CN114632174A - Spraying sterilization robot and spraying sterilization method - Google Patents
Spraying sterilization robot and spraying sterilization method Download PDFInfo
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- CN114632174A CN114632174A CN202210315283.3A CN202210315283A CN114632174A CN 114632174 A CN114632174 A CN 114632174A CN 202210315283 A CN202210315283 A CN 202210315283A CN 114632174 A CN114632174 A CN 114632174A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 89
- 238000005507 spraying Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 50
- 239000007921 spray Substances 0.000 claims abstract description 182
- 230000002147 killing effect Effects 0.000 claims abstract description 149
- 230000033001 locomotion Effects 0.000 claims abstract description 98
- 239000007788 liquid Substances 0.000 claims abstract description 53
- 239000000645 desinfectant Substances 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 13
- 238000012549 training Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 8
- 238000013507 mapping Methods 0.000 claims description 4
- 238000012216 screening Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 15
- 230000004044 response Effects 0.000 description 4
- 238000000889 atomisation Methods 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 2
- 230000000249 desinfective effect Effects 0.000 description 2
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- OSVXSBDYLRYLIG-UHFFFAOYSA-N dioxidochlorine(.) Chemical compound O=Cl=O OSVXSBDYLRYLIG-UHFFFAOYSA-N 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000009385 viral infection Effects 0.000 description 2
- 239000004155 Chlorine dioxide Substances 0.000 description 1
- 230000002421 anti-septic effect Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 235000019398 chlorine dioxide Nutrition 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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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
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
-
- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
- A61L9/14—Disinfection, sterilisation or deodorisation of air using sprayed or atomised substances including air-liquid contact processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- 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
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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
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
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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
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
- A61L2209/10—Apparatus features
- A61L2209/11—Apparatus for controlling air treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
- A61L2209/10—Apparatus features
- A61L2209/13—Dispensing or storing means for active compounds
- A61L2209/134—Distributing means, e.g. baffles, valves, manifolds, nozzles
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a spray killing robot and a spray killing method, comprising the following steps: the movable chassis is used for controlling the movement of the spray sterilizing robot; the spraying device is used for placing the disinfectant to be treated with preset concentration, atomizing the disinfectant to be treated to obtain liquid drops to be treated, and then spraying the liquid drops to be treated into the surrounding space environment; and the target killing device is used for adjusting the position and the direction of the mechanical arm when the spraying killing robot identifies a target object and controls the spraying killing robot to move to a preset position by utilizing the movable chassis, so that the nozzle faces the target object, simultaneously associating the spraying device to obtain liquid drops to be treated, and combining the movement of the movable chassis, the rotation of the mechanical arm and the spraying of the nozzle on the liquid drops to be treated to complete the omnibearing spraying killing of the target object. The invention realizes the omnibearing and accurate sterilization of the specific target object by identifying the target object and controlling the movable chassis and the mechanical arm.
Description
Technical Field
The invention relates to the field of disinfection and sterilization, in particular to a spray disinfection robot and a spray disinfection method.
Background
At present, the disinfection and killing commonly used in various public places still mainly adopts manual disinfection and killing, in particular, disinfectant is manually sprayed to an area or a space needing disinfection and sterilization, the disinfection and killing mode is time-consuming and labor-consuming, the efficiency is low, and the disinfection and killing effect cannot be effectively monitored.
Some functional robots for disinfection and sterilization appear on the market, and most of the robots adopt a disinfection and sterilization scheme that a moving platform is combined with spraying for disinfection or a moving platform is combined with an ultraviolet lamp for disinfection and sterilization. For traditional artifical killing, current killing robot can promote holistic killing efficiency to avoid the risk of staff's infection, but its mode of killing that disappears is single, the scene of killing is limited, can't carry out the accurate killing of omnidirectional to specific object, influences the effect of disinfection and sterilization.
Disclosure of Invention
The invention provides a spray sterilizing robot and a spray sterilizing method, which realize omnibearing and accurate sterilization of a specific object so as to improve the comprehensiveness of the sterilization.
In order to solve the above technical problem, an embodiment of the present invention provides a spray disinfection robot, including: the device comprises a movable chassis, a spraying device and a target killing device;
the movable chassis is used for controlling the movement of the spray sterilizing robot;
the spraying device is used for placing a disinfectant to be treated with preset concentration, atomizing the disinfectant to be treated to obtain liquid drops to be treated, and then spraying the liquid drops to be treated to the surrounding space environment;
the target killing device is used for adjusting the position and the direction of the mechanical arm to enable the nozzle to face the target object and simultaneously associating the spraying device to obtain the liquid drops to be processed when the spraying killing robot identifies the target object and controls the spraying killing robot to move to a preset position by utilizing the moving chassis, and the omnibearing spraying killing of the target object is completed by combining the movement of the moving chassis, the rotation of the mechanical arm and the spraying of the nozzle to the liquid drops to be processed.
