CN115429911A - Airborne killing system and working method thereof - Google Patents
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- A—HUMAN NECESSITIES
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- 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
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
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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
- A61L2/24—Apparatus using programmed or automatic operation
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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
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
- F24F8/20—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by sterilisation
- F24F8/22—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by sterilisation using UV light
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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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Abstract
The invention belongs to the technical field of sterilizing equipment for public places, and aims to provide an airborne sterilizing system and a working method thereof. The airborne killing system comprises an unmanned aerial vehicle, and a killing module, a main control module, an image acquisition module, a flight control module and a wireless communication module which are carried on the unmanned aerial vehicle; the sterilizing module adopts a high-energy pulse ultraviolet lamp; the main control module is in remote communication with the user terminal through the wireless communication module, receives a flight control signal sent by the user terminal through the wireless communication module, and controls the action of the flight control module and the action of the disinfection and killing module based on the flight control signal; the image acquisition module is used for acquiring environment image data and sending the environment image data to the user terminal through the main control module and the wireless communication module in sequence. The invention can efficiently and quickly kill the designated area in the public place, can realize the visualization of the killing process and is convenient for the user to control the killing process in real time.
Description
Technical Field
The invention belongs to the technical field of sterilizing equipment for public places, and particularly relates to an airborne sterilizing system and a working method thereof.
Background
With the prevalence of new crown pneumonia epidemic situation and the like being too heavily abused worldwide, people pay attention to the technology for effectively preventing the spread of viruses in public places with people gathering, effectively cutting off the spread path and finding more effective public place killing. Ultraviolet ray disinfection is a common disinfection method in public places, and ultraviolet rays with proper wavelength can destroy the molecular structure of DNA or RNA in microbial organism cells to cause death of growing cells and (or) death of regenerative cells, so that the effects of sterilization and disinfection are achieved. According to the sixth edition of a novel diagnosis and treatment scheme (trial) for coronavirus pneumonia, which is published by Wei Jian, 2020, 2, 19, ultraviolet (UVC) light can effectively kill 2019-nCov. In 2020, research of Columbia university finds that ultraviolet light can kill droplet-transmitted seasonal coronavirus, and the inactivation rate reaches 99.9%.
The traditional disinfection in public places and hospitals and offices is generally carried out in a mode of manually using disinfectant or a traditional mode of fixing an ultraviolet lamp for disinfection. However, in the process of using the prior art, the inventor finds that at least the following problems exist in the prior art:
the disinfection of the disinfectant easily causes secondary pollution, and the mode of manually spraying the disinfectant has great harm to human bodies when the epidemic situation is serious. Meanwhile, the manual operation is influenced by the manual work, so that dead angles are easily ignored in the manual operation, the disinfection is not thorough, and the manual disinfection cost is high. In addition, the efficiency of killing the fixed ultraviolet lamp is low, and the problem of incomplete killing exists.
Therefore, it is necessary to develop an airborne killing system which can ensure the safety of human body, and has wide coverage, flexible operation and high killing efficiency.
Disclosure of Invention
The invention aims to solve the technical problems at least to a certain extent, and provides an airborne killing system and a working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
the first aspect of the invention provides an airborne killing system, which comprises an unmanned aerial vehicle and a killing module carried on the unmanned aerial vehicle, wherein the unmanned aerial vehicle is also provided with a main control module, an image acquisition module, a flight control module and a wireless communication module, and the killing module, the image acquisition module, the flight control module and the wireless communication module are all electrically connected with the main control module; the sterilizing module adopts a high-energy pulse ultraviolet lamp; wherein the content of the first and second substances,
the main control module is in remote communication with the user terminal through the wireless communication module, receives a flight control signal sent by the user terminal through the wireless communication module, and controls the flight control module to act based on the flight control signal;
the image acquisition module is used for acquiring environmental image data and sending the environmental image data to the user terminal through the main control module and the wireless communication module in sequence;
the main control module also receives a killing driving signal sent by the user terminal through a wireless communication module, and controls the action of the killing module based on the killing driving signal.
