CN113341950A - Intelligent sterilization robot, sterilization method and storage medium - Google Patents
Intelligent sterilization robot, sterilization method and storage medium Download PDFInfo
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- CN113341950A CN113341950A CN202110521628.6A CN202110521628A CN113341950A CN 113341950 A CN113341950 A CN 113341950A CN 202110521628 A CN202110521628 A CN 202110521628A CN 113341950 A CN113341950 A CN 113341950A
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- 230000001954 sterilising effect Effects 0.000 title claims abstract description 187
- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 185
- 238000000034 method Methods 0.000 title claims description 39
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000007613 environmental effect Effects 0.000 claims description 18
- 230000006698 induction Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 5
- 230000000844 anti-bacterial effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000002070 germicidal effect Effects 0.000 description 39
- 230000033001 locomotion Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001678 irradiating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses an intelligent sterilization robot, which comprises a walking module, a sterilization module, a gyroscope, a target detection module and a controller, wherein the walking module is arranged on the robot; the walking module comprises a single wheel and a driver; the sterilization module comprises a plurality of sterilization lamps, and the sterilization lamps are arranged along the circumferential direction of the single wheel; the controller is used for controlling the driver to keep self-balancing walking according to the mass center deflection angle value acquired by the gyroscope and controlling the sterilizing lamp to work according to the position information of the sterilizing target acquired by the target detection module; the sterilization efficiency and the sterilization effect are improved, the sterilization target is accurately sterilized, and sterilization without dead angles is realized.
Description
Technical Field
The invention relates to the field of sterilization, in particular to an intelligent sterilization robot, a sterilization method and a storage medium.
Background
With the improvement of the quality of life, the requirements on the living sanitation and the household sanitation are higher and higher. The disinfection and sterilization robot can be transported as soon as possible. The existing disinfection and sterilization robot has the problems of low sterilization efficiency and difficulty in accurate sterilization of a sterilization target.
Disclosure of Invention
The present invention is directed to solve at least one of the problems of the prior art, and to provide an intelligent sterilization robot, a sterilization method, and a storage medium.
The technical scheme adopted by the invention for solving the problems is as follows:
in a first aspect of the present invention, an intelligent sterilization robot includes:
the walking module comprises a single wheel and a driver, and the driver is used for driving the single wheel to rotate;
the sterilization module comprises a plurality of sterilization lamps, and the sterilization lamps are arranged along the circumferential direction of the single wheel;
a gyroscope to obtain a centroid declination value;
the target detection module is used for acquiring the position information of the sterilization target;
the intelligent sterilization robot comprises a gyroscope, a driver, a target detection module and a walking module, wherein the gyroscope, the driver, the target detection module and the walking module are electrically connected with the controller, the controller is used for controlling the working state of the driver according to the mass center deflection angle value so as to enable the intelligent sterilization robot to keep self-balancing walking, and the controller is also used for controlling part or all of sterilization lamps to be turned on according to the position information of the sterilization target so as to sterilize the sterilization target.
According to the first aspect of the invention, the intelligent sterilization robot further comprises a display part, the display part is provided with a display screen, the display part is positioned above the single wheel, the display part is provided with two connecting rods, and the two connecting rods are respectively coupled with two opposite sides of the single wheel in the axial direction in a shaft connection mode.
According to the first aspect of the present invention, the display portion includes a chassis and a rotating portion provided with the display screen, the rotating portion is located above the chassis, the chassis is provided with a rotating motor, the rotating motor is connected to the rotating portion, and the rotating motor is configured to drive the rotating portion to rotate.
According to the first aspect of the present invention, the intelligent sterilization robot further comprises a human body induction module, wherein the human body induction module is electrically connected with the controller; the controller is used for controlling the on-off state of the sterilization module according to the feedback result of the human body induction module.
According to the first aspect of the invention, the intelligent sterilization robot further comprises an environmental information acquisition module, wherein the environmental information acquisition module is used for acquiring environmental information, and the environmental information acquisition module and the walking module are both electrically connected with the controller; the controller is used for planning a walking path according to the environment information so as to control the walking module to move.
In a second aspect of the present invention, a sterilization method is applied to an intelligent sterilization robot, the intelligent sterilization robot includes a walking module, a sterilization module, a gyroscope, a target detection module, and a controller, the walking module includes a single wheel and a driver, the driver is used for driving the single wheel to rotate, the sterilization module includes a plurality of sterilization lamps, the sterilization lamps are arranged along the circumferential direction of the single wheel, the gyroscope, the driver, the target detection module, and the walking module are all electrically connected to the controller,
the sterilization method comprises the following steps:
acquiring a centroid declination value through the gyroscope;
controlling the working state of a driver according to the mass center deflection angle value so that the intelligent sterilization robot keeps self-balancing walking;
in the self-balancing walking process, position information of a sterilization target is obtained through the target detection module;
and controlling a part of or all of the sterilizing lamps to be turned on according to the position information of the sterilizing target so as to sterilize the sterilizing target.
