CN115554444B - Full-automatic intelligent disinfection system - Google Patents
Full-automatic intelligent disinfection system Download PDFInfo
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- CN115554444B CN115554444B CN202211209741.1A CN202211209741A CN115554444B CN 115554444 B CN115554444 B CN 115554444B CN 202211209741 A CN202211209741 A CN 202211209741A CN 115554444 B CN115554444 B CN 115554444B
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 473
- 230000007613 environmental effect Effects 0.000 claims abstract description 43
- 238000005070 sampling Methods 0.000 claims abstract description 13
- 231100000167 toxic agent Toxicity 0.000 claims abstract description 13
- 239000003440 toxic substance Substances 0.000 claims abstract description 13
- 238000000889 atomisation Methods 0.000 claims description 41
- 230000000694 effects Effects 0.000 claims description 26
- 230000001954 sterilising effect Effects 0.000 claims description 21
- 230000008859 change Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 7
- 239000000645 desinfectant Substances 0.000 claims description 7
- 241000894006 Bacteria Species 0.000 claims description 6
- 241000700605 Viruses Species 0.000 claims description 6
- 239000005416 organic matter Substances 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims description 2
- 239000000428 dust Substances 0.000 claims description 2
- 239000012855 volatile organic compound Substances 0.000 claims 1
- 230000005180 public health Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 5
- 238000005202 decontamination Methods 0.000 description 3
- 230000003588 decontaminative effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 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
- A61L2/24—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
- A61L2/02—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
-
- 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
- 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
-
- 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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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The invention relates to the field of public health, and discloses a full-automatic intelligent disinfection system, which comprises: the environment sampling device, the disinfection device and the background control device, wherein the disinfection device comprises a movable disinfection robot and a fixed disinfection device; defining a plurality of scene areas corresponding to an environmental site, wherein the scene areas comprise a first scene area which is convenient for the mobile disinfection equipment to move and a second scene area which is blocked from the mobile disinfection equipment to move; the environment sampling equipment is used for collecting the concentration of each toxic substance in the environment air in the scene area, generating collected data and sending the collected data to the background control equipment, and the background control equipment generates a disinfection task according to the collected data; the background control equipment is connected with the movable disinfection equipment and the fixed disinfection equipment through a network respectively, and the movable disinfection equipment and the fixed disinfection equipment receive disinfection tasks from the background control equipment and execute the disinfection tasks in the scene areas where the background control equipment and the fixed disinfection equipment are located.
Description
Technical Field
The invention relates to the field of public health, in particular to a full-automatic intelligent disinfection system.
Background
Along with the higher and higher environmental sanitation requirements of people on various public places, the public places are subjected to disinfection treatment by management departments of various public places and related public places, but the traditional manual disinfection operation mode is used for disinfection treatment, so that the problems of high manual disinfection cost, low disinfection efficiency, insufficient disinfection, high disinfection management difficulty, high public environmental sanitation and health potential safety hazard and the like exist; and in some special occasions, the manual disinfection is not suitable for being performed, the manual disinfection treatment mode has a large limitation, and disinfection operators of the manual disinfection treatment can be adversely affected by physical and mental health in the disinfection operation process.
Disclosure of Invention
The invention aims to provide a full-automatic intelligent disinfection system which can carry out full-coverage disinfection on a target occasion and improve the disinfection efficiency and effect.
To achieve the above object, the basic scheme of the present invention is as follows:
a fully automatic intelligent disinfection system, comprising: the environment sampling device, the disinfection device and the background control device, wherein the disinfection device comprises a movable disinfection robot and a fixed disinfection device, the movable disinfection robot comprises a movable ultraviolet disinfection robot and a movable atomization disinfection robot, and the fixed disinfection device comprises a fixed ultraviolet disinfection device and a fixed atomization disinfection device;
defining a plurality of scene areas corresponding to an environmental site, wherein the scene areas comprise a first scene area and a second scene area, the first scene area is defined as a scene area convenient for the mobile disinfection equipment to move, and the second scene area is defined as a scene area preventing the mobile disinfection equipment from moving;
a movable ultraviolet disinfection robot and a movable atomization disinfection robot are arranged in a first scene area, and a fixed ultraviolet disinfection device and a fixed atomization disinfection device are arranged in a second scene area;
the environment sampling equipment is used for collecting the concentration of each toxic substance in the environment air in the scene area, generating collecting data and sending the collecting data to the background control equipment, wherein the background control equipment generates a disinfection task according to the collecting data, and the disinfection task is associated with a disinfection project;
the background control equipment is connected with the movable disinfection equipment and the fixed disinfection equipment through a network respectively, and the movable disinfection equipment and the fixed disinfection equipment receive disinfection tasks from the background control equipment and execute the disinfection tasks in the scene areas where the movable disinfection equipment and the fixed disinfection equipment are located.
