almost completely absorbed by the ozone layer. The short wave ultraviolet ray has great harm to human body, can burn skin after short time irradiation, and can cause skin cancer after long time or high intensity irradiation.
Research shows that UVC ultraviolet radiation can act on microorganisms (pathogens such as bacteria, viruses, spores and the like) to destroy the molecular structure of DNA (deoxyribonucleic acid) or RNA (ribonucleic acid) in organism cells of the microorganisms, so that DNA chain breakage, cross-linking breakage of nucleic acid and protein are caused, and growth cell death and regeneration cell death are caused, thereby achieving the aims of disinfection and sterilization. UVC ultraviolet radiation is a broad-spectrum fungicide that kills all microorganisms, including bacteria, viruses, spores and fungi. The killing effect of ultraviolet radiation on viruses is verified, and different killing objects need different ultraviolet radiation doses. There are two common UVC disinfection devices: (1) UVC air disinfection equipment: it introduces air into the UVC module (narrow duct) to kill bacteria/viruses, and then brings the purified air out of the device by a blower; (2) UVC illumination disinfecting equipment: it places UVC in the surrounding space and bacteria/viruses in the air or on the surface of the object die from exposure to UVC.
UVC can be harmful to the skin and eyes of humans, and thus common UVC devices avoid such damage by three methods: (i) remote controller: it allows the user to control the UVC device remotely to avoid contact; (ii) a motion sensor: the device is used for detecting people or animals in a certain distance and can automatically shut down when people or animals are detected; (iii) the apparatus includes a housing enclosing a UVC lamp therein, and a portion of the UVC lamp is exposed to kill bacteria/viruses on the surface of the air or object. UVC propagates along straight lines, which creates a blind spot disadvantage for location dependent devices. Low pressure mercury UVC lamps are activated by relatively low pressure (<10-2Pa) mercury vapor to emit ultraviolet light having a spectral emission line that is predominantly 253.7nm wavelength, ultraviolet light invisible to the naked eye.
At present, Coronavir (COVID-19) is one of the most contagious and fatal viruses, and many of them detect positive for new Coronavirus from cold chain food or cold chain environment, especially imported frozen food, so that it is very important to develop an economical and exquisite product to quantitatively and effectively kill viruses of cold chain food and its package. At present, a disinfection device is required to be arranged in a cold chain environment for virus killing, but in the prior art, viruses are mostly killed by manual disinfection, the working mode is low in efficiency, the disinfection is not comprehensive enough, and the problems that the disinfection is not in place or the resources are wasted due to the fact that the ultraviolet disinfection dosage is not clear enough exist.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses an intelligent robot based on a coronavirus UVC (ultraviolet radiation) sterilization mechanism, which is simple in structure, convenient to install, excellent in sterilization effect in normal-temperature and low-temperature environments, and capable of performing unmanned uninterrupted virus sterilization work on the environment of a cold-chain logistics warehouse so as to solve the problems that the manual virus sterilization efficiency is low, the manual virus sterilization is not comprehensive enough and the ultraviolet sterilization dosage is not clear enough in the prior art, and the technical scheme comprises the following steps:
the intelligent control unit plans the running track of the robot and regulates and controls the working process by detecting the environmental information in front of the robot and the real-time position information of the robot, and designs a robot walking path and a disinfection mode which accord with the virus killing regulation in a known environment map by adopting an intelligent disinfection path planning algorithm;
a UVC disinfection unit for receiving an operation planning instruction and a disinfection mode transmitted by the intelligent control module and disinfecting the virus in the environment,
and the intelligent software scheduling unit is used for remotely regulating and controlling the plurality of robots and is in data communication with the intelligent control unit by adopting a network data protocol.
And (3) irradiating and killing the viruses in the environment of 20 ℃ and-20 ℃ by using an ultraviolet lamp, measuring the virus titers of a control group and a treated experimental group by using a TCID50 method, comparing the virus titers with a detection limit, and calculating the killing rate. Each of the control and experimental groups was set up in 3 replicates.