By implementing the embodiment of the application, the target killing device is utilized, when the target object is identified, the coordinate position of the target object is obtained, the driving function of the movable chassis is combined, the spray killing robot is controlled to be driven to be close to the target object, the mechanical arm is rotationally adjusted, the nozzle on the mechanical arm is aligned to the target object, and the target object with concentrated spray amount is precisely killed. Further, the movement of the movable chassis and the rotation of the mechanical arm joint are combined to operate the accurate killing mode of the spray killing robot, at the moment, the spray killing robot can carry out omnibearing spray killing on the target object from the front side/back side and all angles, virus infection caused by incomplete killing is avoided, the disinfection and sterilization comprehensiveness is improved, and the killing effect is enhanced.
As a preferred scheme, the target killing device specifically comprises: the mechanical arm, the spray pipe, the depth camera and the nozzle;
the mechanical arm is arranged on the movable chassis and used for adjusting the orientation of the nozzle by utilizing self rotation;
the spray pipe is arranged on the mechanical arm and is used for communicating the spraying device with the nozzle and transmitting liquid drops to be treated into the nozzle;
the depth camera is used for collecting image information of surrounding environment when the spray killing robot receives a target object killing instruction, and feeding back the image information of the surrounding environment to the mobile chassis so as to identify the target object;
the nozzle is arranged at the tail end of the spray pipe and is used for spraying the liquid drops to be treated to the surface of the target object.
According to the implementation of the preferred scheme of the embodiment of the application, when the spray killing robot receives the target object killing instruction, the depth camera is used for collecting the image information of the surrounding environment, and the target object in the surrounding environment is identified and searched by processing the image information of the surrounding environment. Meanwhile, the spray pipe is adopted to communicate the spraying device and the nozzle, liquid drops to be treated in the spraying device are quickly drained to the nozzle, and then the spraying and sterilizing range is expanded.
As a preferred scheme, the mobile chassis specifically includes: the system comprises a wireless network module, an environment sensing device, a motion detection device, a main control computer and a driving device;
the wireless network module is used for providing a wireless network for the spray disinfection robot;
the environment sensing device is used for mapping and positioning the terrain and obstacles;
the motion detection device is used for detecting the current motion state of the spray killing robot;
the main control computer is used for carrying out motion planning on the spray killing robot according to data fed back by the target killing device, the environment sensing device and the motion detection device to obtain a motion planning result comprising a motion path, a motion speed, a killing mode, a killing range, killing time and a killing period, and controlling the spray device to be started or closed according to the motion planning result;
and the driving device is used for receiving the motion planning result fed back by the main control machine and driving and controlling the spray sterilizing robot.
According to the implementation of the optimal scheme of the embodiment of the application, the motion planning of the spray sterilizing robot is determined by combining the perception of the terrain environment, the detection of the motion state and the shooting of the collected surrounding environment image information, the response of the spray sterilizing robot is further controlled, the starting and the closing of the spray sterilizing function are relatively controlled, the real-time data transmission inside the spray sterilizing robot is realized, and the obstruction of the environment factors to the disinfection and sterilization function of the spray sterilizing robot is avoided.
Preferably, the spraying device specifically comprises: the water tank, the atomizer and a plurality of fixed spray heads;
the water tank is used for placing the disinfectant to be treated with preset concentration;
the atomizer is arranged inside the water tank and is used for atomizing the disinfectant to be treated to obtain liquid drops to be treated;
the fixed spray head is communicated with the water tank and sprays the liquid drops to be treated in a fixed direction to complete the spray disinfection of the surrounding space environment.
The preferred scheme of implementing this application embodiment refines atomizer's internal plant to provide a plurality of fixed shower nozzles, directly be linked together with the water tank of placing the antiseptic solution of treating, and then can spray the liquid drop of treating that the atomizing obtained in the surrounding space environment through a plurality of fixed shower nozzles, in order to operate the air of spraying and killing the robot and kill the mode. In addition, the disinfectant is atomized before being sprayed, so that the disinfectant can be uniformly diffused and naturally volatilized in the air, and an ideal disinfecting and killing effect is achieved.
Preferably, the mechanical arm is a six-axis mechanical arm.