Further, a plurality of disinfection modes are configured in the first scene area, and the disinfection modes in the first scene area comprise:
a mobile ultraviolet sterilization mode in which the mobile ultraviolet sterilization robot moves in the first scene area and performs ultraviolet sterilization;
a mobile spray disinfection mode in which the mobile spray disinfection robot moves within the first scene area and performs spray disinfection;
and a mobile mixed disinfection mode, wherein the mobile ultraviolet disinfection robot and the mobile atomization disinfection robot respectively move in the first scene area and respectively perform ultraviolet disinfection and atomization disinfection.
Further, a plurality of disinfection modes are configured in the second scene area, and the disinfection modes in the second scene area comprise:
a stationary ultraviolet disinfection mode in which the stationary ultraviolet disinfection device is within the second scene area and performs ultraviolet disinfection;
a fixed spray disinfection mode in which the fixed spray disinfection device is within the second scene area and performs spray disinfection;
and a fixed mixed disinfection mode, in which the fixed ultraviolet disinfection device and the fixed atomization disinfection device respectively perform ultraviolet disinfection and atomization disinfection in the second scene area.
Further, an elevator and a plurality of automatic doors are arranged in the first scene area,
the elevator is provided with an elevator control board which is connected with background control equipment, when a disinfection project received by the movable disinfection robot is disinfected across floors, the movable disinfection robot sends an elevator calling and door opening command and a specified floor reaching command to the elevator control board through the background control equipment, the elevator control board is connected with an elevator key system according to various received commands, an elevator key is simulated through an output voltage signal so that the elevator reaches the current floor in a preset time, the elevator control board receives the door opening command and the door closing command to output door opening and door closing signals, and the state of the current door is judged to be closed in place, in the middle of opening and in the middle of closing according to the signal of the magnetic attraction sensor, and the current state is fed back to the background; when the elevator reaches the current floor and the door is opened in place, the movable disinfection robot enters the elevator, when the elevator is closed in place, the elevator reaches the specified floor according to the instruction of the instruction to reach the specified floor, and when the elevator is opened in place again, the movable disinfection robot enters the specified floor to execute a disinfection task;
the automatic door is provided with a magnetic sensor and an automatic door opener, the magnetic sensor and an automatic door control board are respectively connected to background control equipment, the magnetic sensor is used for detecting the opening and closing states of the automatic door, and the automatic door control board is used for controlling the automatic door to be opened or closed;
the magnetic sensor is connected to the movable disinfection robot, when the movable disinfection robot moves to the front of the automatic door, the movable disinfection robot initiates a detection request to the magnetic sensor, the magnetic sensor judges the state of the current automatic door and generates a detection signal to feed back to the background control equipment, when the state of the automatic door related to the detection signal is a door closing state, the background control equipment outputs a door opening instruction to the automatic door opener, the automatic door opener opens the automatic door, and the movable disinfection robot enters the automatic door through the automatic door.
Further, the movable disinfection robot is provided with a positioning device, a movable chassis, an obstacle avoidance navigation unit and a disinfection unit,
the positioning device is used for acquiring the position information of the mobile disinfection robot in the first scene area;
the movable chassis is provided with universal wheels and is used for moving the movable disinfection robot to move in the first scene area;
the obstacle avoidance navigation unit consists of a millimeter wave radar and a high-definition camera and is used for detecting obstacles within the range of 360 degrees of the movable disinfection robot;
the disinfection unit of the mobile ultraviolet disinfection robot consists of a plurality of ultraviolet lamps and is used for ultraviolet disinfection in a first scene area, the disinfection unit of the mobile atomization disinfection robot consists of a liquid storage barrel and a rotatable atomization nozzle, disinfectant is filled in the liquid storage barrel, and the atomization nozzle is used for spraying the disinfectant in a first scene area to multiple directions.
Further, the mobile sterilization robot performing a sterilization task in the first scene area includes the steps of:
s1: the environment sampling equipment sends the acquired data of the first scene area to the background control equipment, and the background control equipment generates a disinfection task according to the acquired data and sends the disinfection task to the mobile disinfection robot;
s2: the mobile disinfection robot receives the disinfection task, uploads the position information acquired by the positioning device to the background control equipment, the background control equipment invokes the global map of the first scene area according to the position information of the mobile disinfection robot, and divides the global map of the first scene area into a plurality of area blocks,
s3: according to the disinfection items associated with the disinfection tasks, disinfection points are configured in each area block, a movable disinfection path of the movable disinfection robot is generated according to the disinfection points, the movable chassis moves according to the movable disinfection path, and the disinfection unit executes disinfection actions in each area block of the movable disinfection path.