According to the second aspect of the invention, the intelligent sterilization robot further comprises a display part, the display part is provided with a display screen, the display part is positioned above the single wheel, the display part is provided with two connecting rods, and the two connecting rods are respectively in shaft connection with two opposite sides of the single wheel in the axial direction;
the sterilization method comprises the following steps:
outputting the disinfection remaining time through the display part;
and outputting light-on information through the display part, wherein the light-on information is used for indicating the number information of the bactericidal lamp in a light-on state.
According to a second aspect of the present invention, the intelligent sterilization robot further comprises a human body induction module, wherein the human body induction module is electrically connected with the controller;
the sterilization method comprises the following steps:
and controlling the on-off state of the sterilization module according to the feedback result of the human body induction module.
According to the second aspect of the invention, the intelligent sterilization robot further comprises an environmental information acquisition module, wherein the environmental information acquisition module and the walking module are both electrically connected with the controller;
the sterilization method comprises the following steps:
acquiring environmental information through the environmental information acquisition module;
and planning a walking path according to the environment information to control the walking module to move.
In a third aspect of the present invention, a storage medium storing executable instructions for causing a processor to perform the sterilization method according to the second aspect of the present invention.
The scheme at least has the following beneficial effects: through the cooperation of the gyroscope and the walking module, the intelligent sterilization robot can flexibly move and walk to various positions to realize patrol sterilization; the target detection module and the sterilization module can accurately confirm the position of the sterilization target and accurately sterilize the sterilization target; the sterilization efficiency and the sterilization effect can be improved through the cooperation of all the parts, and the sterilization without dead angles is realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a block diagram of an intelligent sterilization robot according to an embodiment of the present invention;
FIG. 2 is a flow chart of a sterilization method according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, an embodiment of a first aspect of the present invention provides an intelligent sterilization robot. The intelligent sterilization robot includes a walking module, a sterilization module, a gyroscope 310, a target detection module 330, and a controller.
The walking module comprises a single wheel 110 and a driver 120, and the driver 120 is used for driving the single wheel 110 to rotate; the sterilization module comprises a plurality of sterilization lamps 210, and the plurality of sterilization lamps 210 are arranged along the circumferential direction of the single wheel 110; the gyroscope 310 is used for acquiring a centroid declination value; the target detection module 330 is used for acquiring the position information of the sterilization target; the gyroscope 310, the driver 120, the target detection module 330 and the walking module are all electrically connected with the controller, the controller is used for controlling the working state of the driver 120 according to the centroid deflection angle value so as to enable the intelligent sterilization robot to keep self-balancing walking, and the controller is also used for controlling part or all of the sterilization lamps 210 to be turned on according to the position information of the sterilization target so as to sterilize the sterilization target.
In this embodiment, the intelligent sterilization robot is a robot that performs a walking movement by means of a single wheel 110. Firstly, a user inputs the name of a sterilization target, for example, "pillow", into the intelligent sterilization robot, the intelligent sterilization robot takes pictures around the intelligent sterilization robot through the target detection module 330, performs image recognition on the taken pictures through an image recognition technology, detects the sterilization target "pillow" in the pictures, and further obtains the position information of the sterilization target. According to the position information of the sterilization target, the movement of the walking mechanism is controlled, so that the intelligent sterilization robot walks to the front of the sterilization target, and the sterilization target is positioned on the plane where the single wheel 110 is positioned, namely the sterilization lamp 210 is right opposite to the sterilization target.
Since the plurality of germicidal lamps 210 are arranged along the circumferential direction of the single wheel 110, the plurality of germicidal lamps 210 can irradiate 360 degrees on the plane where the single wheel 110 is located. And according to the position information of the sterilization target, the horizontal relative distance and the vertical relative distance between the current position of the intelligent sterilization robot and the sterilization target are obtained, and according to the horizontal relative distance and the vertical relative distance, the included angle between the current position of the intelligent sterilization robot and the sterilization target can be obtained. The plurality of germicidal lamps 210 are arranged along the circumferential direction of the single wheel 110, each germicidal lamp 210 irradiates at a certain irradiation angle, and the opened germicidal lamp 210 is determined according to the included angle and the irradiation angle of the germicidal lamp 210, so that light rays emitted by the opened germicidal lamp 210 can completely cover a sterilization target. The other germicidal lamps 210 are turned off.