Compared with the common mechanical arm, the six-axis mechanical arm with multiple joints and multiple degrees of freedom can adjust the position and the direction of the six-axis mechanical arm more flexibly from multiple directions, and further realize multi-angle rotation of the nozzle on the six-axis mechanical arm.
In order to solve the same technical problem, the invention also provides a spray disinfection method, which comprises the following steps:
when a target object is identified, performing motion planning on the spray killing robot according to the coordinate position of the target object, and obtaining a corresponding motion path planning and a corresponding motion speed planning;
controlling the spray disinfection robot to move to a motion path terminal point corresponding to the motion path plan according to the motion path plan and the motion speed plan;
adjusting the position and the direction of a mechanical arm according to the coordinate position of the target object, so that the nozzle faces the target object;
atomizing the disinfectant to be treated with preset concentration to obtain liquid drops to be treated, and adjusting the movement of the movable chassis and the rotation of the mechanical arm while spraying the liquid drops to be treated by using the nozzle to complete the omnibearing spraying and killing of the target object.
By implementing the embodiment of the application, when the spray sterilizing robot identifies the target object, the motion plan of the spray sterilizing robot is determined according to the position information of the target object, so that the time and the traveling distance spent by the spray sterilizing robot when the spray sterilizing robot moves to the vicinity of the target object can be reduced, and the overall sterilizing efficiency is further improved. In addition, according to the position information of the target object, the orientation and the position of the nozzle are adjusted through the mechanical arm, the movable chassis and the mechanical arm are continuously adjusted in the spraying process, the omnibearing spraying and killing of the target object are completed on the basis that the stable spraying of the nozzle on the mechanical arm is guaranteed, the accurate killing mode of the spraying and killing robot is operated, and the purposes of efficient and thorough killing are achieved.
Preferably, the spray disinfection method further comprises:
controlling and driving the spray disinfection robot according to a preset operation plan;
atomizing the disinfectant to be treated with preset concentration by using an atomizer to obtain liquid drops to be treated, and spraying the liquid drops to be treated into the surrounding space environment through a plurality of fixed spray heads in the movement process of the spray disinfection robot until the movement planning is completed.
According to the preferred scheme of the embodiment of the application, the plurality of fixed spray heads are communicated with the water tank for placing the disinfectant to be treated, and when the spraying sterilization robot is driven, the liquid drops to be treated obtained by atomization are uniformly sprayed into the surrounding environment space through the plurality of fixed spray heads so as to operate the air sterilization mode of the spraying sterilization robot.
Preferably, the spray disinfection method further comprises:
when the spraying sterilization robot encounters an obstacle to block in the traveling process, controlling the spraying sterilization robot to avoid the obstacle, and judging whether the spraying sterilization robot is blocked by the obstacle currently;
if the robot is not blocked by the obstacle, adjusting the motion plan according to the current position information of the spray killing robot, and continuously controlling and driving the spray killing robot;
if the obstacle blocks the movement of the spray sterilizing robot, stopping the advance of the spray sterilizing robot and the spraying of the liquid drops to be treated until the obstacle is removed, adjusting the motion plan according to the current position information of the spray sterilizing robot, and continuously controlling and driving the spray sterilizing robot.
By implementing the preferred scheme of the embodiment of the application, whether the spray sterilizing robot is in the air sterilizing mode or the accurate sterilizing mode, the spray sterilizing robot can make corresponding response according to the encountered obstacles in the advancing process, so that the obstacles are prevented from blocking the process of executing the sterilizing task of the spray sterilizing robot.
As a preferable scheme, before the adjusting the motion plan of the spray killing robot according to the coordinate position of the target object and obtaining the corresponding motion path plan and motion speed plan when the target object is identified, the method further includes:
acquiring a training set containing a plurality of target object images, and training the spray killing robot by using the training set to obtain a corresponding target object recognition model;
when a target killing instruction is received, acquiring image information of surrounding environment by using a depth camera, performing target object identification processing on the image information of the surrounding environment by using a target object identification model, and then performing feature point extraction on the image information of the surrounding environment with the target object to obtain corresponding image feature points;
and screening the image characteristic points by using a preset algorithm, performing characteristic point-to-point comparison matching on the screened image characteristic points and the training set to obtain the contour pose of the target object, and calibrating the contour pose to obtain the coordinate position of the target object.
By implementing the preferred scheme of the embodiment of the application, the target object recognition function of the spray killing robot is trained, and the accuracy of the spray killing robot in recognizing the target object is improved. In addition, in order to further improve the recognition speed of the target object, the SURF algorithm with less calculation amount is adopted to screen the image feature points in the recognition process, the frame selection of the current posture of the target object is completed, and the stability and the efficiency of the target object recognition function of the spray disinfection robot are further improved.