Further, the background control equipment is configured with an obstacle avoidance module, the obstacle avoidance module is configured with an obstacle avoidance strategy, the obstacle avoidance strategy is associated with an image database, and the image database comprises a plurality of obstacle blocks and obstacle classes corresponding to the obstacle blocks;
the high-definition camera collects a front real-time scene of the moving direction of the movable disinfection robot, generates an image to be compared, uploads the image to the background control device, extracts obstacle blocks from the image to be compared when the background control device obtains the image to be compared, identifies obstacle types corresponding to the obstacle blocks according to the obstacle blocks, and resets a movable disinfection path according to the position information of the movable disinfection robot and the position of the obstacle types in the image to be compared.
Further, the disinfection task is associated with a timing disinfection project, the disinfection device generates a timing disinfection strategy according to the timing disinfection project associated with the disinfection task, the timing disinfection strategy is configured with a timing disinfection method, and the timing disinfection method comprises the following steps:
step one, presetting a timing disinfection period, a disinfection mode and a disinfection duration;
step two, reading the last stored disinfection ending time point, calculating the time difference between the current time point and the last stored disinfection ending time point, and when the time difference is equal to the disinfection period, starting a preset disinfection mode by the disinfection basic body;
and step three, stopping the disinfection operation when the disinfection time reaches the preset disinfection time.
Further, a disinfection effect analyzer is configured in the first scene area and the second scene area, the disinfection effect analyzer is connected to a background control device, the disinfection effect analyzer is configured with a sensor unit and an irradiation detection unit, the sensor unit is used for measuring environment information in the first scene area and the second scene area, the environment information comprises disinfectant concentration, virus concentration, planktonic bacteria concentration and volatile organic matter concentration, and the irradiation detection unit is used for detecting ultraviolet irradiation intensity in the first scene area and the second scene area;
the background control equipment is configured with an environmental data processing module, the environmental data processing module is configured with an environmental data processing strategy, the environmental data processing strategy is configured with an environmental quality index algorithm, the environmental quality index algorithm is configured with preset weight parameters corresponding to each toxic substance, the preset weight parameters corresponding to each toxic substance are different, and the calculation formula of the environmental quality index algorithm is as follows:
M＝θ{αX+βY+εZ}；
wherein M is an environmental quality index, alpha, beta and epsilon are preset weight parameters, theta is a random parameter, the value is 0.1-1, X is the virus concentration in the environment, Y is the planktonic bacteria concentration in the environment, and Z is the volatile organic matter concentration in the environment;
the random parameters are configured with a plurality of influencing factors including temperature, air flow rate, PM2.5 concentration.
Further, the background control device is configured with a recording module, the environment acquisition module acquires the concentration data of each toxic substance in the environment air at a plurality of preset time intervals continuously in one disinfection period, the data processing module obtains environment quality indexes according to an environment quality index algorithm, the recording module records the environment quality index of each time point and generates an environment quality change curve according to the environment quality index and the time point corresponding to each environment quality index, the environment quality change curve is characterized by the change of the environment quality index from time T0 to time T1, T0 is the starting time of the disinfection period, and T1 is the ending time of the disinfection period;
the background control equipment is configured with an analysis module, the analysis module is configured with an analysis strategy, the analysis strategy is configured with a comparison threshold, the analysis strategy is used for calling the environmental quality indexes at the time T0 and the time T1, calculating the environmental quality index change rates at the time T0 and the time T1, outputting a disinfection effect index according to the environmental quality index change rates, and recording the disinfection effect index in the recording module.
Further, the disinfection device is provided with a human body sensing unit, the human body sensing unit can detect the breath and the heartbeat of a human body in a preset range, and when the human body sensing unit detects the breath and the heartbeat of the human body in the preset range, the disinfection device stops the disinfection action;
the fixed ultraviolet disinfection device is provided with an ultraviolet lamp capable of ascending and descending and a self-cleaning unit, the self-cleaning unit is provided with a brush for cleaning dust on the surface of the ultraviolet lamp, and the brush is provided with a driving motor.
Compared with the prior art, the beneficial effect of this scheme is:
1. dividing a scene to be disinfected into a first scene area and a second scene area, configuring a mobile ultraviolet disinfection robot and a mobile atomization disinfection robot in the first scene area, configuring a fixed ultraviolet disinfection device and a fixed atomization disinfection device in the second scene area, generating disinfection tasks according to collected data by a background control device, and respectively performing full-coverage disinfection and sterilization in the first scene area and the second scene area, wherein manual disinfection is replaced by the mobile disinfection robot and the fixed disinfection device, so that disinfection efficiency and effect are effectively improved.
2. In the disinfection process, the recording module configured by the background control equipment can record the environmental quality index of each time point, and the analysis module configured by the background control equipment can output the disinfection effect index according to the environmental quality index change rate in a disinfection period and record the disinfection effect index in the recording module so as to realize the recording analysis of the disinfection process.