In addition, the germicidal lamp 210 is specifically a deep ultraviolet LED lamp; the special camera is a camera capable of shooting deep ultraviolet light. After the germicidal lamp 210 is started to irradiate the germicidal target, the image containing the light rays irradiated by the germicidal lamp 210 is shot for the germicidal target through the special camera, and whether the light rays irradiated by the germicidal lamp 210 completely cover the germicidal target is judged through an image recognition technology according to the image containing the light rays irradiated by the germicidal lamp 210. If the irradiation light of the germicidal lamp 210 does not completely cover the germicidal target, the germicidal lamp 210 in the off state with the irradiation angle closest to the included angle is continuously turned on to ensure that the irradiation light of the germicidal lamp 210 can completely cover the germicidal target.
In addition, the working state of the driver 120 is controlled according to the centroid deflection angle value obtained by the gyroscope 310, so that the intelligent sterilization robot walks towards the sterilization target, and the self-balancing state is automatically maintained in the walking process. The specific control process is as follows: comparing the centroid deflection angle value obtained by the gyroscope 310 with the expected inclination angle to obtain a phase difference value, performing differential motion on the phase difference value to obtain a difference value, obtaining a control signal according to the difference value by adopting a PID control algorithm, and controlling the torque of the driver 120 by the controller according to the control signal to enable the intelligent sterilization robot to perform acceleration or deceleration motion, so that the lateral inclination angle is changed accordingly. When the lateral inclination angle of the intelligent sterilization robot is theta1In time, the lateral acceleration of the intelligent sterilization robot is used for providing the centripetal acceleration required by the turning of the intelligent sterilization robot. Turning radius r and lateral inclination angle theta of intelligent sterilization robot1And v 2/r g sin theta exists between the speed v of the single wheel 110 robot1cosθ1The relationship (2) of (c).
Specifically, the object detection module 330 is a camera. The driver 120 is a servo motor.
In some embodiments of the first aspect of the present invention, the intelligent sterilization robot further includes a display unit 400, the display unit 400 is provided with a display screen 440, the display unit 400 is located above the single wheel 110, the display unit 400 is provided with two connecting rods 130, and the two connecting rods 130 are respectively coupled to two opposite sides of the single wheel 110 in the axial direction. Specifically, the connection rod 130 is fixedly connected to the display portion 400, the connection rod 130 is rotatably connected to the single wheel 110 through a bearing, the driver 120 is disposed on the connection rod 130, and the driver 120 drives the single wheel 110 to rotate through a transmission component such as a transmission gear.
In some embodiments of the first aspect of the present invention, the display part 400 includes a bottom plate 420 and a rotating part 410 provided with a display screen 440, the rotating part 410 is located above the bottom plate 420, the bottom plate 420 is provided with a rotating motor 430, the rotating motor 430 is connected to the rotating part 410, and the rotating motor 430 is used for driving the rotating part 410 to rotate. Specifically, the rotation axis of the rotation portion 410 is located in the vertical direction.
The rotating portion 410 is driven to rotate by the rotating motor 430, so that the display screen 440 can rotate 360 degrees in the horizontal direction, and the content on the display screen 440 can be conveniently displayed to the user.
In addition, the object detection module 330 is also provided on the rotating part 410.
In some embodiments of the first aspect of the present invention, the intelligent sterilization robot further includes a human body induction module 320, the human body induction module 320 is electrically connected to the controller; the controller is used for controlling the on-off state of the sterilization module according to the feedback result of the human body induction module 320. The human body sensing module 320 is specifically a human body sensing sensor.
In this embodiment, when the germicidal lamp 210 of the intelligent germicidal robot is in the on state and the human body sensing module 320 senses that the distance between the human body and the intelligent germicidal robot is less than the set distance threshold, all germicidal lamps 210 of the germicidal module are controlled to be turned off, so as to prevent the germicidal lamp 210 from irradiating the human body with light.
In some embodiments of the first aspect of the present invention, the intelligent sterilization robot further includes an environment information obtaining module 340, the environment information obtaining module 340 is configured to obtain environment information, and both the environment information obtaining module 340 and the walking module are electrically connected to the controller; the controller is used for planning a walking path according to the environment information so as to control the walking module to move. The environment information acquiring module 340 is embodied as a camera provided on the rotating part 410.