Further, the intelligent control unit comprises a sensor module, a navigation module and a disinfection control module;
the sensor module comprises an ultrasonic radar and a laser radar sensor, the ultrasonic radar is used for sensing distance information of obstacles in front of a running route of the robot, and when the robot runs to a preset disinfection place, the ultrasonic radar acquires the distance information of millimeter precision of a front object in front of the robot; the laser radar sensor is used for positioning the running process of the robot in real time, forming a high-speed scanning point cloud data information frame according to laser radar angle and distance information within a 360-degree view angle range, converting the point cloud and depth information data, performing matching calculation on the processed depth information and characteristic probability points in a pre-scanned environment grid map to obtain the optimal estimated value of the position coordinate of the robot in the map, and taking the optimal estimated value as the positioning coordinate of the robot;
the navigation module receives the obstacle distance information and the positioning coordinate transmitted by the sensor module, simultaneously takes the laser radar angle and the environment distance information as positioning data, and takes the ultrasonic radar distance information as obstacle detection data in the advancing direction, so that obstacle avoiding path calculation is carried out.
The UVC disinfection unit comprises a disinfection control module and an ultraviolet disinfection lamp, the disinfection control module reads distance information between the robot and a disinfection target measured by the front ultrasonic radar, a relation curve of ultraviolet lamp irradiation dose and irradiation distance is obtained through an ultraviolet lamp irradiation dose calculation formula, disinfection time required by the robot at the distance is obtained in real time, and therefore a control instruction of the disinfection time is output.
And the ultraviolet disinfection lamp receives the instruction information transmitted by the disinfection control module to disinfect the environment.
The mobile unit further comprises a communication module, a mobile chassis and a robot status indicator light;
the mobile control unit receives a robot disinfection navigation control instruction transmitted by the intelligent software scheduling unit through the communication module and establishes a point-to-point SSH communication relation with the intelligent software scheduling unit;
the mobile chassis comprises a left differential driving wheel, a right differential driving wheel, a front supporting universal wheel, a rear supporting universal wheel, a left differential driving wheel, a right differential driving wheel and a motor controller, serial port communication is carried out between the mobile chassis and the navigation module and between the mobile chassis and the motor controller, the motor controller receives a motion command transmitted by the navigation module to generate a motor control signal to drive the left differential driving wheel and the right differential driving wheel, a control electric signal for controlling the chassis to move forward, turn or move backward is generated according to a differential motion model, encoder data arranged on the left driving wheel and the right driving wheel of the mobile chassis is sent at the same time, the real-time angle of rotation of the driving wheels is read, the accumulated running mileage data information of the chassis is calculated, and the accumulated running mileage data information is sent to the navigation module through a communication interface;
the robot state indicator light is in serial port communication with the navigation module and receives robot state data issued by the navigation module so as to display the states of normal running, disinfection work, fault and task completion of the robot.
The UVC disinfection unit comprises UVC ultraviolet lamps and a support, wherein the UVC ultraviolet lamps are of a tubular structure and are vertically arranged.
The wavelength of the UVC ultraviolet lamp is 200-275 nm.
Wherein the temperature ranges of the normal temperature environment and the low temperature environment are-20-30 ℃.
TCID50 is a method for determining virus infectivity, in which virus liquid is diluted in centrifugal tube in continuous gradient, diluted virus is inoculated to multi-hole culture plate, and cell suspension is added into holes to make the number of cells reach a certain value. The control group is prepared by uniformly coating a certain amount of virus diluent in a culture dish, and the experimental group is prepared by uniformly coating a certain amount of virus diluent in a culture dish, and killing viruses in the culture dish by using an ultraviolet lamp after culturing for a period of time in a specific environment. The detection limit is the minimum concentration recognized by the instrument for the target object, and the condition that the concentration is less than the detection limit is considered as no detection.