3. The disinfection effect analyzer configured in the first scene area and the second scene area can acquire the concentration of the disinfection solution in the environment and the ultraviolet irradiation intensity, so that the disinfection effect can be judged, and detected data can be uploaded to a recording module configured by the background control equipment.
Drawings
Fig. 1 is a system configuration diagram of the present invention.
Reference numerals in the drawings of the specification include: the environment sampling device 1, the background control device 2, the movable ultraviolet disinfection robot 3, the movable atomization disinfection robot 4, the obstacle avoidance module 5, the environment data processing module 6, the recording module 7, the analysis module 8, the fixed ultraviolet disinfection device 9 and the fixed atomization disinfection device 10.
Detailed Description
The invention is described in further detail below with reference to the drawings in the specification and by way of specific embodiments:
examples:
a fully automatic intelligent disinfection system, as shown in fig. 1, comprising: the environment sampling device 1, the disinfection device and the background control device 2, wherein the disinfection device comprises a movable disinfection robot and a fixed disinfection device, the movable disinfection robot comprises a movable ultraviolet disinfection robot 3 and a movable atomization disinfection robot 4, the fixed disinfection device comprises a fixed ultraviolet disinfection device 9 and a fixed atomization disinfection device 10, the fixed ultraviolet disinfection device 9 is a liftable ultraviolet lamp, and the fixed atomization disinfection device 10 is a wall-mounted atomizer; the four disinfection devices can be started manually, at regular time or remotely.
The disinfection equipment is provided with a human body sensing unit, the human body sensing unit can detect the breath and the heartbeat of a human body in a preset range, and when the human body sensing unit detects the breath and the heartbeat of the human body in the preset range, the disinfection equipment stops disinfection actions.
Defining a plurality of scene areas corresponding to an environmental site, wherein the scene areas comprise a first scene area and a second scene area, the first scene area is defined as a scene area convenient for the mobile disinfection equipment to move, and the second scene area is defined as a scene area preventing the mobile disinfection equipment from moving;
a movable ultraviolet disinfection robot 3 and a movable atomization disinfection robot 4 are arranged in a first scene area, and a fixed ultraviolet disinfection device 9 and a fixed atomization disinfection device 10 are arranged in a second scene area;
an elevator and a plurality of automatic doors are configured in a first scene area, the elevator is provided with an elevator control board, the elevator control board is connected to background control equipment 2 through a wireless communication module, the wireless communication module can select a plurality of modes such as 4G, wiFi, zigBee networking and the like according to the strength of a field signal, when a disinfection project received by a movable disinfection robot is disinfected across floors, the movable disinfection robot sends an elevator calling and closing command and a command for reaching a specified floor to the elevator control board through the background control equipment when the work of the current floors is about to be finished, the elevator control board accesses an elevator key system according to various received commands, simulates an elevator key through outputting a voltage signal so that the elevator reaches the current floor in preset time, the elevator control board receives a door opening and closing command to output door opening signals, and judges the state of the current door to be in place, open the door and close the door according to the signal of a magnetic sensor to feed back the current state to the background; when the elevator reaches the current floor and the door is opened in place, the movable disinfection robot enters the elevator, when the elevator is closed in place, the elevator reaches the specified floor according to the instruction of the instruction to reach the specified floor, and when the elevator is opened in place again, the movable disinfection robot enters the specified floor to execute a disinfection task;
the automatic door is provided with a magnetic sensor and an automatic door opener, the magnetic sensor and an automatic door control board are respectively connected to background control equipment, the magnetic sensor is used for detecting the opening and closing states of the automatic door, and the automatic door control board is used for controlling the automatic door to be opened or closed;
the magnetic sensor is connected to the movable disinfection robot, when the movable disinfection robot moves to the front of the automatic door, the movable disinfection robot initiates a detection request to the magnetic sensor, the magnetic sensor judges the state of the current automatic door and generates a detection signal to feed back to the background control equipment, when the state of the automatic door related to the detection signal is a door closing state, the background control equipment outputs a door opening instruction to the automatic door opener, the automatic door opener opens the automatic door, and the movable disinfection robot enters the automatic door through the automatic door.
The environment sampling equipment 1 is used for collecting the concentration of each toxic substance in the environment air in a scene area, generating collected data and sending the collected data to the background control equipment 2, wherein the background control equipment 2 generates a disinfection task according to the collected data, and the disinfection task is associated with a disinfection project;
the background control device 2 is connected with the mobile disinfection device and the fixed disinfection device through a network respectively, and the mobile disinfection device and the fixed disinfection device receive disinfection tasks from the background control device 2 and execute the disinfection tasks in the scene areas where the background control device and the fixed disinfection device are located respectively.