In the embodiment, the environment information is acquired by the environment information acquisition module 340, the environment information includes the coordinates of the intelligent sterilization robot, the coordinates of the obstacles, and the like, the walking path is acquired according to the multi-stage PID control-based walking method along the line, the dynamic PID control-based edge control method, the BFS algorithm and the target point navigation algorithm, the automatic path planning capability and the obstacle avoidance capability of the robot are effectively improved, and the sterilization coverage rate is effectively improved.
Referring to fig. 1 and 2, an embodiment of a second aspect of the present invention provides a sterilization method, the sterilization method is applied to a smart sterilization robot as an embodiment of the first aspect of the present invention, the smart sterilization robot includes a walking module, a sterilization module, a gyroscope 310, a target detection module 330 and a controller, the walking module includes a single wheel 110 and a driver 120, the driver 120 is used for driving the single wheel 110 to rotate, the sterilization module includes a plurality of sterilization lamps 210, the plurality of sterilization lamps 210 are arranged along the circumference of the single wheel 110, the gyroscope 310, the driver 120, the target detection module 330 and the walking module are all electrically connected with the controller,
the sterilization method comprises the following steps:
step S10, obtaining a centroid deflection angle value through the gyroscope 310;
step S20, controlling the working state of the driver 120 according to the centroid deflection angle value so as to enable the intelligent sterilization robot to keep self-balancing walking;
step S30, in the self-balancing walking process, position information of the sterilization target is obtained through the target detection module 330;
step S40, controlling some or all of the germicidal lamps 210 to be turned on according to the location information of the germicidal target to sterilize the germicidal target.
In this embodiment, the self-balancing walking method of the intelligent sterilization robot and the method for controlling the sterilization of the switch of the germicidal lamp 210 are the same as the embodiments of the first aspect of the present invention, and therefore, detailed description thereof is omitted.
The intelligent sterilization robot is controlled by the sterilization method, and has the advantages that the intelligent sterilization robot can flexibly move and walk to various positions by the cooperation of the gyroscope 310 and the walking module, so that patrol sterilization is realized; through the target detection module 330 and the sterilization module, the position of the sterilization target can be accurately confirmed, and the sterilization target can be accurately sterilized; the sterilization efficiency and the sterilization effect can be improved through the cooperation of all the parts, and the sterilization without dead angles is realized.
In some embodiments of the second aspect of the present invention, the intelligent sterilization robot further includes a display part 400, the display part 400 is provided with a display screen 440, the display part 400 is located above the single wheel 110, the display part 400 is provided with two connecting rods 130, and the two connecting rods 130 are respectively coupled to two opposite sides of the single wheel 110 in the axial direction; in addition, the display part 400 can rotate 360 degrees in the horizontal direction, which is advantageous for the user to view.
The sterilization method comprises the following steps:
the remaining sterilization time is output through the display part 400;
the display unit 400 outputs the lighting information indicating the number information of the germicidal lamp 210 in the lighting state.
In this embodiment, the sterilization remaining time is outputted through the display screen 440, which facilitates confirmation of the sterilization remaining time by a person. When the disinfection is finished, the disinfection lamp is turned off, and people can move close to the position. The light-on information displayed by the display screen 440 facilitates people to confirm which germicidal lamps 210 are in the light-on state.
In some embodiments of the second aspect of the present invention, the intelligent sterilization robot further includes a human body induction module 320, the human body induction module 320 is electrically connected to the controller;
the sterilization method comprises the following steps:
and controlling the on-off state of the sterilization module according to the feedback result of the human body induction module 320.
In this embodiment, when the germicidal lamp 210 of the intelligent germicidal robot is in the on state and the human body sensing module 320 senses that the distance between the human body and the intelligent germicidal robot is less than the set distance threshold, all germicidal lamps 210 of the germicidal module are controlled to be turned off, so as to prevent the germicidal lamp 210 from irradiating the human body with light.
According to some embodiments of the second aspect of the present invention, the intelligent sterilization robot further includes an environment information obtaining module 340, wherein the environment information obtaining module 340 and the walking module are both electrically connected to the controller;
the sterilization method comprises the following steps: acquiring the environmental information through the environmental information acquisition module 340; and planning a walking path according to the environment information to control the walking module to move.
In the embodiment, the environment information is acquired by the environment information acquisition module 340, the environment information includes the coordinates of the intelligent sterilization robot, the coordinates of the obstacles, and the like, the walking path is acquired according to the multi-stage PID control-based walking method along the line, the dynamic PID control-based edge control method, the BFS algorithm and the target point navigation algorithm, the automatic path planning capability and the obstacle avoidance capability of the robot are effectively improved, and the sterilization coverage rate is effectively improved.
Embodiments of the third aspect of the present invention provide a storage medium storing executable instructions for causing a processor to perform a sterilization method as described in embodiments of the second aspect of the present invention.