Due to the adoption of the technical scheme, the device controls the killing range and the UVC dosage of the robot by adopting intelligent software, so that the coronavirus killing efficiency is high, the robot does not need to be continuously controlled by manpower, uninterrupted ultraviolet virus killing can be realized, and a higher safety effect is achieved. The intelligent remote control can be realized by adopting the cloud technology, so that a user can control and operate the intelligent robot based on the coronavirus UVC disinfection mechanism outside a disinfection area, and meanwhile, the control state indicator lamp can reflect the state of the device to a certain extent to prevent accidents from happening; the influence on goods with virus on the surface is smaller, and the principle of killing the virus by UVC is to destroy the molecular structure of DNA (deoxyribonucleic acid) or RNA (ribonucleic acid) in cells of a microorganism body, so that DNA chain breakage, cross-linking breakage of nucleic acid and protein are caused, and growth cell death and regenerative cell death are caused, thereby achieving the aim of disinfection and sterilization, and having no influence on the physical properties of the goods in the package. The robot controls the UVC irradiation time according to the distance, and effectively avoids the phenomenon that the disinfection time is too short, the disinfection effect is not good or the disinfection time is too long to cause resource waste due to the fact that the control is not good.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of an intelligent robot according to the present invention;
FIG. 2 is a schematic circuit diagram of an intelligent control unit of the robot in the present invention;
FIG. 3 is a graph showing the result of killing coronavirus at 20 ℃ and-20 ℃ in the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
an intelligent robot based on a coronavirus UVC disinfection mechanism as shown in figure 1 comprises an intelligent control unit, a UVC disinfection unit and an intelligent software scheduling unit. The intelligent control unit detects environmental information in front of the robot and real-time position information of the robot, and plans and controls the operation process of the robot in a disinfection working process. And the UVC disinfection unit receives the operation planning instruction and the disinfection mode transmitted by the intelligent control module and disinfects the viruses in the environment. The intelligent software scheduling unit remotely regulates and controls the plurality of robots and is in data communication with the intelligent control unit by adopting a network data protocol.
Further, as shown in fig. 2, the intelligent control unit includes a sensor module, a sterilization control module, a navigation module, a communication module, a mobile chassis, and a robot status indicator lamp.
The sensor module comprises an ultrasonic radar and a laser radar sensor, the ultrasonic radar is used for sensing distance information of obstacles in front of a running route of the robot, and when the robot runs to a preset disinfection place, the ultrasonic radar acquires the distance information of millimeter precision of a front object in front of the robot; the laser radar sensor is used for positioning the running process of the robot in real time, forming a high-speed scanning point cloud data information frame according to laser radar angle and distance information within a 360-degree visual angle range, converting the point cloud and depth information data, performing matching calculation on the processed depth information and feature points in a pre-scanned environment grid map to obtain the optimal estimated value of the position coordinate of the robot in the map, and taking the optimal estimated value as the positioning coordinate of the robot.
Under the working state, four ultrasonic radars are installed on a moving chassis of the robot, one is arranged behind the three front parts, the ultrasonic radars comprise an ultrasonic generator, a processing unit and an output stage, the ultrasonic generator generates ultrasonic pulses, the processing unit analyzes the received ultrasonic reflection pulses, and the travel time of the ultrasonic waves is measured and converted into the travel distance. The front ultrasonic radar is aligned with the advancing direction to emit ultrasonic waves, and the distance between the surface of an object and the sensor can be measured if an obstacle or an object to be disinfected exists in front of the front ultrasonic radar. The rear ultrasonic radar is used for monitoring whether an obstacle exists behind the robot when the robot chassis retreats.