A plurality of disinfection modes are configured in the first scene area, the disinfection modes in the first scene area comprising:
a moving ultraviolet sterilization mode in which the moving ultraviolet sterilization robot 3 moves in the first scene area and performs ultraviolet sterilization;
a mobile decontamination mode in which the mobile decontamination robot 4 moves in the first scene area and performs decontamination;
a mobile hybrid sterilization mode in which the mobile ultraviolet sterilization robot 3 and the mobile atomizing sterilization robot 4 move in the first scene area, respectively, and perform ultraviolet sterilization and atomization sterilization, respectively;
the movable ultraviolet disinfection robot 3 and the movable atomization disinfection robot 4 can automatically go up and down the elevator, and can automatically open the door without manual assistance;
a plurality of disinfection modes are configured in the second scene area, the disinfection modes in the second scene area comprising:
a fixed ultraviolet disinfection mode, in which the liftable ultraviolet lamp is arranged in the second scene area and performs ultraviolet disinfection, the liftable ultraviolet lamp is provided with a self-cleaning function, and the liftable ultraviolet lamp is provided with a human body induction device, so that the lamp can be turned off by a person, and the influence on the human body caused by the irradiation of the ultraviolet lamp on the human skin is avoided;
a fixed atomization disinfection mode, in which the wall-mounted atomizer is in a second scene area and performs atomization disinfection;
and (3) a fixed mixed disinfection mode, wherein in the mode, the wall-mounted atomizer and the liftable ultraviolet lamp respectively perform ultraviolet disinfection and atomization disinfection in the second scene area.
The movable disinfection robot is provided with a positioning device, a movable chassis, an obstacle avoidance navigation unit and a disinfection unit,
the positioning device is used for acquiring the position information of the movable disinfection robot in the first scene area;
the movable chassis is provided with universal wheels and is used for moving the movable disinfection robot to move in the first scene area;
the obstacle avoidance navigation unit consists of a millimeter wave radar and a high-definition camera and is used for detecting obstacles within the 360-degree range of the movable disinfection robot;
the disinfection unit of the mobile ultraviolet disinfection robot 3 is composed of a plurality of ultraviolet lamps and is used for ultraviolet disinfection in a first scene area, the disinfection unit of the mobile atomization disinfection robot 4 is composed of a liquid storage barrel and a rotatable atomization nozzle, disinfectant is filled in the liquid storage barrel, and the atomization nozzle is used for spraying the disinfectant in multiple directions in the first scene area.
The mobile sterilization robot performing a sterilization task within a first scene area includes the steps of:
s1: the environment sampling device 1 sends the acquired data of the first scene area to the background control device 2, and the background control device 2 generates a disinfection task according to the acquired data and sends the disinfection task to the mobile disinfection robot;
s2: the mobile disinfection robot receives the disinfection task, uploads the position information acquired by the positioning device to the background control equipment 2, the background control equipment 2 calls the global map of the first scene area according to the position information of the mobile disinfection robot, divides the global map of the first scene area into a plurality of area blocks,
s3: according to the disinfection items associated with the disinfection tasks, disinfection points are configured in each area block, a movable disinfection path of the movable disinfection robot is generated according to the disinfection points, the movable chassis moves according to the movable disinfection path, and the disinfection unit executes disinfection actions in each area block of the movable disinfection path.
The background control equipment 2 is provided with an obstacle avoidance module 5, the obstacle avoidance module 5 is provided with an obstacle avoidance strategy, the obstacle avoidance strategy is associated with an image database, and the image database comprises a plurality of obstacle blocks and obstacle classes corresponding to the obstacle blocks;
the high-definition camera collects a front real-time scene of the moving direction of the movable disinfection robot, generates an image to be compared, uploads the image to be compared to the background control device 2, extracts obstacle blocks from the image to be compared when the background control device 2 acquires the image to be compared, identifies obstacle types corresponding to the obstacle blocks according to the obstacle blocks, and resets a movable disinfection path according to the position information of the movable disinfection robot and the position of the obstacle types in the image to be compared.
The disinfection task is associated with a timing disinfection project, the disinfection equipment generates a timing disinfection strategy according to the timing disinfection project associated with the disinfection task, the timing disinfection strategy is configured with a timing disinfection method, and the timing disinfection method comprises the following steps:
step one, presetting a timing disinfection period, a disinfection mode and a disinfection duration;
step two, reading the last stored disinfection ending time point, calculating the time difference between the current time point and the last stored disinfection ending time point, and when the time difference is equal to the disinfection period, starting a preset disinfection mode by the disinfection basic body;
and step three, stopping the disinfection operation when the disinfection time reaches the preset disinfection time.
