CN115869448A - Automatic supply system of disinfection robot and control method thereof - Google Patents
Automatic supply system of disinfection robot and control method thereof Download PDFInfo
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- CN115869448A CN115869448A CN202211605927.9A CN202211605927A CN115869448A CN 115869448 A CN115869448 A CN 115869448A CN 202211605927 A CN202211605927 A CN 202211605927A CN 115869448 A CN115869448 A CN 115869448A
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Abstract
The invention relates to an automatic supply system of a disinfection robot and a control method thereof, which comprises the following specific operation steps: when the disinfection robot sends the supply demand information to the central control unit; the central control unit matches a supply station meeting the supply requirement of the disinfection robot according to the supply parameters; the disinfection robot receives the adaptive instruction and moves to the matched supply station, infrared pairs of the charging device and the electric power storage device are conducted, power interface connection is completed, and charging is conducted; and the replenishment station calibrates the liquid supply output port of the replenishment station and the liquid adding input port of the disinfection robot according to the adaptive instruction to add liquid. Compared with the prior art, the invention has the following remarkable advantages: the disinfection robot is supported to simultaneously carry out charging supply and liquid adding supply, and the automatic liquid replenishing caliber is verified through infrared charging to the pile, so that accurate liquid replenishing is realized; the problems of charging incapability of identification and liquid adding leakage are avoided.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an automatic supply system of a disinfection robot and a control method thereof.
Background
Along with the popularization of the disinfection robot in public places, the disinfection robot has long daily working running time and high power consumption and needs to continuously supplement disinfectant. The current products on the market control the disinfection robot to charge and replenish liquid by timing and calculating the amount of disinfectant liquid, and the disinfection task which is originally executed in the process of charging and replenishing liquid is reset, so that the disinfection robot cannot execute the complete work task, and can repeatedly work in the same area and generate work blind areas.
Document 1: chinese utility model patent with the granted publication number CN213048416U discloses a disinfection robot system, wherein the disinfection robot also can realize the function of antiseptic solution liquid feeding and charging going on simultaneously, but the realization of this function needs to go on after the disinfection robot finishes the work task to can't continue the current disinfection task after liquid feeding, charging are accomplished.
Disclosure of Invention
The invention aims to provide an automatic replenishment system of a disinfection robot and a control method thereof, which can realize accurate liquid replenishment by checking the automatic liquid replenishment caliber through a charging pair pile, and the disinfection robot after liquid replenishment can continue to execute disinfection tasks.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a disinfection robot automatic supply control method comprises the following steps:
receiving a supply request of the disinfection robot, wherein the supply request comprises the stored electric quantity, the stored liquid quantity and the executable electric quantity of the disinfection robot;
matching the disinfection robot with a replenishment station according to a preset condition, wherein the preset condition is that whether replenishment parameters of the replenishment station are larger than a replenishment request of the disinfection robot or not is judged, and the replenishment parameters comprise the power supply amount and the liquid supply amount of the replenishment station;
when the preset conditions are met, acquiring a running path of the disinfection robot and a supply station matched with the disinfection robot, and generating an adaptive instruction;
and executing an adaptation instruction to complete the replenishment, wherein the adaptation instruction comprises a running path, charging time, charging amount, liquid adding time and liquid adding amount in the replenishment process.
Further, if the stored electricity quantity is less than or equal to the executable electricity quantity and/or the stored electricity quantity is less than or equal to the lowest threshold value of the disinfection robot, the disinfection robot sends a replenishment request.
Further, the preset condition is that the power supply amount of the replenishment station is larger than the executable power amount of the disinfection robot and/or the liquid supply amount of the replenishment station is larger than the liquid storage amount of the disinfection robot.
Furthermore, a running environment model of the robot is constructed through a grid map method, the running environment model is divided into a plurality of grids with the same size, each grid corresponds to one grid node, the current position of the disinfection robot is used as a starting node, and the matched position of the supply station is used as a target node.