The invention can efficiently and quickly kill the designated area in the public place, can realize the visualization of the killing process and is convenient for the user to control the killing process in real time. In the implementation process, the airborne killing system carries the high-efficiency pulse ultraviolet lamp through the unmanned aerial vehicle, so that a user can conveniently remotely control the unmanned aerial vehicle to a specified killing area, and the high-efficiency pulse ultraviolet lamp is started for killing operation, and the killing effect is good; in addition, in the invention, the user terminal is in wireless communication connection with the unmanned aerial vehicle, so that a user can remotely acquire environmental image data acquired by the image acquisition module in the flight process of the unmanned aerial vehicle based on the user terminal, the flight state of the unmanned aerial vehicle is controlled in real time, killing monitoring is carried out in real time, the visual operation of the user on killing control can be realized, and the killing efficiency can be improved.
In one possible design, the drone includes a drone body, a flight assembly, and a support assembly; the flight assembly comprises a wing connecting rod connected with the unmanned aerial vehicle body, a wing supporting frame arranged at one end of the wing connecting rod, which is far away from the unmanned aerial vehicle body, and a wing arranged at the top of the wing supporting frame, and the wing is driven by the flight control module; the supporting component comprises a supporting frame arranged at the bottom of the unmanned aerial vehicle body and an anti-slip column arranged at one end of the unmanned aerial vehicle body, wherein the supporting frame is far away from the anti-slip column.
In a possible design, the unmanned aerial vehicle is further provided with an electrostatic shielding cover and a protective net, the electrostatic shielding cover is connected with the unmanned aerial vehicle through a support, the killing module is transversely arranged in the electrostatic shielding cover, and the protective net is transversely arranged at the bottom of the electrostatic shielding cover.
In a possible design, the unmanned aerial vehicle is further provided with a state monitoring module, and the state monitoring module is electrically connected with the main control module and used for acquiring state information of the unmanned aerial vehicle and sending the state information to the main control module.
In one possible design, the state monitoring module comprises a gyroscope, an accelerometer, an air pressure sensor, a GPS module and a digital falling disc, and the gyroscope, the accelerometer, the air pressure sensor, the GPS module and the digital falling disc are all electrically connected with the main control module.
In a possible design, still be provided with ultrasonic sensor on the unmanned aerial vehicle, ultrasonic sensor with the host system electricity is connected.
In one possible design, the image acquisition module employs an infrared camera.
In one possible design, the main control module adopts an STM32F103RET6 type single chip microcomputer and a peripheral circuit thereof.
In a second aspect, a working method of an airborne killing system is provided, which is executed based on the main control module, and the working method includes a manual killing working method, and the manual killing working method includes:
receiving a flight control signal sent by the user terminal, and driving the flight control module to act based on the flight control signal so as to facilitate the operation of the unmanned aerial vehicle;
receiving environment image data sent by the image acquisition module, and sending the environment image data to the user terminal through the wireless communication module;
and receiving a killing driving signal sent by the user terminal, and controlling the action of the killing module based on the killing driving signal.
In one possible design, the working method further includes an automatic killing working method, and the automatic killing working method includes:
driving the flight control module to operate in a to-be-killed area, receiving the environment image data sent by the image acquisition module, and obtaining killed map data according to the environment image data;
dividing the killing map data into areas to obtain a plurality of killing area outline data;
calculating areas corresponding to the contour data of the plurality of killing areas, and then obtaining killing time according to the areas;
acquiring position information of a plurality of killing area contour data in the killing map data;
obtaining optimal killing route information according to the killing time and the position information of the contour data of the plurality of killing areas; the time duration for killing all killing areas by the current airborne killing system along the optimal killing route information is shortest;
and controlling the flight control module and the killing module to act according to the optimal killing route information.
In a third aspect, an electronic device is provided, including:
a memory for storing computer program instructions; and the number of the first and second groups,
a processor for executing the computer program instructions to perform the operations of the method of operating an on-board disinfection system as described in any of the above.
In a fourth aspect, a computer-readable storage medium is provided for storing computer-readable computer program instructions configured to, when executed, perform operations of a method of operation of an on-board disinfection system as described in any of the above.