The laser radar sensor is a centimeter precision laser radar, a laser in the laser radar transmits pulse laser to the surrounding 360 degrees through rotation, the reflected pulse laser is received by a laser radar receiver, and the distance of a reflecting object is obtained through conversion according to pulse travel time. And the laser radar feeds back each angle value and the ranging result corresponding to the angle to the intelligent control unit. The robot maps the working environment through the laser radar, obtains the coordinates of the current position through an SLAM positioning algorithm, converts point cloud and depth information data obtained by high-speed scanning of the laser radar, and performs matching calculation with the feature points in the pre-established map to obtain the accurate position of the robot in the map, so that the robot is accurately positioned.
The navigation module receives the obstacle distance information and the positioning coordinates transmitted by the sensor module, simultaneously takes the laser radar angle and the obstacle distance information as positioning data, and takes the ultrasonic radar distance information as obstacle detection data in the advancing direction, so that obstacle avoiding path calculation is carried out.
Under the working state: the navigation module is connected with the laser radar sensor and the ultrasonic radar, and has the main functions of combining the distance information of the robot obtained by the laser radar sensor and the ultrasonic radar relative to the obstacle, utilizing the information as the obstacle avoidance data of the robot, and carrying out path re-planning calculation if the robot meets the obstacle through real-time monitoring of the established path of the robot. And the information is issued to the status indicator lamp according to the working state of the status indicator lamp, so as to control the working state of the status indicator lamp.
The disinfection working unit comprises a disinfection control module and an ultraviolet disinfection lamp, the disinfection control module reads distance information between the robot and a disinfection target, a relation curve of ultraviolet lamp irradiation dose and irradiation distance is obtained through an ultraviolet lamp irradiation dose formula, disinfection time required by the robot at the distance is obtained in real time, and therefore a control instruction of the disinfection time is output. In the working process, the disinfection control module firstly acquires the real-time state of the robot of the navigation module and judges whether the ultraviolet disinfection lamp is started or not according to the state of the robot. The disinfection control module can also read the distance information between the front of the robot and the disinfection target through a preposed ultrasonic radar, obtain a relation curve between the ultraviolet lamp irradiation dose and the irradiation distance through an ultraviolet lamp irradiation dose formula, obtain the disinfection time required by the disinfection target, and control the state of an ultraviolet disinfection lamp through a disinfection state instruction.
Furthermore, the mobile control unit receives the robot disinfection navigation control instruction transmitted by the intelligent software scheduling unit through the communication module and establishes a point-to-point SSH communication relation with the intelligent software scheduling unit, namely the communication module establishes a communication function between a WIFI local area network on a mobile chassis of the robot and a robot control server, and the server side establishes point-to-point SSH communication with the robot embedded system, issues the robot disinfection navigation control instruction and reads back the working state and electric quantity information of the robot.
The mobile chassis comprises a left differential driving wheel, a right differential driving wheel, a front supporting universal wheel, a rear supporting universal wheel, a left differential driving wheel, a right differential driving wheel and a motor controller, serial port communication is carried out between the mobile chassis and the navigation module and between the mobile chassis and the motor controller, the motor controller receives a motion command transmitted by the navigation module to generate a motor control signal to drive the left differential driving wheel and the right differential driving wheel, a control electric signal for controlling the chassis to move forwards, turn or move backwards is generated according to a differential motion model, meanwhile, the real-time angle of the left driving wheel and the right driving wheel of the mobile chassis is transmitted, accumulated mileage data information of chassis driving is calculated, and the accumulated mileage data information is transmitted to the navigation module through a communication interface.
The robot state indicator lamp is in serial port communication with the navigation module, receives robot state data issued by the navigation module, and respectively displays states of green, red, yellow and green, flashing for 5 seconds, closing and the like according to states of normal running, disinfection work, failure, task completion and the like of the robot.
Further, the UVC disinfection unit comprises UVC ultraviolet lamps and a support, wherein the UVC ultraviolet lamps are of a tubular structure and are vertically arranged.
Further, the wavelength of the UVC ultraviolet lamp is 200-275 nm.