Preferably, the mechanical arm is a six-axis mechanical arm.
Compared with the common mechanical arm, the six-axis mechanical arm with multiple joints and multiple degrees of freedom can adjust the position and the direction of the six-axis mechanical arm more flexibly from multiple directions, and further realize multi-angle rotation of the nozzle on the six-axis mechanical arm.
Drawings
Fig. 1 is a schematic structural diagram of a spray sterilizing robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a spray disinfection method according to a second embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating a target position obtaining process of a spray killing method according to a third embodiment of the present invention;
fig. 4 is a schematic flow chart of an air sterilization process of a spray sterilization method according to a fourth embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating an obstacle processing flow of a spray killing method according to a fifth embodiment of the present invention.
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.
The first embodiment is as follows:
referring to fig. 1, a schematic structural diagram of a spray killing robot according to an embodiment of the present invention mainly includes: the device comprises a movable chassis 1, a spraying device 2 and a target killing device 3; the functions of the devices are as follows:
and the movable chassis 1 is used for controlling the movement of the spray sterilizing robot.
As a preferred scheme, the mobile chassis 1 specifically comprises: the system comprises a wireless network module, an environment sensing device, a motion detection device, a main control computer and a driving device; the functions of the devices are as follows:
and the wireless network module is used for providing a wireless network for the spray killing robot. Different wireless network modules can be selected according to actual conditions, currently, 4G wireless routers are mostly used, and in order to pursue faster network speed and lower time delay, 5G wireless routers can be correspondingly selected. In addition, through the wireless network module, can upload the surrounding environment image that obtains with degree of depth camera 33 shooting to the cloud platform in real time to supply user real-time supervision, in addition, the user can also be according to the real-time image that obtains of shooting, and remote control spraying disappears and kills the robot and walk in certain space and region.
And the environment sensing device is used for mapping and positioning the terrain and the obstacles. In order to realize the autonomous navigation of the spray killing robot, the invention provides an environment sensing device which is composed of a laser radar, an ultrasonic radar, a collision sensor, an infrared sensor and the like, and the environment sensing device is used for finishing the sensing of the spray killing robot to the external space environment so as to assist the spray killing robot to carry out motion planning.
And the motion detection device is used for detecting the current motion state of the spray killing robot. In the moving process of the conventional spray disinfection robot, the conditions of shaking and unstable gravity center may occur, and therefore, the self-balancing system is designed, and sensing devices such as a gyroscope, a speedometer, an accelerometer and an IMU, algorithms such as a Kalman filtering attitude detection algorithm and an incremental PID motor control strategy are combined with a robot control system, so that the robot has the functions of stabilizing and uniform speed, stably turning and preventing lodging, and the moving speed and the stability of the robot are further improved.
And the main control computer is used for carrying out motion planning on the spray killing robot according to data fed back by the target killing device, the environment sensing device and the motion detection device to obtain a motion planning result comprising a motion path, a motion speed, a killing mode, a killing range, killing time and a killing period, and controlling the starting or the closing of the spraying device 2 according to the motion planning result.
And the driving device is used for receiving the motion planning result fed back by the main control computer and driving and controlling the spray sterilizing robot. The spray sterilizing robot sterilizes the surrounding space while cruising along the corresponding route according to the path plan, and as an example, the average moving speed of the spray sterilizing robot is between 0.6m/s and 1.0 m/s.
By implementing the preferred scheme of the embodiment of the application, the motion planning of the spray killing robot is determined by combining the perception of the terrain environment, the detection of the motion state and the shooting of the collected surrounding environment image information, so that the response of the spray killing robot is controlled, the starting and the closing of the spray killing function are relatively controlled, the real-time data transmission inside the spray killing robot is realized, and the blockage of the environment factors on the disinfection and sterilization functions of the spray killing robot is avoided.
And the spraying device 2 is used for placing the disinfectant to be treated with preset concentration, atomizing the disinfectant to be treated to obtain liquid drops to be treated, and then spraying the liquid drops to be treated to the surrounding space environment.
Preferably, the spraying device 2 specifically includes: a water tank 21, an atomizer, and a plurality of fixed nozzles 22; the functions of the devices are as follows:
and the water tank 21 is used for placing the disinfectant to be treated with preset concentration.
The atomizer is arranged inside the water tank 21 and is used for atomizing the disinfectant to be treated to obtain liquid drops to be treated.