Examples of storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means.
Claims (10)
1. Intelligence robot that disinfects, its characterized in that includes:
the walking module comprises a single wheel and a driver, and the driver is used for driving the single wheel to rotate;
the sterilization module comprises a plurality of sterilization lamps, and the sterilization lamps are arranged along the circumferential direction of the single wheel;
a gyroscope to obtain a centroid declination value;
the target detection module is used for acquiring the position information of the sterilization target; the intelligent sterilization robot comprises a gyroscope, a driver, a target detection module and a walking module, wherein the gyroscope, the driver, the target detection module and the walking module are electrically connected with the controller, the controller is used for controlling the working state of the driver according to the mass center deflection angle value so as to enable the intelligent sterilization robot to keep self-balancing walking, and the controller is also used for controlling part or all of the sterilization lamps to be turned on according to the position information of the sterilization target so as to sterilize the sterilization target.
2. The intelligent sterilization robot as claimed in claim 1, further comprising a display part, wherein the display part is provided with a display screen, the display part is located above the single wheel, the display part is provided with two connecting rods, and the two connecting rods are respectively coupled with two opposite sides of the single wheel in the axial direction.
3. The intelligent sterilization robot as claimed in claim 2, wherein the display part comprises a chassis and a rotating part provided with the display screen, the rotating part is located above the chassis, the chassis is provided with a rotating motor, the rotating motor is connected with the rotating part, and the rotating motor is used for driving the rotating part to rotate.
4. The intelligent sterilization robot of claim 1, further comprising a human body sensing module electrically connected to the controller; the controller is used for controlling the on-off state of the sterilization module according to the feedback result of the human body induction module.
5. The intelligent sterilization robot of claim 1, further comprising an environmental information acquisition module, wherein the environmental information acquisition module is used for acquiring environmental information, and the environmental information acquisition module and the walking module are both electrically connected with the controller; the controller is used for planning a walking path according to the environment information so as to control the walking module to move.
6. The sterilization method is applied to an intelligent sterilization robot, the intelligent sterilization robot comprises a walking module, a sterilization module, a gyroscope, a target detection module and a controller, the walking module comprises a single wheel and a driver, the driver is used for driving the single wheel to rotate, the sterilization module comprises a plurality of sterilization lamps, the sterilization lamps are arranged along the circumferential direction of the single wheel, and the gyroscope, the driver, the target detection module and the walking module are all electrically connected with the controller, the sterilization method comprises the following steps:
acquiring a centroid declination value through the gyroscope;
controlling the working state of the driver according to the mass center deflection angle value so that the intelligent sterilization robot keeps self-balancing walking;
in the self-balancing walking process, position information of a sterilization target is obtained through the target detection module;
and controlling part or all of the sterilizing lamps to be turned on according to the position information of the sterilizing target so as to sterilize the sterilizing target.
7. The sterilization method according to claim 6, wherein the intelligent sterilization robot further comprises a display part, the display part is provided with a display screen, the display part is positioned above the single wheel, the display part is provided with two connecting rods, and the two connecting rods are respectively coupled with two opposite sides of the single wheel in the axial direction;
the sterilization method comprises the following steps:
outputting the disinfection remaining time through the display part;
and outputting light-on information through the display part, wherein the light-on information is used for indicating the number information of the bactericidal lamp in a light-on state.
8. The sterilization method according to claim 6, wherein the intelligent sterilization robot further comprises a human body sensing module, and the human body sensing module is electrically connected with the controller;
the sterilization method comprises the following steps:
and controlling the on-off state of the sterilization module according to the feedback result of the human body induction module.
9. The sterilization method according to claim 6, wherein the intelligent sterilization robot further comprises an environmental information acquisition module, and the environmental information acquisition module and the walking module are both electrically connected with the controller;
the sterilization method comprises the following steps:
acquiring environmental information through the environmental information acquisition module;
and planning a walking path according to the environment information to control the walking module to move.
10. Storage medium, characterized in that it stores executable instructions for causing a processor to execute a sterilization method according to any one of claims 6 to 9.
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| CN101623865A (en) * | 2009-07-08 | 2010-01-13 | 北京工业大学 | One-wheel robot system and control method thereof |
| CN105872372A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Image acquisition method and electronic device |
| CN106603785A (en) * | 2016-12-21 | 2017-04-26 | 圆融健康科技（深圳）有限公司 | UV sterilization method and mobile terminal |
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| CN111228527A (en) * | 2020-02-29 | 2020-06-05 | 蓓安科仪（北京）技术有限公司 | Ultraviolet disinfection robot |
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