Wherein the temperature ranges of the normal temperature environment and the low temperature environment are-20-30 ℃.
Further, as shown in FIG. 3, the coronavirus was killed at 20 ℃ by measuring TCID50 of coronavirus stock solution and diluting the virus titer to 10 with PBS solution5.982Per mL; 1ml of virus solution is evenly spread in a culture dish with the thickness of no more than 3mm, wherein the culture dish is 9 cm. Preheating an ultraviolet lamp for 5min, placing the culture dish under an ultraviolet lamp for 16.1cm to kill the virus for 1min, and washing the virus in the culture dish with 1ml of culture medium to be used as an object to be detected; control group was plated on a petri dish, and virus in the petri dish was washed out with 1ml of medium, and the control group was assayed using the TCID50 methodAnd the virus titer after treatment. The control group and the experimental group are respectively provided with 3 replicates, and the average virus titer of the experimental group is less than 101.500The killing rate reaches 99.99 percent per mL.
The coronavirus is sterilized at-20 deg.C by determining TCID50 of coronavirus stock solution, and diluting with PBS solution to obtain virus titer of 105.683Per mL; 1ml of virus solution is evenly spread in a culture dish with the thickness of no more than 3mm, wherein the culture dish is 9 cm. Freezing the culture dish containing the virus sample at-20 deg.C for more than 0.5 h; preheating an ultraviolet lamp for 5min, immediately placing the culture dish after freezing ice under an ultraviolet lamp for killing for 1min by 16.1cm, and washing the virus in the culture dish by using 1ml of culture medium after the virus sample is completely thawed to serve as an object to be detected. After the control group was plated on a petri dish and thawed, the virus in the petri dish was washed out with 1ml of medium, and the virus titer of the control group and the treated group was determined by the TCID50 method. The control group and the experimental group are respectively provided with 3 replicates, and the average virus titer of the experimental group is less than 101.500The killing rate reaches 99.99 percent per mL.
In practical application, when the intelligent robot based on the coronavirus UVC disinfection mechanism disclosed by the invention is adopted to carry out intelligent disinfection work, an intelligent software system can be used for controlling the disinfection range and the UVC dosage of the robot; the coronavirus killing efficiency is high, and the robot does not need to use manpower to continuously control the coronavirus killing efficiency, so that uninterrupted ultraviolet virus killing can be realized; the intelligent robot based on the coronavirus UVC disinfection mechanism has higher safety, and can be controlled by an intelligent software system, so that a user can control and operate the intelligent robot based on the coronavirus UVC disinfection mechanism outside a disinfection area, and meanwhile, the control state indicator lamp can reflect the state of the device to a certain extent to prevent accidents; the influence on goods with virus on the surface is smaller, and the principle of killing the virus by UVC is to destroy the molecular structure of DNA (deoxyribonucleic acid) or RNA (ribonucleic acid) in cells of a microorganism body, so that DNA chain breakage, cross-linking breakage of nucleic acid and protein are caused, and growth cell death and regenerative cell death are caused, thereby achieving the aim of disinfection and sterilization, and having no influence on the physical properties of the goods in the package. The intelligent robot based on the coronavirus UVC disinfection mechanism has the function of controlling the UVC irradiation time according to the distance, and effectively avoids the problems that the disinfection time is too short due to poor control time, the disinfection effect is poor, or the resource waste is caused by too long disinfection time.
The intelligent robot based on the coronavirus UVC killing mechanism is not only suitable for killing coronaviruses in a cold-chain logistics warehouse, but also can be applied to other goods warehouses and the like needing to be killed, and is wide in application range.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. An intelligent robot based on coronavirus UVC killing mechanism, characterized by comprising:
the intelligent control unit plans the running track of the robot and regulates and controls the working process by determining the real-time position information of the robot and detecting the environmental information in front of the robot, and adopts an intelligent disinfection path planning algorithm to design a robot walking path and a disinfection mode which accord with the virus disinfection regulation in a known environment map;
the UVC disinfection unit receives an operation planning instruction and a disinfection mode transmitted by the intelligent control module and disinfects the viruses in the environment;
the intelligent software scheduling unit is used for remotely regulating and controlling the plurality of robots and is in data communication with the intelligent control unit by adopting a cloud protocol;
the UVC disinfection unit carries out complete killing of the coronavirus in normal and low temperature environments.