And the fixed spray head 22 is communicated with the water tank 21 and sprays the liquid drops to be treated in a fixed direction to finish the spray disinfection of the surrounding space environment.
By implementing the preferred scheme of the embodiment of the application, the internal equipment of the spraying device is thinned, and a plurality of fixed spray nozzles 22 are provided and are directly communicated with a water tank 21 for placing disinfectant to be treated, so that liquid drops to be treated obtained by atomization can be sprayed into the surrounding space environment through the fixed spray nozzles 22, and an air sterilizing mode of the spraying sterilizing robot is operated. In addition, the disinfectant is atomized before being sprayed, so that the disinfectant can be uniformly diffused and naturally volatilized in the air, and an ideal disinfecting and killing effect is achieved.
And the target killing device 3 is used for adjusting the position and the direction of the mechanical arm 31 when the spray killing robot identifies a target object and controls the spray killing robot to move to a preset position by using the movable chassis 1, enabling the nozzle 34 to face the target object, associating the spraying device 2 to obtain liquid drops to be treated, and completing the omnibearing spray killing of the target object by combining the movement of the movable chassis 1, the rotation of the mechanical arm 31 and the spraying of the nozzle 34 on the liquid drops to be treated.
By implementing the embodiment of the application, the target killing device is utilized, when the target object is identified, the coordinate position of the target object is obtained, the driving function of the movable chassis is combined, the spray killing robot is controlled to be driven to be close to the target object, the mechanical arm 31 is rotationally adjusted, the nozzle 34 on the mechanical arm 31 is aligned to the target object, and the target object with concentrated spray amount is precisely killed. Further, the movement of the movable chassis 1 and the joint rotation of the mechanical arm 31 are combined to operate the accurate killing mode of the spray killing robot, at the moment, the spray killing robot can carry out all-around spray killing on the target object from the front side/back side and all angles, virus infection caused by incomplete killing is avoided, the disinfection and sterilization comprehensiveness is improved, and the killing effect is enhanced. When the precise disinfection mode is operated, the spray disinfection robot only carries out close-range surface disinfection on a target object, and disinfection liquid cannot permeate into the air in a large area to cause harm to a human body, so that the spray disinfection robot provided by the invention is different from the traditional spray disinfection robot and only can be suitable for an unmanned space, and the use scene is further expanded.
As a preferred scheme, the target killing device 3 specifically comprises: a robot arm 31, a nozzle 32, a depth camera 33, and a nozzle 34; the functions of the devices are as follows:
the robot arm 31 is provided on the moving chassis 1, and adjusts the direction of the nozzle by rotating itself.
And the spray pipe 32 is arranged on the mechanical arm 31 and is used for communicating the spraying device 2 with the nozzle 34 and conveying the liquid drops to be treated into the nozzle 34.
And the depth camera 33 is used for collecting image information of surrounding environment when the spray killing robot receives a target object killing instruction, and feeding back the image information of the surrounding environment to the mobile chassis 1 so as to identify the target object.
And a nozzle 34 disposed at the rear end of the nozzle 32 for spraying the liquid droplets to be treated onto the surface of the target object.
By implementing the preferred scheme of the embodiment of the application, when the spray killing robot receives the target object killing instruction, the depth camera 33 is used for collecting the image information of the surrounding environment, and the target object in the surrounding environment is identified and searched by processing the image information of the surrounding environment. Meanwhile, the spray pipe 32 is adopted to communicate the spraying device 2 and the nozzle 34, liquid drops to be treated in the spraying device 2 are quickly guided to the nozzle 34, and the spraying and sterilizing range is further expanded.
Preferably, the robot arm 31 is a six-axis robot arm.
Compared with the common mechanical arm, the six-axis mechanical arm with multiple joints and multiple degrees of freedom has the advantages that the position and the direction of the six-axis mechanical arm can be adjusted more flexibly from multiple directions, and then the multi-angle rotation of the nozzle 34 on the six-axis mechanical arm is realized.
Based on the spray sterilizing robot, an example of starting the spray sterilizing robot to perform a sterilizing task is provided below.
Before the spray killing robot is started to execute a killing task, data (including but not limited to relevant data required by killing processes such as a killing mode, a killing range, killing time and the like) preset by a user are transmitted into the main control machine through the wireless network module, so that the killing mode and a motion planning result of the spray killing robot are determined, and the movement of the spray killing robot is driven and controlled through the driving device according to the motion planning result. Meanwhile, in the moving process, the atomizer inside the water tank 21 atomizes the disinfection solution (usually chlorine dioxide disinfection solution with the concentration in the range of 250mg/L to 500 mg/L) with preset concentration in the water tank 21 to obtain corresponding liquid drops to be processed.