The calculation process of the operation path comprises the following steps:
preprocessing the running environment, and extracting all running path points in the running environment, wherein the running path points are grid nodes;
calculating adjacent distance values of the starting node and all other grid nodes, and sequencing all the adjacent distance values to obtain a first grid node of a shortest path connected with the starting node;
calculating adjacent distance values of the target node and all other grid nodes, and sequencing all the adjacent distance values to obtain a second grid node of the shortest path connected with the target node;
judging whether the first grid node is the same as the second grid node:
if the distance values are the same, the adjacent distance value of the first grid node or the second grid node is the shortest running path of the supply station matched with the distance of the disinfection robot;
and if the distance values are not the same, comparing the adjacent distance values of the first grid node and the second grid node, and taking the minimum adjacent distance value as the shortest running path of the replenishing station matched with the distance of the disinfection robot.
The invention also provides an automatic replenishment system of the disinfection robot, which comprises the disinfection robot and a replenishment station corresponding to the disinfection robot, and the automatic replenishment system also comprises a central control unit, and a disinfection component, a liquid adding component and a power supply component which are respectively connected with the central control unit, wherein:
the disinfection component is arranged in the disinfection robot and comprises a liquid storage device, and the liquid storage device is provided with a liquid inlet for supplementing disinfectant and a liquid level sensor for measuring the amount of disinfectant liquid in the liquid storage device;
the liquid adding assembly is arranged in the replenishing station and comprises a liquid preparation device for mixing stock solution to be prepared, and the prepared disinfectant is output through a liquid outlet arranged in the liquid preparation device;
the power supply assembly comprises a charging device, an electric power storage device and an infrared ray correlation device, wherein the charging device is connected with the transmitting end of the infrared ray correlation device, and the electric power storage device is connected with the receiving end of the infrared ray correlation device;
the central control unit is based on the disinfection robot automatic supply control method of any one of claims 1 to 5, and realizes the integrated control of the data information of the operation path, the power supply charging and the disinfection liquid filling of the disinfection robot.
Further, the charging device is arranged in the supply station, and the power storage device is arranged in the disinfection robot; the correlation signals are horizontally identified through the transmitting end and the receiving end of the infrared correlation device, and therefore the pile matching positions of the charging device and the electric power storage device are determined to be consistent.
Further, when the pile alignment positions of the charging device and the electric power storage device are consistent, the liquid inlet of the liquid storage device and the liquid outlet of the liquid infusion device are correspondingly consistent.
The invention provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the steps of the automatic replenishment control method for the disinfection robot.
Compared with the prior art, the invention has the following remarkable advantages:
1. the shortest running path is calculated and obtained by adopting a replenishment control mode of simultaneously charging and adding liquid to the disinfection robot and utilizing the grid map model, so that the replenishment efficiency of the disinfection robot is improved, and the disinfection robot can conveniently return to a working area to perform disinfection operation in time;
2. the consistency of the charging position and the liquid adding position of the disinfection robot and the supply station is verified through infrared rays, and the problems that the charging cannot be identified and liquid is added and leaked are avoided.
Drawings
FIG. 1 is a schematic flow chart of a method of controlling the automated replenishment system for a sterilization robot of the present invention;
FIG. 2 is a schematic diagram of an automatic replenishment process for meeting a first predetermined condition in an embodiment of the present invention;
FIG. 3 is a schematic illustration of an auto-replenishment process for meeting a second predetermined condition in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of the automatic replenishment system of the sterilization robot of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The invention provides an automatic supply control method for a disinfection robot, which comprises the following steps:
the disinfection robot sends supply demand information to the central control unit, and the disinfection task is suspended;
the central control unit matches a supply station meeting the supply requirement of the disinfection robot according to the supply parameters, obtains the running paths of the disinfection robot and the matched supply station, and generates an adaptive instruction;
the disinfection robot moves to a matched supply station according to the adaptive instruction, infrared rays of the charging device and the electric power storage device are aligned to the pile, power interface connection is completed, and a charging mode is entered;
the replenishment station calibrates a liquid supply output port of the replenishment station and a liquid adding input port of the disinfection robot according to the adaptive instruction, and enters a liquid adding mode;
when the liquid storage amount of the disinfection robot reaches the liquid supply amount value, the liquid adding mode is closed;
when the electric charge capacity of the disinfection robot is larger than the executable electric quantity, the charging mode is closed, and the disinfection task is started to be continuously executed.