Drawings
FIG. 1 is a block diagram of an onboard killing system according to an embodiment;
FIG. 2 is a schematic circuit diagram of a main control module, an image acquisition module, a killing module and a power module in an embodiment;
FIG. 3 is a block diagram of an on-board killing system according to an embodiment;
FIG. 4 is a structural diagram of a killing module in the present embodiment;
fig. 5 is a schematic circuit diagram of the isolation module and the flight drive module in this embodiment.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the embodiments or the description of the prior art, it is obvious that the following description of the structure of the drawings is only some embodiments of the present invention, and it is also possible for those skilled in the art to obtain other drawings based on the drawings without creative efforts. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
Example 1:
the inventor finds that the high-energy pulse ultraviolet technology is a high-efficiency environment-friendly energy-saving killing technology which is mainly characterized by the high irradiation intensity, high killing efficiency and quick killing capability of a high-energy ultraviolet xenon lamp in the production working process. Compared with the traditional chemical disinfection technology, the technology can meet the requirement of quick disinfection, can kill bacteria and viruses within 3-5 minutes, and has the shortest disinfection time in all the current environmental disinfection modes. The technology solves the problems of influence on human health and corrosion of medical supplies due to residual disinfectant, and can kill planktonic bacteria in the air and meet the requirement of high-frequency disinfection. In addition, the high-pressure inert gas discharge pulse ultraviolet lamp has the characteristic of ultrahigh strength, the irradiation strength is more than hundreds times of that of a common ultraviolet lamp during working, a plurality of effective ultraviolet bands are radiated simultaneously, the broad-spectrum sterilization effect is achieved, the effect of instantly killing various microorganisms is achieved, and the high-energy pulse ultraviolet lamp has very strong killing effect in different bands, so that the high-pressure inert gas discharge pulse ultraviolet lamp can be well adapted under different conditions and can well clear pollutants. Meanwhile, the excitation time of the pulse ultraviolet xenon lamp is hundreds of microseconds, and compared with the excitation time of tens of seconds of a common continuous low-pressure mercury lamp, the pulse ultraviolet xenon lamp can be used immediately after being turned on without preheating, and is beneficial to being applied to occasions needing quick response. Therefore, the ultraviolet sterilization technology is an advanced cold sterilization technology at present, can treat objects sensitive to temperature, does not introduce chemical harmful substances into the technology, and does not cause any environmental pollution.
The unmanned aerial vehicle technique is also called unmanned aerial vehicle aerial survey remote sensing technique, and unmanned aerial vehicle is the unmanned aerial vehicle who controls through radio remote control equipment or machine-borne computer program control system, and its simple structure, use cost are low to can get into the unable place that gets into of conventional main equipment and carry out work, unmanned aerial vehicle can be through carrying on automatic cruise system autonomous working simultaneously, reduces the human cost and improves work efficiency.
On the basis, a first aspect of the embodiment provides an airborne killing system, as shown in fig. 1 to 3, which includes an unmanned aerial vehicle and a killing module carried on the unmanned aerial vehicle, wherein the unmanned aerial vehicle is further provided with a main control module, an image acquisition module, a flight control module and a wireless communication module, and the killing module, the image acquisition module, the flight control module and the wireless communication module are all electrically connected with the main control module; the sterilizing module adopts a high-energy pulse ultraviolet lamp; wherein the content of the first and second substances,
the main control module is in remote communication with the user terminal through the wireless communication module, receives a flight control signal sent by the user terminal through the wireless communication module, and controls the flight control module to act based on the flight control signal so that the unmanned aerial vehicle can operate in a killing area conveniently;
the image acquisition module is used for acquiring environmental image data and sending the environmental image data to the user terminal through the main control module and the wireless communication module in sequence; it should be noted that, in this embodiment, the main control module may convert the environmental image data into an analog signal, and then send the analog signal to the user terminal through the wireless communication module;
the main control module also receives a killing driving signal sent by the user terminal through a wireless communication module, and controls the action of the killing module based on the killing driving signal.