If the current air sterilization mode is adopted, the atomized liquid drops to be treated are extracted into the three fixed spray nozzles 22 through the spray pipes and are uniformly sprayed out while the spray sterilization robot is driven and controlled to move, the surrounding space is uniformly sterilized until a preset end position is reached or other sterilization stopping conditions are met, the sterilization task is terminated, and the spray sterilization robot automatically returns to the charging pile and is in a standby state or a charging state. In the moving process of the spray disinfection robot, the surrounding terrain and the motion state are monitored in real time through the environment sensing device and the motion detection device, the terrain is mapped and positioned and fed back to the main control computer, and the main control computer calculates a proper path according to the received data so as to avoid obstacles.
If the current mode is in the accurate killing mode, in the moving process, the depth camera 33 is used for collecting image information of the surrounding environment, and through a preset target object recognition model, target object recognition processing is carried out on the collected image information of the surrounding environment, and the coordinate position of the target object is determined. And then, feeding back the current coordinate position of the spray killing robot, the coordinate position of the target object and the topographic mapping positioning data of the environment sensing device to the main control computer, further determining the motion track of the spray killing robot, and driving the movable chassis 1 to move the spray killing robot to the end point of the motion track. Meanwhile, the coordinate position of the target object is fed back to the mechanical arm 31, the mechanical arm 31 is driven to rotate correspondingly, the nozzle 34 is aligned with the target object, the atomized liquid drops to be treated are pumped into the nozzle 34 through the spray pipe 32, the surface of the target object is sprayed and killed, after a period of continuous spraying, the spraying point of the nozzle 34 relative to the outer surface of the target object is adjusted by combining the movement of the mobile chassis 1 and the rotation of the mechanical arm 31, and after each adjustment, the current spraying point is sprayed for a period of time continuously, so that the omnibearing spraying and killing of the target object are ensured to be finished.
The foregoing has set forth in detail the apparatus associated with embodiments of the present invention, and the following provides methods of embodiments of the present application.
Example two:
referring to fig. 2, fig. 2 is a schematic flow chart of a spray killing method according to an embodiment of the present invention, the method includes steps S101 to S104, and the steps are as follows:
and S101, when the target object is identified, performing motion planning on the spray killing robot according to the coordinate position of the target object, and obtaining a corresponding motion path planning and a corresponding motion speed planning.
And S102, controlling the spray killing robot to move to a motion path terminal point corresponding to the motion path planning according to the motion path planning and the motion speed planning.
In step S103, the position and orientation of the robot arm 31 are adjusted so that the nozzle 34 faces the target object, based on the coordinate position of the target object.
Step S104, atomizing the disinfectant to be treated with preset concentration to obtain liquid drops to be treated, and adjusting the movement of the movable chassis 1 and the rotation of the mechanical arm 31 while spraying the liquid drops to be treated by using the nozzle 34 to complete the omnibearing spraying and killing of the target object.
By implementing the embodiment of the application, when the spray killing robot identifies the target object, the motion plan of the spray killing robot is determined according to the position information of the target object, so that the time and the traveling distance spent by the spray killing robot to move to the position close to the target object can be reduced, and the overall killing efficiency is improved. In addition, according to the position information of the target object, the orientation and the position of the nozzle 34 are adjusted through the mechanical arm 31, the movable chassis 1 and the mechanical arm 31 are adjusted for multiple times in the spraying process, on the basis that stable spraying of the nozzle 34 on the mechanical arm 31 is guaranteed, all-dimensional spraying sterilization of the target object is completed, the accurate sterilization mode of the spraying sterilization robot is operated, and the purpose of efficient and thorough sterilization is achieved.
Example three:
as a preferable solution of the second embodiment, referring to fig. 3, before step S101, a target position obtaining process is further included, specifically including step S201 to step S203, and each step specifically includes the following steps:
step S201, a training set containing a plurality of target object images is obtained, the training set is used for training the spray killing robot, and a corresponding target object recognition model is obtained.
Step S202, when a target killing instruction is received, the depth camera 33 is used for collecting image information of the surrounding environment, a target object recognition model is used for carrying out target object recognition processing on the image information of the surrounding environment, then feature point extraction is carried out on the image information of the surrounding environment with the target object, and corresponding image feature points are obtained.
Step S203, screening the image characteristic points by using a preset algorithm, performing characteristic point-to-point comparison matching on the screened image characteristic points and a training set to obtain the contour pose of the target object, and then calibrating the contour pose to obtain the coordinate position of the target object.