The first scene area and the second scene area are internally provided with a disinfection effect analyzer, the disinfection effect analyzer is connected with background control equipment, the disinfection effect analyzer is provided with a sensor unit and an irradiation detection unit, the sensor unit is used for measuring environment information in the first scene area and the second scene area, the environment information comprises disinfectant concentration, virus concentration, planktonic bacteria concentration and volatile organic matter concentration, and the irradiation detection unit is used for detecting ultraviolet irradiation intensity in the first scene area and the second scene area;
the background control device 2 is configured with an environmental data processing module 6, the environmental data processing module 6 is configured with an environmental data processing strategy, the environmental data processing strategy is configured with an environmental quality index algorithm, the environmental quality index algorithm is configured with preset weight parameters corresponding to each toxic substance, the preset weight parameters corresponding to each toxic substance are different, and the calculation formula of the environmental quality index algorithm is as follows:
M＝θ{αX+βY+εZ}；
wherein M is an environmental quality index, alpha, beta and epsilon are preset weight parameters, theta is a random parameter, the value is 0.1-1, X is the virus concentration in the environment, Y is the planktonic bacteria concentration in the environment, and Z is the volatile organic matter concentration in the environment;
the random parameters are configured with a number of influencing factors including temperature, air flow rate, PM2.5 concentration.
The background control device 2 is configured with a recording module 7, the environment acquisition module acquires the concentration data of each toxic substance in the environment air at a plurality of preset time intervals continuously in one disinfection period, the data processing module obtains the environment quality index according to the environment quality index algorithm, the recording module 7 records the environment quality index of each time point and generates an environment quality change curve according to the environment quality index and the time point corresponding to each environment quality index, the environment quality change curve is characterized by the change of the environment quality index from time T0 to time T1, T0 is the beginning time of the disinfection period, and T1 is the ending time of the disinfection period;
the background control device 2 is configured with an analysis module 8, the analysis module 8 is configured with an analysis strategy, the analysis strategy is configured with a comparison threshold, the analysis strategy is used for calling the environmental quality indexes at the time T0 and the time T1, calculating the environmental quality index change rates at the time T0 and the time T1, outputting a disinfection effect index according to the environmental quality index change rates, and recording the disinfection effect index in the recording module 7.
And a disinfection effect analyzer is configured in the first scene area and the second scene area and is connected to the background control equipment 2, and the disinfection solution spraying concentration and the ultraviolet lamp irradiation intensity are monitored by the disinfection effect analyzer so as to judge that the disinfection effect is qualified, and data are uploaded to a recording module 7 of the background control equipment 2.
The specific implementation mode of the scheme is as follows:
a movable ultraviolet disinfection robot 3, a movable atomization disinfection robot 4, a wall-mounted atomizer and a liftable ultraviolet lamp are arranged in a scene to be disinfected,
the environment sampling device 1 sends the acquired data of the first scene area and the second scene area to the background control device 2, and the background control device 2 generates disinfection tasks according to the acquired data and sends the disinfection tasks to the mobile disinfection robot and the fixed disinfection device;
in the first scene area, the mobile disinfection robot receives a disinfection task, the position information acquired by the positioning device is uploaded to the background control equipment 2, and the background control equipment 2 calls a global map of the first scene area according to the position information of the mobile disinfection robot and divides the global map of the first scene area into a plurality of area blocks;
according to the disinfection items associated with the disinfection tasks, disinfection points are configured in each area block, a movable disinfection path of the movable disinfection robot is generated according to the disinfection points, the movable chassis moves according to the movable disinfection path, and the disinfection unit executes disinfection actions in each area block of the movable disinfection path.
In the second scene area, the fixed disinfection equipment starts a corresponding disinfection mode to disinfect the second scene area according to disinfection items associated with the disinfection task.
In the disinfection process, the recording module 7 configured by the background control device 2 can record the environmental quality index of each time point, and the analysis module 8 configured by the background control device 2 can output the disinfection effect index according to the change rate of the environmental quality index in a disinfection period and record the disinfection effect index in the recording module 7, so as to realize the record analysis of the disinfection process.