The method comprises the following steps of constructing an operation environment model of the robot by a grid map method, wherein the operation environment model is divided into a plurality of grids with the same size; each grid corresponds to a grid node, the current position of the disinfection robot is used as a starting node, the matched position of the supply station is used as a target node, the running paths of the supply station and the disinfection robot are obtained, and the specific flow comprises the following steps:
preprocessing the operation environment, and extracting all operation path points in the operation environment, wherein the operation path points are grid nodes;
calculating adjacent distance values of the starting node and all other grid nodes, and sequencing all the adjacent distance values to obtain a first grid node of a shortest path connected with the starting node;
calculating adjacent distance values of the target node and all other grid nodes, and sequencing all the adjacent distance values to obtain a second grid node of the shortest path connected with the target node;
judging whether the first grid node is the same as the second grid node:
if the distance values are the same, the adjacent distance value of the first grid node or the second grid node is the shortest running path of the replenishment station matched with the distance of the disinfection robot;
and if the distance values are not the same, comparing the adjacent distance values of the first grid node and the second grid node, and taking the minimum adjacent distance value as the shortest running path of the replenishing station matched with the distance of the disinfection robot.
As shown in fig. 1, the present invention also provides an automatic replenishment control method for a sterilization robot, comprising the following steps:
obtaining a replenishment parameter;
judging whether a first preset condition is met, if so, generating an adaptation instruction, and entering a replenishment mode; if not, entering the next step;
specifically, as shown in fig. 2, when a first predetermined condition is satisfied, and the first predetermined condition is that the stored energy is less than or equal to the executable energy, the charge suitability calculation formula is determined as follows: power supply amount > (executable amount-charge amount); the power storage device of the disinfection robot is connected with the charging device of the supply station for charging, and the charging time calculation formula is as follows:
T charging (CN) ＝1.6*(Q For supplying to /I Charging device )
In the formula: t is Charging device Represents the length of charging time for the replenishment station to provide replenishment to the sterilization robot, Q For supplying to Represents the amount of power supplied to the supply station, I Charging (CN) Represents the charging current of the charging device and the electric storage device, and 1.6 represents the charging coefficient; the more the supply of electricity to the substation, the longer the charging period.
In order to reasonably optimize the replenishment efficiency, after the charging time is determined, the calculation formula for judging whether the synchronous starting liquid feeding replenishment condition is met is as follows: the liquid storage amount is less than (liquid adding amount + liquid storage amount) and less than or equal to the liquid supply amount; the liquid feeding is opened in step, and disinfection machine people's inlet corresponds with the liquid outlet of supply station, and liquid feeding volume computational formula is:
M adding ＝T Adding /V
In the formula: m plus represents the liquid adding time length of the supply station for providing supply for the disinfection robot, and the liquid adding time length is equal to the charging time length; t plus represents the amount of liquid supplied to the replenishment station, and V represents the average flow rate of the disinfecting liquid.
Judging whether a second preset condition is met, if so, generating an adaptation instruction, and entering a replenishment mode; if "no," the current state is maintained.
Specifically, as shown in fig. 3, when a second predetermined condition is satisfied, and the second predetermined condition is that the stored liquid amount is less than or equal to the stopped liquid amount, the equation for calculating the replenishment suitability is determined as follows: liquid supply amount > (liquid stop amount-liquid storage amount); and a liquid inlet of the disinfection robot corresponds to a liquid outlet of the replenishment station, and the charging replenishment is directly and synchronously started after the liquid adding time length is determined according to the setting of the prior execution charging function.