It should be noted that, regarding the screening and contrast matching of the image feature points, an object recognition algorithm including, but not limited to, SURF algorithm, ORB algorithm, SIFT algorithm, and neural network CNN may be adopted.
By implementing the preferred scheme of the embodiment of the application, the target object recognition function of the spray killing robot is trained, and the accuracy of the spray killing robot in recognizing the target object is improved. In addition, in order to further improve the recognition speed of the target object, an object recognition algorithm with less calculation amount is adopted to screen and compare and match the image feature points in the recognition process, the frame selection of the current posture of the target object is completed, and the stability and the efficiency of the target object recognition function of the spray disinfection robot are further improved.
Example four:
as a preferable scheme of this embodiment, the spray killing method further includes an air killing process, specifically including steps S301 to S302, and each step specifically includes the following steps:
and S301, controlling and driving the spray disinfection robot according to a preset operation plan.
Step S302, atomizing the disinfectant to be treated with preset concentration by using an atomizer to obtain liquid drops to be treated, and spraying the liquid drops to be treated to the surrounding space environment through the plurality of fixed nozzles 22 in the motion process of the spray disinfection robot until the motion planning is completed.
According to the preferable scheme of the embodiment of the application, the plurality of fixed spray nozzles 22 are communicated with the water tank 21 for placing the disinfectant to be treated, and when the spray sterilizing robot is driven, the liquid drops to be treated obtained by atomization are uniformly sprayed into the surrounding environment space through the plurality of fixed spray nozzles 22 so as to operate the air sterilizing mode of the spray sterilizing robot.
Example five:
as a preferable scheme of this embodiment, the spray killing method further includes an obstacle processing flow, specifically including steps S401 to S403, where each step specifically includes:
step S401, when the spray sterilizing robot encounters an obstacle to block in the traveling process, the spray sterilizing robot is controlled to avoid the obstacle, whether the spray sterilizing robot is blocked by the obstacle or not is judged, if not, the step S402 is executed, and if so, the step S403 is executed.
And S402, adjusting the motion plan according to the position information of the current spray killing robot, and continuously controlling and driving the spray killing robot.
And step S403, stopping the advancing of the spray sterilizing robot and the spraying of the liquid drops to be treated until the obstacles are removed, adjusting the motion plan according to the position information of the current spray sterilizing robot, and continuously controlling and driving the spray sterilizing robot.
By implementing the preferred scheme of the embodiment of the application, whether the spray sterilizing robot is in the air sterilizing mode or the accurate sterilizing mode, the spray sterilizing robot can make corresponding response according to the encountered obstacles in the advancing process, so that the obstacles are prevented from blocking the process of executing the sterilizing task of the spray sterilizing robot.
As a preferable aspect of the present embodiment, the robot arm 31 is a six-axis robot arm.
Compared with the common mechanical arm, the six-axis mechanical arm with multiple joints and multiple degrees of freedom has the advantages that the position and the direction of the six-axis mechanical arm can be adjusted more flexibly from multiple directions, and then the multi-angle rotation of the nozzle 34 on the six-axis mechanical arm is realized.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing related apparatus embodiments, and is not described herein again.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A spray disinfection robot, comprising: the device comprises a movable chassis, a spraying device and a target killing device;
the movable chassis is used for controlling the movement of the spray sterilizing robot;
the spraying device is used for placing a disinfectant to be treated with a preset concentration, atomizing the disinfectant to be treated to obtain liquid drops to be treated, and then spraying the liquid drops to be treated into the surrounding space environment;
the target killing device is used for adjusting the position and the direction of the mechanical arm to enable the nozzle to face the target object and simultaneously associating the spraying device to obtain the liquid drops to be processed when the spraying killing robot identifies the target object and controls the spraying killing robot to move to a preset position by utilizing the moving chassis, and the omnibearing spraying killing of the target object is completed by combining the movement of the moving chassis, the rotation of the mechanical arm and the spraying of the nozzle to the liquid drops to be processed.
2. The spray disinfection robot of claim 1, wherein the target disinfection apparatus comprises: the mechanical arm, the spray pipe, the depth camera and the nozzle;
the mechanical arm is arranged on the movable chassis and used for adjusting the orientation of the nozzle by utilizing self rotation;
the spray pipe is arranged on the mechanical arm and is used for communicating the spraying device with the nozzle and transmitting liquid drops to be treated into the nozzle;
the depth camera is used for collecting image information of surrounding environment when the spray killing robot receives a target object killing instruction, and feeding back the image information of the surrounding environment to the mobile chassis so as to identify the target object;
the nozzle is arranged at the tail end of the spray pipe and is used for spraying the liquid drops to be treated to the surface of the target object.