2. The intelligent robot of claim 1, wherein: the intelligent control unit comprises a sensor module, a disinfection control module and a navigation module;
the sensor module comprises an ultrasonic radar and a laser radar sensor, the ultrasonic radar is used for sensing distance information of obstacles in front of a running route of the robot, and when the robot runs to a preset disinfection place, the ultrasonic radar acquires the distance information of millimeter precision of a front object in front of the robot; the laser radar sensor is used for positioning the running process of the robot in real time, forming a high-speed scanning point cloud data frame according to the laser radar angle and distance information within a 360-degree view angle range, converting the point cloud into distance information, performing matching calculation with a pre-scanned environment grid map, obtaining the optimal estimated value of the position coordinate of the robot in the map, and taking the optimal estimated value as the positioning coordinate of the robot;
the navigation module receives the environment distance information and the front obstacle distance information transmitted by the sensor module, simultaneously takes the laser radar angle and the environment distance information as positioning data, and takes the ultrasonic radar distance information as obstacle detection data in the advancing direction, so that obstacle avoiding path calculation is carried out.
3. The intelligent robot of claim 1, wherein: the UVC disinfection unit comprises a disinfection control module and an ultraviolet disinfection lamp, the disinfection control module reads distance information between the robot and a disinfection target obtained by measurement of a front ultrasonic radar, a relation curve of ultraviolet lamp irradiation dose and irradiation distance is obtained through an ultraviolet lamp irradiation dose calculation formula, disinfection time required by the robot at the distance is obtained in real time, and therefore a control instruction of the disinfection time is output.
And the ultraviolet disinfection lamp receives the instruction information transmitted by the disinfection control module to disinfect the environment.
4. The intelligent robot of claim 1, wherein: the mobile unit further comprises a communication module, a mobile chassis and a robot status indicator light;
the mobile control unit receives a robot disinfection navigation control instruction transmitted by the intelligent software scheduling unit through the communication module and establishes a point-to-point SSH communication relation with the intelligent software scheduling unit;
the mobile chassis comprises a left differential driving wheel, a right differential driving wheel, a front supporting universal wheel, a rear supporting universal wheel, a left differential driving wheel, a right differential driving wheel and a motor controller, serial port communication is carried out between the mobile chassis and the navigation module and between the mobile chassis and the motor controller, the motor controller receives a motion command transmitted by the navigation module to generate a motor control signal to drive the left differential driving wheel and the right differential driving wheel, a control electric signal for controlling the chassis to move forwards, turn or move backwards is generated according to a differential motion model, meanwhile, the rotating angle of the left driving wheel and the right driving wheel of the mobile chassis read by an encoder is sent, the accumulated running mileage data information of the chassis is calculated, and the accumulated running mileage data information is sent to the navigation module through a communication interface;
the robot state indicator light is in serial port communication with the navigation module and receives robot state data issued by the navigation module so as to display the states of normal running, disinfection work, fault and task completion of the robot.
5. The intelligent robot of claim 1, wherein: the UVC disinfection unit comprises UVC ultraviolet lamps and a support, wherein the UVC ultraviolet lamps are of a tubular structure and are vertically arranged.
6. The intelligent robot of claim 1, wherein: the wavelength of the UVC ultraviolet lamp is 200-275 nm.
7. The intelligent robot of claim 1, wherein: wherein the temperature ranges of the normal temperature environment and the low temperature environment are-20-30 ℃.
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