Fig. 2 is a schematic circuit diagram of a main control module, an image acquisition module, a killing module and a power module in an example in the embodiment, wherein the single chip microcomputer in the main control module adopts an STM32F103T8U6TR single chip microcomputer, the operation state of the killing module can be controlled by the single chip microcomputer, an infrared type airborne camera in the image acquisition module can convert an image signal into a digital signal through a digital-to-analog converter, the digital signal is transmitted to the single chip microcomputer through a relay K1, and the single chip microcomputer collects signals to further control the operation of modules such as a flight control module.
It should be noted that the high-energy pulse ultraviolet lamp adopts an advanced novel high-intensity ultraviolet light source, the light source intensity is tens of thousands times of that of the common ultraviolet light sources such as the traditional UV mercury lamp and UV-LED, and in the operation process, the light energy can puncture pathogenic microorganisms such as viruses, bacteria, fungi and the like in a very short time. The structure diagram of the high-energy pulse ultraviolet lamp is shown in fig. 4, wherein a quartz glass lamp tube is packaged with high-voltage xenon, and an instant high voltage (reaching several kilovolts and lasting for hundreds of microseconds) is applied to two ends of the quartz glass lamp tube, so that the gas in the lamp tube can be instantaneously broken down to form strong ionizing radiation luminescence and generate strong ultraviolet radiation. After the unmanned aerial vehicle carries on the high-energy pulse ultraviolet lamp, large-area killing operation can be carried out in a short time, and even if the unmanned aerial vehicle stays for a short time, a good killing effect can be achieved.
The embodiment can efficiently and quickly kill the designated area in the public place, can realize the visualization of the killing process, and is convenient for the user to control the killing process in real time. Specifically, in the implementation process of the embodiment, the airborne killing system carries the high-efficiency pulse ultraviolet lamp through the unmanned aerial vehicle, so that a user can conveniently remotely control the unmanned aerial vehicle to a specified killing area, and the high-efficiency pulse ultraviolet lamp is started for killing operation, and the killing effect is good; in addition, in this embodiment, user terminal and unmanned aerial vehicle wireless communication are connected, and the user can realize real time control unmanned aerial vehicle's flight state based on the long-range environmental image data who acquires through image acquisition module collection of user terminal in the unmanned aerial vehicle flight process to in real time the monitoring of killing, can realize the user and to the visual operation of the control of killing, do benefit to and improve the efficiency of killing.
In this embodiment, the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a flight assembly and a support assembly; the flight assembly comprises a wing connecting rod 2 connected with the unmanned aerial vehicle body 1, a wing supporting frame 4 arranged at one end, far away from the unmanned aerial vehicle body 1, of the wing connecting rod 2 and a wing 3 arranged at the top of the wing supporting frame 4, and the wing 3 is driven by the flight control module; the supporting component comprises a supporting frame 4 arranged at the bottom of the unmanned aerial vehicle body 1 and an anti-slip column 5 arranged at one end of the unmanned aerial vehicle body 1 and far away from the supporting frame 4. It should be noted that the wing connecting rods 2 are used for realizing the connection between the unmanned aerial vehicle body 1 and the wings, in this embodiment, the wing connecting rods 2 and the wings can be arranged in a plurality of groups in a matching manner to realize the operation of the unmanned aerial vehicle; the supporting component is used for realizing the protective action on the unmanned aerial vehicle body 1 under the scenes such as unmanned aerial vehicle descending, wherein the antiskid column 5 can further avoid the sliding of the unmanned aerial vehicle body 1, and the overall stability is favorable for enhancing the descending of the unmanned aerial vehicle.
In this embodiment, still be provided with electrostatic shield cover 6 and protection network 7 on the unmanned aerial vehicle, electrostatic shield cover 6 through the support with unmanned aerial vehicle is connected, the module of killing transversely sets up in electrostatic shield cover 6, protection network 7 transversely sets up the bottom of electrostatic shield cover 6. It should be noted that the electrostatic shielding cover 6 and the protective net 7 can prevent the killing module from being interfered by external physical conditions, and prevent the killing module from being damaged.