As shown in fig. 4, an automatic replenishment system for a sterilization robot includes a sterilization robot for performing a sterilization task and a replenishment station corresponding to the sterilization robot for providing a replenishment service of charging and filling for the sterilization robot. Wherein, this automatic supply system still includes central control unit and respectively rather than the disinfection subassembly that links to each other, liquid feeding subassembly, power supply module:
the disinfection component comprises a liquid storage device, the liquid storage device is provided with a liquid inlet, and the liquid inlet is used for adding supplementary disinfectant; the liquid storage device is provided with a liquid level sensor which is used for measuring the liquid storage amount of disinfectant in the liquid storage device; the disinfection component is arranged in the disinfection robot and used for realizing the disinfection operation function of the disinfection robot.
The liquid adding assembly comprises a liquid preparation device for mixing stock solution to be prepared, the liquid preparation device is provided with a liquid outlet, and the liquid outlet is used for outputting disinfectant liquid after the preparation is finished; the liquid feeding assembly is arranged in the supply station and used for providing the disinfectant with finished proportioning.
The power supply assembly comprises a charging device, an electric power storage device and an infrared ray correlation device, wherein the charging device adopts a 24V direct-current power supply, the charging device is connected with the transmitting end of the infrared ray correlation device, and the electric power storage device is connected with the receiving end of the infrared ray correlation device. The charging device of the power supply assembly is arranged in the supply station, and the power storage device of the power supply assembly is arranged in the disinfection robot; the alignment signals are horizontally identified through the transmitting end and the receiving end of the infrared alignment device, so that the alignment positions of the charging device and the electric power storage device are determined to be consistent.
The central control unit is communicated with the disinfection component, the power supply component and the liquid adding component through a wireless network to perform data transmission application; the central control unit is used for carrying out integrated control on data information of a running path of the disinfection robot, power supply charging and disinfectant liquid adding, and monitoring various set replenishment parameters in real time. The central control unit realizes the integrated control of the running path of the disinfection robot, the power supply charging and the data information of the disinfectant liquid adding based on the disinfection robot automatic supply control method.
The supply parameters comprise charging supply parameters and liquid adding supply parameters, the charging supply parameters comprise power supply quantity, storage capacity and executable electric quantity, the power supply quantity represents the electric quantity of a supply station, the storage capacity represents the current running electric quantity of the disinfection robot, and the executable electric quantity represents the lowest electric quantity of the disinfection operation of the disinfection robot; the liquid supply quantity represents the quantity of liquid in the supply station, the liquid storage quantity represents the current operation liquid quantity of the disinfection robot, the liquid adding quantity represents the quantity of liquid to be added to the disinfection robot, the liquid stopping quantity represents the lowest threshold value of the disinfection robot, and the extreme liquid quantity represents the highest threshold value of the disinfection robot.
The operation of the disinfection robot can be realized only under the condition of electrification, so that the automatic replenishment control method of the disinfection robot provided by the invention preferentially executes a charging function.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the control method of the automatic replenishment system for a sterilization robot described above.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An automatic supply control method of a disinfection robot is characterized in that: the control method comprises the following steps:
receiving a supply request of the disinfection robot, wherein the supply request comprises the stored electric quantity, the stored liquid quantity and the executable electric quantity of the disinfection robot;
matching a replenishment station for the disinfection robot according to a preset condition, wherein the preset condition is that whether replenishment parameters of the replenishment station are larger than a replenishment request of the disinfection robot or not is judged, and the replenishment parameters comprise the power supply amount and the liquid supply amount of the replenishment station;
when the preset condition is met, acquiring a running path of the disinfection robot and a supply station matched with the disinfection robot, and generating an adaptive instruction;
and executing an adaptation instruction to complete replenishment, wherein the adaptation instruction comprises a running path, a charging time, a charging amount, a liquid adding time and a liquid adding amount in the replenishment process.
2. The automatic replenishment control method for a sterilization robot according to claim 1, characterized in that: and if the stored electric quantity is less than or equal to the executable electric quantity and/or the stored liquid quantity is less than or equal to the lowest threshold value of the disinfection robot, the disinfection robot sends a replenishment request.