The foregoing is merely exemplary embodiments of the present invention, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (7)
1. A full-automatic intelligent disinfection system is characterized in that: comprising the following steps: an environment sampling device, a disinfection device and a background control device,
the disinfection equipment comprises a movable disinfection robot and a fixed disinfection equipment, wherein the movable disinfection robot comprises a movable ultraviolet disinfection robot and a movable atomization disinfection robot, and the fixed disinfection equipment comprises a fixed ultraviolet disinfection device and a fixed atomization disinfection device;
defining a plurality of scene areas corresponding to an environmental site, wherein the scene areas comprise a first scene area and a second scene area, the first scene area is defined as a scene area convenient for the mobile disinfection equipment to move, and the second scene area is defined as a scene area preventing the mobile disinfection equipment from moving;
a movable ultraviolet disinfection robot and a movable atomization disinfection robot are arranged in a first scene area, and a fixed ultraviolet disinfection device and a fixed atomization disinfection device are arranged in a second scene area;
the environment sampling equipment is used for collecting the concentration of each toxic substance in the environment air in the scene area, generating collecting data and sending the collecting data to the background control equipment, wherein the background control equipment generates a disinfection task according to the collecting data, and the disinfection task is associated with a disinfection project;
the background control equipment is connected with the movable disinfection equipment and the fixed disinfection equipment through a network respectively, and the movable disinfection equipment and the fixed disinfection equipment receive disinfection tasks from the background control equipment and execute the disinfection tasks in scene areas where the movable disinfection equipment and the fixed disinfection equipment are located;
the movable disinfection robot is provided with a positioning device, a movable chassis, an obstacle avoidance navigation unit and a disinfection unit,
the positioning device is used for acquiring the position information of the mobile disinfection robot in the first scene area;
the movable chassis is provided with universal wheels and is used for moving the movable disinfection robot to move in the first scene area;
the obstacle avoidance navigation unit consists of a millimeter wave radar and a high-definition camera and is used for detecting obstacles within the range of 360 degrees of the movable disinfection robot;
the disinfection unit of the movable ultraviolet disinfection robot consists of a plurality of ultraviolet lamps and is used for ultraviolet disinfection in a first scene area, the disinfection unit of the movable atomization disinfection robot consists of a liquid storage barrel and a rotatable atomization nozzle, the liquid storage barrel is filled with disinfection liquid, and the atomization nozzle is used for spraying the atomization disinfection liquid in multiple directions in the first scene area;
the mobile sterilization robot performing a sterilization task in a first scene area includes the steps of:
s1: the environment sampling equipment sends the acquired data of the first scene area to the background control equipment, and the background control equipment generates a disinfection task according to the acquired data and sends the disinfection task to the mobile disinfection robot;
s2: the mobile disinfection robot receives the disinfection task, uploads the position information acquired by the positioning device to the background control equipment, the background control equipment invokes the global map of the first scene area according to the position information of the mobile disinfection robot, and divides the global map of the first scene area into a plurality of area blocks,
s3: according to disinfection items associated with a disinfection task, configuring disinfection points in each area block, generating a movable disinfection path of the movable disinfection robot according to the disinfection points, moving the movable chassis according to the movable disinfection path, and executing disinfection actions in each area block of the movable disinfection path by the disinfection unit;
the background control equipment is provided with an obstacle avoidance module, the obstacle avoidance module is provided with an obstacle avoidance strategy, the obstacle avoidance strategy is associated with an image database, and the image database comprises a plurality of obstacle blocks and obstacle classes corresponding to the obstacle blocks;
the high-definition camera collects a front real-time scene of the moving direction of the movable disinfection robot, generates an image to be compared, uploads the image to the background control device, extracts obstacle blocks from the image to be compared when the background control device obtains the image to be compared, identifies obstacle types corresponding to the obstacle blocks according to the obstacle blocks, and resets a movable disinfection path according to the position information of the movable disinfection robot and the position of the obstacle types in the image to be compared.
2. A fully automatic intelligent disinfection system according to claim 1, wherein: a plurality of disinfection modes are configured in the first scene area, and the disinfection modes in the first scene area comprise:
a mobile ultraviolet sterilization mode in which the mobile ultraviolet sterilization robot moves in the first scene area and performs ultraviolet sterilization;
a mobile spray disinfection mode in which the mobile spray disinfection robot moves within the first scene area and performs spray disinfection;
a mobile mixed disinfection mode, in which the mobile ultraviolet disinfection robot and the mobile atomization disinfection robot respectively move in the first scene area and respectively perform ultraviolet disinfection and atomization disinfection;
a plurality of disinfection modes are configured in the second scene area, and the disinfection modes in the second scene area comprise:
a stationary ultraviolet disinfection mode in which the stationary ultraviolet disinfection device is within the second scene area and performs ultraviolet disinfection;
a fixed spray disinfection mode in which the fixed spray disinfection device is within the second scene area and performs spray disinfection;
and a fixed mixed disinfection mode, in which the fixed ultraviolet disinfection device and the fixed atomization disinfection device respectively perform ultraviolet disinfection and atomization disinfection in the second scene area.