In this embodiment, still be provided with state monitoring module on the unmanned aerial vehicle, state monitoring module with the host system electricity is connected for gather unmanned aerial vehicle state information and send it to host system. It should be noted that, the state monitoring module is used for obtaining the state information of the unmanned aerial vehicle in the operation process, and sends the state information to the main control module, so that the main control module sends the state information to the user terminal, and then the user terminal drives the unmanned aerial vehicle to operate, or the main control module drives the unmanned aerial vehicle to operate by itself based on the state information of the unmanned aerial vehicle, and the situation is not limited.
In this embodiment, the state monitoring module includes gyroscope, accelerometer, baroceptor, GPS module and digit falling plate, gyroscope, accelerometer, baroceptor, GPS module and digit falling plate all with the host system electricity is connected. It should be noted that in this embodiment, the gyroscope may be, but is not limited to, a CS-2TAS-04 type gyroscope to measure an inclination of the unmanned aerial vehicle with respect to a horizontal plane in a moving state, and send the inclination to the main control module; the accelerometer can be but is not limited to an ADXL350 type accelerometer to measure the linear acceleration of the movement of the unmanned aerial vehicle in the operation process and send the linear acceleration to the main control module; the air pressure sensor can be but is not limited to an MS5607 type air pressure sensor to measure the atmospheric pressure value of the unmanned aerial vehicle, and the atmospheric pressure value is sent to the main control module, so that the main control module can calculate the absolute altitude of the unmanned aerial vehicle according to the atmospheric pressure value; the GPS module can be but is not limited to adopt an SKG12D type GPS module to measure information such as longitude and latitude, altitude, ground speed information and the like of the unmanned aerial vehicle and send the information to the main control module; the digital landing disk can be but is not limited to adopt a DFEC900 type digital compass to acquire the azimuth angle, the pitch angle, the roll angle and the like of the unmanned aerial vehicle and send the azimuth angle, the pitch angle and the roll angle to the main control module.
In this embodiment, still be provided with ultrasonic sensor on the unmanned aerial vehicle, ultrasonic sensor with the host system electricity is connected. It should be noted that, in this embodiment, the main control module may determine whether an obstacle exists in front of the current airborne killing system based on the ultrasonic signal acquired by the ultrasonic sensor in real time, and if so, the main control module may control the flight control module to stop moving, so as to implement obstacle avoidance of the airborne killing system.
In this embodiment, the image acquisition module adopts an infrared camera. It should be noted that, in order to ensure that the disinfection operation of the unmanned aerial vehicle is normally performed, it is ensured that no person is in the place when disinfection is performed, and the unmanned aerial vehicle is controlled to perform the disinfection operation according to a given route. In this embodiment, the image acquisition module adopts infrared camera, can be based on the mode of infrared formation of image, and the main control module of being convenient for discerns the user near the position of airborne system of killing.
In this embodiment, the flight control module includes a flight driving module and a switch driving module, and as shown in fig. 5, the main control module is electrically connected to the flight driving module through an isolation module. It should be noted that, in this embodiment, the isolation module adopts an STM32F103T8U6TR type single chip microcomputer, and the isolation module is used for realizing the isolation between the main control module and the flight drive module, so as to avoid the problems of the main control module, such as damage.
In this embodiment, the wireless communication module is a WiFi transceiver module, a bluetooth transceiver module, or a GPRS transceiver module. It should be noted that, in this embodiment, the wireless communication module is used for wireless communication between the main control module and the user terminal, so as to implement short-range or long-range data interaction, and further meet application requirements, and may be, but not limited to, any one or any combination of a WiFi transceiver module, a bluetooth transceiver module, and a GPRS transceiver module, where the WiFi transceiver module may also be used for WiFi positioning, so as to facilitate real-time understanding of the position of the airborne killing system.
In this embodiment, the main control module adopts an STM32F103RET6 type single chip microcomputer and peripheral circuits thereof. It should be noted that the STM32F103RET6 type single chip microcomputer is a 32-bit high-density performance micro control unit, which CAN provide three 12-bit ADCs and 4 general 16-bit timers and two PMW timers, as well as up to three SPI interfaces, an SDIO interface, five USART interfaces, a USB interface and a CAN interface. It integrates high-performance ARMCortex-M032 RISC kernel running at 72MHz frequency, high-speed embedded memory and various enhanced I/O and peripherals connected to two APB buses, has strong computing power and can perform some complex computation and control.