3. The automatic replenishment control method for a sterilization robot according to claim 2, characterized in that: the predetermined condition is that the power supply amount of the replenishment station is larger than the executable power amount of the sterilization robot and/or the liquid supply amount of the replenishment station is larger than the liquid storage amount of the sterilization robot.
4. The automatic replenishment control method for a sterilization robot according to claim 3, characterized in that: and constructing an operating environment model of the robot by a grid map method, wherein the operating environment model is divided into a plurality of grids with the same size, each grid corresponds to one grid node, the current position of the disinfection robot is taken as a starting node, and the matched position of the supply station is taken as a target node.
5. The automatic replenishment control method for a sterilization robot according to claim 4, characterized in that: the calculation process of the operation path comprises the following steps:
preprocessing the operating environment, and extracting all operating path points in the operating environment, wherein the operating path points are the grid nodes;
calculating adjacent distance values of the starting node and all other grid nodes, and sequencing all the adjacent distance values to obtain a first grid node of a shortest path connected with the starting node;
calculating adjacent distance values of the target node and all other grid nodes, and sequencing all the adjacent distance values to obtain a second grid node connected with the target node and having a shortest path;
judging whether the first grid node is the same as the second grid node:
if the distance values are the same, the adjacent distance value of the first grid node or the second grid node is the shortest running path of the replenishment station matched with the disinfection robot distance;
and if the distance values are not the same, comparing the adjacent distance values of the first grid node and the second grid node, and taking the minimum adjacent distance value as the shortest running path of the replenishment station matched with the disinfection robot in distance.
6. The utility model provides an automatic replenishment system of disinfection robot, includes disinfection robot and the replenishment station that corresponds with disinfection robot, its characterized in that: the automatic replenishment system also comprises a central control unit, and a disinfection component, a liquid feeding component and a power supply component which are respectively connected with the central control unit, wherein:
the disinfection component is arranged in the disinfection robot and comprises a liquid storage device, and the liquid storage device is provided with a liquid inlet for supplementing disinfectant and a liquid level sensor for measuring the amount of disinfectant liquid stored in the liquid storage device;
the liquid adding assembly is arranged in the replenishing station and comprises a liquid preparation device for mixing stock solution to be prepared, and the prepared disinfectant is output through a liquid outlet arranged in the liquid preparation device;
the power supply assembly comprises a charging device, an electric storage device and an infrared correlation device, wherein the charging device is connected with the transmitting end of the infrared correlation device, and the electric storage device is connected with the receiving end of the infrared correlation device;
the central control unit is based on the disinfection robot automatic supply control method of any one of claims 1 to 5, so as to realize integrated control of the data information of the operation path, power supply charging and disinfection liquid supply of the disinfection robot.
7. The method of controlling an automated replenishment system for a sterilization robot according to claim 6, wherein: the charging device is installed in the supply station, and the power storage device is installed in the disinfection robot; and horizontally identifying the correlation signals through the transmitting end and the receiving end of the infrared correlation device to determine that the pile alignment positions of the charging device and the electric power storage device are consistent.
8. The method of controlling an automated replenishment system for a sterilization robot according to claim 7, wherein: when the pile alignment positions of the charging device and the electric power storage device are consistent, the liquid inlet of the liquid storage device and the liquid outlet of the liquid infusion device are correspondingly consistent.
9. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, carries out the steps of the automated replenishment control method for a sterilization robot according to any one of claims 1 to 5.
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| CN202211605927.9A CN115869448A (en) | 2022-12-14 | 2022-12-14 | Automatic supply system of disinfection robot and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690587A (en) * | 2023-08-04 | 2023-09-05 | 深圳市普渡科技有限公司 | Robot replenishment method, apparatus, device, and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116690587A (en) * | 2023-08-04 | 2023-09-05 | 深圳市普渡科技有限公司 | Robot replenishment method, apparatus, device, and storage medium |
| CN116690587B (en) * | 2023-08-04 | 2023-11-17 | 深圳市普渡科技有限公司 | Robot replenishment method, apparatus, device, and storage medium |
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