3. A fully automatic intelligent disinfection system according to claim 1, wherein: an elevator and a plurality of automatic doors are arranged in the first scene area;
the elevator is provided with an elevator control board, the elevator control board is connected with background control equipment, when a disinfection project received by the movable disinfection robot has cross-floor disinfection, the movable disinfection robot sends an elevator calling and door opening instruction and a specified floor arriving instruction to the elevator control board through the background control equipment when the current floor work is about to be finished, the elevator control board is connected with an elevator key system according to various received instructions, and imitates an elevator key through output voltage signals so that the elevator arrives at the current floor in preset time, after the elevator arrives at the current floor and opens a door in place, the movable disinfection robot enters the elevator, after the elevator arrives at the specified floor according to the instruction, and after the elevator opens the door again in place, the movable disinfection robot enters the specified floor to execute the disinfection task;
the automatic door is provided with a magnetic sensor and an automatic door opener, the magnetic sensor and an automatic door control board are respectively connected to background control equipment, the magnetic sensor is used for detecting the opening and closing states of the automatic door, and the automatic door control board is used for controlling the automatic door to be opened or closed;
the magnetic sensor is connected to the movable disinfection robot, when the movable disinfection robot moves to the front of the automatic door, the movable disinfection robot initiates a detection request to the magnetic sensor, the magnetic sensor judges the state of the current automatic door and generates a detection signal to feed back to the background control equipment, when the state of the automatic door related to the detection signal is a door closing state, the background control equipment outputs a door opening instruction to the automatic door opener, the automatic door opener opens the automatic door, and the movable disinfection robot enters the automatic door through the automatic door.
4. A fully automatic intelligent disinfection system according to claim 1, wherein:
the disinfection task is associated with a timing disinfection project, the disinfection equipment generates a timing disinfection strategy according to the timing disinfection project associated with the disinfection task, the timing disinfection strategy is configured with a timing disinfection method, and the timing disinfection method comprises the following steps:
step one, presetting a timing disinfection period, a disinfection mode and a disinfection duration;
step two, reading the last stored disinfection ending time point, calculating the time difference between the current time point and the last stored disinfection ending time point, and when the time difference is equal to the disinfection period, starting a preset disinfection mode by the disinfection basic body;
and step three, stopping the disinfection operation when the disinfection time reaches the preset disinfection time.
5. A fully automatic intelligent disinfection system according to claim 4, wherein:
the disinfection effect analyzer is connected to the background control equipment, the disinfection effect analyzer is provided with a sensor unit and an irradiation detection unit, the sensor unit is used for measuring environment information in the first scene area and the second scene area, the environment information comprises disinfectant concentration, virus concentration, planktonic bacteria concentration and volatile organic compound concentration, and the irradiation detection unit is used for detecting ultraviolet irradiation intensity in the first scene area and the second scene area;
the background control equipment is configured with an environmental data processing module, the environmental data processing module is configured with an environmental data processing strategy, the environmental data processing strategy is configured with an environmental quality index algorithm, the environmental quality index algorithm is configured with preset weight parameters corresponding to each toxic substance, the preset weight parameters corresponding to each toxic substance are different, and the calculation formula of the environmental quality index algorithm is as follows:
M＝θ{αX+βY+εZ}；
wherein M is an environmental quality index, alpha, beta and epsilon are preset weight parameters, theta is a random parameter, the value is 0.1-1, X is the virus concentration in the environment, Y is the planktonic bacteria concentration in the environment, and Z is the volatile organic matter concentration in the environment;
the random parameters are configured with a plurality of influencing factors including temperature, air flow rate, PM2.5 concentration.
6. A fully automatic intelligent disinfection system according to claim 5, wherein: the background control equipment is configured with a recording module, the environment acquisition module acquires the concentration data of each toxic substance in the environment air at a plurality of preset time intervals continuously in one disinfection period, the data processing module obtains environment quality indexes according to an environment quality index algorithm, the recording module records the environment quality index of each time point and generates an environment quality change curve according to the environment quality index and the time point corresponding to each environment quality index, the environment quality change curve is characterized by the change of the environment quality index from time T0 to time T1, T0 is the beginning time of the disinfection period, and T1 is the ending time of the disinfection period;
the background control equipment is configured with an analysis module, the analysis module is configured with an analysis strategy, the analysis strategy is configured with a comparison threshold, the analysis strategy is used for calling the environmental quality indexes at the time T0 and the time T1, calculating the environmental quality index change rates at the time T0 and the time T1, outputting a disinfection effect index according to the environmental quality index change rates, and recording the disinfection effect index in the recording module.
7. A fully automatic intelligent disinfection system according to claim 1, wherein: the disinfection equipment is provided with a human body sensing unit, the human body sensing unit can detect the breath and the heartbeat of a human body in a preset range, and when the human body sensing unit detects the breath and the heartbeat of the human body in the preset range, the disinfection equipment stops the disinfection action;
the fixed ultraviolet disinfection device is provided with an ultraviolet lamp capable of ascending and descending and a self-cleaning unit, the self-cleaning unit is provided with a brush for cleaning dust on the surface of the ultraviolet lamp, and the brush is provided with a driving motor.
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