In this embodiment, the onboard disinfection system should further be configured with a data storage module and a power supply module, the data storage module is Electrically connected with the main control module, and the data storage module may include but is not limited to a TF card for storing computer software programs and an EEPROM (Electrically Erasable and Programmable read only memory) with model number AT24C for storing digital information such as various virtual parameters; the power supply is used for providing electric energy support for each component in the main control module, the image acquisition module, the flight control module and the wireless communication module.
Example 2:
a second aspect of this embodiment provides the working method of the onboard killing system in embodiment 1, which may be, but is not limited to, executed by a computer device or a virtual machine with certain computing resources, for example, an electronic device such as a personal computer, a smart phone, a personal digital assistant, or a wearable device, or executed by a virtual machine, and in this embodiment, the working method of the onboard killing system is executed based on the main control module.
In this embodiment, a working method of an airborne killing system includes a manual killing working method, where the manual killing working method includes:
receiving a flight control signal sent by the user terminal, and driving the flight control module to act based on the flight control signal so as to facilitate the operation of the unmanned aerial vehicle;
receiving environment image data sent by the image acquisition module, and sending the environment image data to the user terminal through the wireless communication module;
and receiving a killing driving signal sent by the user terminal, and controlling the action of the killing module based on the killing driving signal.
In this embodiment, the working method further includes an automatic killing working method, and the automatic killing working method includes:
driving the flight control module to operate in a to-be-killed area, receiving the environment image data sent by the image acquisition module, and obtaining killed map data according to the environment image data;
dividing the killing map data into areas to obtain a plurality of killing area outline data;
calculating areas corresponding to the contour data of the plurality of killing areas, and then obtaining killing time according to the areas;
acquiring position information of a plurality of killing area contour data in the killing map data;
obtaining optimal killing route information according to the killing time and the position information of the contour data of the plurality of killing areas; the time duration of the current airborne killing system for killing all the killing areas along the optimal killing route information is shortest;
and controlling the flight control module and the killing module to act according to the optimal killing route information.
This embodiment is through planning the route of killing to unmanned aerial vehicle, can make the completion of killing have no dead angle, reaches the purpose of thoroughly killing, reaches good disinfection effect in the shortest time as far as possible simultaneously.
In this embodiment, the manual killing method and the automatic killing method both include:
when the killing module is controlled to act, the environmental image data sent by the image acquisition module is received in real time;
and judging whether the environment image data comprises biological imaging data or not, and if so, controlling the killing module to stop running.
Specifically, in this embodiment, the main control module may determine whether the environmental image data includes the biometric imaging data in a manner of visual imaging detection, and may also determine whether the environmental image data including the infrared imaging data includes the biometric imaging data based on a manner of infrared detection. In this embodiment, the image acquisition module adopts infrared camera, and whether the mode that host system passes through infrared detection judges through the environment image data includes biological imaging data promptly, when detecting the infrared source similar with human temperature, then judges that including biological imaging data in the environment image data to the automatic shutdown process of killing, in order to avoid causing unnecessary injury to the human body, the security of killing can promote.
In addition, when the area of the area to be sterilized in the sterilizing place is large, the unmanned aerial vehicle set can be jointly sterilized by a plurality of unmanned aerial vehicles. Specifically, in the implementation process of the embodiment, a plurality of airborne killing systems can be further allocated to form an unmanned aerial vehicle group for killing, and different killing areas are allocated to each airborne killing system, so that the killing efficiency can be improved.
Example 3:
on the basis of embodiment 1 or 2, this embodiment discloses an electronic device, and this device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like. The electronic device may be referred to as a terminal, a portable terminal, a desktop terminal, etc., and as shown in fig. 3, the electronic device includes:
a memory for storing computer program instructions; and the number of the first and second groups,
a processor for executing the computer program instructions to perform the operations of the method of operation of an on-board disinfection system as described in any of embodiment 2.