3. The spray disinfection robot of claim 1, wherein the mobile chassis specifically comprises: the system comprises a wireless network module, an environment sensing device, a motion detection device, a main control computer and a driving device;
the wireless network module is used for providing a wireless network for the spray disinfection robot;
the environment sensing device is used for mapping and positioning terrain and obstacles;
the motion detection device is used for detecting the current motion state of the spray killing robot;
the main control computer is used for carrying out motion planning on the spray killing robot according to data fed back by the target killing device, the environment sensing device and the motion detection device to obtain a motion planning result comprising a motion path, a motion speed, a killing mode, a killing range, killing time and a killing period, and controlling the spray device to be started or closed according to the motion planning result;
and the driving device is used for receiving the motion planning result fed back by the main control machine and driving and controlling the spray sterilizing robot.
4. The spray sterilizing robot as claimed in claim 1, wherein the spraying means comprises: the device comprises a water tank, an atomizer and a plurality of fixed nozzles;
the water tank is used for placing the disinfectant to be treated with preset concentration;
the atomizer is arranged inside the water tank and is used for atomizing the disinfectant to be treated to obtain liquid drops to be treated;
the fixed spray head is communicated with the water tank and sprays the liquid drops to be treated in a fixed direction to complete the spray disinfection of the surrounding space environment.
5. A spray killing robot as claimed in claim 1 or 2, wherein said robot arm is a six-axis robot arm.
6. A spray disinfection method, comprising:
when a target object is identified, performing motion planning on the spray killing robot according to the coordinate position of the target object, and obtaining a corresponding motion path planning and a corresponding motion speed planning;
controlling the spray disinfection robot to move to a motion path terminal point corresponding to the motion path plan according to the motion path plan and the motion speed plan;
adjusting the position and the direction of a mechanical arm according to the coordinate position of the target object to enable the nozzle to face the target object;
atomizing the disinfectant to be treated with preset concentration to obtain liquid drops to be treated, and adjusting the movement of the movable chassis and the rotation of the mechanical arm while spraying the liquid drops to be treated by using the nozzle to complete the omnibearing spraying and killing of the target object.
7. A spray-killing method as defined in claim 6, further comprising:
controlling and driving the spray disinfection robot according to a preset operation plan;
atomizing the disinfectant to be treated with preset concentration by using an atomizer to obtain liquid drops to be treated, and spraying the liquid drops to be treated into the surrounding space environment through a plurality of fixed spray heads in the movement process of the spray disinfection robot.
8. A spray-killing method as claimed in claim 6 or 7, further comprising:
when the spraying sterilization robot encounters an obstacle to block in the traveling process, controlling the spraying sterilization robot to avoid the obstacle, and judging whether the spraying sterilization robot is blocked by the obstacle currently;
if the robot is not blocked by the obstacle, adjusting the motion plan according to the current position information of the spray killing robot, and continuously controlling and driving the spray killing robot;
if the obstacle blocks the movement of the spray sterilizing robot, stopping the advance of the spray sterilizing robot and the spraying of the liquid drops to be treated until the obstacle is removed, adjusting the motion plan according to the current position information of the spray sterilizing robot, and continuously controlling and driving the spray sterilizing robot.
9. The spray killing method of claim 6, wherein before the adjusting the motion plan of the spray killing robot according to the coordinate position of the target object and obtaining the corresponding motion path plan and motion speed plan when the target object is identified, the method further comprises:
acquiring a training set containing a plurality of target object images, and training the spray killing robot by using the training set to obtain a corresponding target object recognition model;
when a target killing instruction is received, acquiring image information of surrounding environment by using a depth camera, performing target object identification processing on the image information of the surrounding environment by using a target object identification model, and then performing feature point extraction on the image information of the surrounding environment with the target object to obtain corresponding image feature points;
and screening the image characteristic points by using a preset algorithm, performing characteristic point-to-point comparison matching on the screened image characteristic points and the training set to obtain the contour pose of the target object, and calibrating the contour pose to obtain the coordinate position of the target object.
10. A spray killing method as claimed in claim 6, wherein said robot is a six-axis robot.
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| CN116159167A (en) * | 2023-03-09 | 2023-05-26 | 哈尔滨工业大学 | Spraying mechanical arm for epidemic prevention robot |
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Application publication date: 20220617 |