Example 4:
on the basis of any embodiment of embodiments 1 to 3, the present embodiment discloses a computer-readable storage medium for storing computer-readable computer program instructions configured to, when executed, perform the operations of the operating method of the onboard killing system according to embodiment 1.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications of the technical solutions described in the embodiments or equivalent replacements of some technical features may still be made. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An airborne killing system, which is characterized in that: the unmanned aerial vehicle is also provided with a main control module, an image acquisition module, a flight control module and a wireless communication module, and the killing module, the image acquisition module, the flight control module and the wireless communication module are all electrically connected with the main control module; the sterilizing module adopts a high-energy pulse ultraviolet lamp; wherein the content of the first and second substances,
the main control module is in remote communication with the user terminal through the wireless communication module, receives a flight control signal sent by the user terminal through the wireless communication module, and controls the flight control module to act based on the flight control signal;
the image acquisition module is used for acquiring environment image data and sending the environment image data to the user terminal through the main control module and the wireless communication module in sequence;
the main control module also receives a killing driving signal sent by the user terminal through a wireless communication module and controls the action of the killing module based on the killing driving signal.
2. An airborne killing system according to claim 1, characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a flight assembly and a support assembly; the flight assembly comprises a wing connecting rod connected with the unmanned aerial vehicle body, a wing supporting frame arranged at one end of the wing connecting rod, which is far away from the unmanned aerial vehicle body, and a wing arranged at the top of the wing supporting frame, and the wing is driven by the flight control module; the supporting component comprises a supporting frame arranged at the bottom of the unmanned aerial vehicle body and an anti-slip column arranged at one end of the unmanned aerial vehicle body, wherein the supporting frame is far away from the anti-slip column.
3. An airborne killing system according to claim 1, characterized in that: the unmanned aerial vehicle is further provided with an electrostatic shielding cover and a protective net, the electrostatic shielding cover is connected with the unmanned aerial vehicle through a support, the killing module is transversely arranged in the electrostatic shielding cover, and the protective net is transversely arranged at the bottom of the electrostatic shielding cover.
4. The airborne killing system of claim 1, wherein: the unmanned aerial vehicle is also provided with a state monitoring module, the state monitoring module is electrically connected with the main control module and is used for acquiring state information of the unmanned aerial vehicle and sending the state information to the main control module.
5. The airborne killing system of claim 4, wherein: the state monitoring module comprises a gyroscope, an accelerometer, an air pressure sensor, a GPS module and a digital falling disc, and the gyroscope, the accelerometer, the air pressure sensor, the GPS module and the digital falling disc are all electrically connected with the main control module.
6. An airborne killing system according to claim 1, characterized in that: still be provided with ultrasonic sensor on the unmanned aerial vehicle, ultrasonic sensor with the host system electricity is connected.
7. An airborne killing system according to claim 1, characterized in that: the image acquisition module adopts an infrared camera.
8. An airborne killing system according to claim 1, characterized in that: the main control module adopts an STM32F103RET6 type single chip microcomputer and a peripheral circuit thereof.
9. A method of operating an on-board disinfection system as claimed in any one of the claims 1-8, characterized in that: based on the execution of the main control module, the working method comprises a manual killing working method, and the manual killing working method comprises the following steps:
receiving a flight control signal sent by the user terminal, and driving the flight control module to act based on the flight control signal so as to facilitate the operation of the unmanned aerial vehicle;
receiving environment image data sent by the image acquisition module, and sending the environment image data to the user terminal through the wireless communication module;
and receiving a killing driving signal sent by the user terminal, and controlling the action of the killing module based on the killing driving signal.
10. The method of operating an airborne killing system according to claim 9, wherein: the working method further comprises an automatic killing working method, and the automatic killing working method comprises the following steps:
driving the flight control module to operate in a to-be-killed area, receiving the environment image data sent by the image acquisition module, and obtaining killed map data according to the environment image data;
dividing the killing map data into areas to obtain a plurality of killing area outline data;
calculating areas corresponding to the contour data of the plurality of killing areas, and then obtaining killing time according to the areas;
acquiring position information of a plurality of killing area contour data in the killing map data;
obtaining optimal killing route information according to the killing time and the position information of the contour data of the plurality of killing areas; the time duration of the current airborne killing system for killing all the killing areas along the optimal killing route information is shortest;
and controlling the flight control module and the killing module to act according to the optimal killing route information.
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