CN116718435A - Intelligent mobile aerosol collection robot - Google Patents
Intelligent mobile aerosol collection robot Download PDFInfo
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- CN116718435A CN116718435A CN202310467975.4A CN202310467975A CN116718435A CN 116718435 A CN116718435 A CN 116718435A CN 202310467975 A CN202310467975 A CN 202310467975A CN 116718435 A CN116718435 A CN 116718435A
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- 239000000443 aerosol Substances 0.000 title claims abstract description 75
- 239000007788 liquid Substances 0.000 claims abstract description 147
- 238000005070 sampling Methods 0.000 claims abstract description 124
- 239000002699 waste material Substances 0.000 claims description 25
- 238000003860 storage Methods 0.000 claims description 16
- 230000008014 freezing Effects 0.000 claims description 15
- 238000007710 freezing Methods 0.000 claims description 15
- 239000012295 chemical reaction liquid Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 claims description 7
- 239000000741 silica gel Substances 0.000 claims description 7
- 229910002027 silica gel Inorganic materials 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000002912 waste gas Substances 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 239000003570 air Substances 0.000 description 25
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
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- 241000700605 Viruses Species 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 206010011409 Cross infection Diseases 0.000 description 2
- 206010029803 Nosocomial infection Diseases 0.000 description 2
- 238000012864 cross contamination Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 235000012054 meals Nutrition 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000711573 Coronaviridae Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2273—Atmospheric sampling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/24—Suction devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/40—Concentrating samples
- G01N1/405—Concentrating samples by adsorption or absorption
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/42—Low-temperature sample treatment, e.g. cryofixation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2202—Devices for withdrawing samples in the gaseous state involving separation of sample components during sampling
- G01N2001/222—Other features
- G01N2001/2223—Other features aerosol sampling devices
Abstract
The invention relates to the field of aerosol collection, in particular to an intelligent mobile aerosol collection robot, which comprises: a collection structure; the sampling assembly comprises a shell, a control assembly and a sampling module, wherein the sampling module collects aerosol into sampling liquid through the collecting structure to form sample liquid; a moving assembly; a central control assembly; the device is used for solving the problems that the workload of collecting aerosol in a large space range is large, the sampling efficiency is low, automatic mobile sampling cannot be realized, and the aerosol sampling state and the remote monitoring sampler cannot be realized in real time; the intelligent aerosol sampling device has the advantages that large-space intelligent aerosol sampling is realized, workload of manual aerosol sampling is reduced, application scenes of aerosol sampling by a robot are enlarged, remote control of a moving route of the robot is realized, the efficiency of automatic moving of the robot for collecting the aerosol in real time is improved, the intelligent degree of the robot is improved, and the service life of the robot is prolonged.
Description
Technical Field
The invention relates to the field of aerosol collection, in particular to an intelligent mobile aerosol collection robot.
Background
Due to the epidemic situation, spreading viruses through aerosols is increasingly important, and the need for sampling biological aerosols in large-area regional ambient air is greatly increased. However, in the actual sampling process, the important part in the sampling of the large space of the indoor environment such as a hospital, an airport, a railway station, a market, a hotel is more, for example, a plurality of wards of the hospital, different waiting rooms of the railway station of the airport, a plurality of washrooms, restaurants and other relatively closed areas existing in the toilet and the hotel, and the sampling workload is greatly increased.
The existing desk type aerosol sampler can only sample at a fixed position, and the sampling space range is limited; the existing handheld aerosol sampler relies on a mode that a worker moves the sampler to sample, and the requirement of large-scale sampling is difficult to meet; the handheld aerosol sampler is fixed on a meal delivery machine, a moving route of the robot is preset, the aerosol sampler is started, the robot is started again to carry out line inspection sampling, the mode that the sampler is fixed on the meal delivery robot for sampling in moving and moving sampling in hotel space is completed, but the state of aerosol sampling is not solved in real time, the working progress is not achieved, and the sampler cannot be monitored remotely.
Disclosure of Invention
The invention aims to overcome at least one defect (deficiency) of the prior art, and provides an intelligent mobile aerosol collecting robot which is used for solving the problems that the workload of collecting aerosol in a large space range is large, the sampling efficiency is low, automatic mobile sampling cannot be realized, and the aerosol sampling state and a remote monitoring sampler cannot be realized in real time.
The technical scheme adopted by the invention is that the intelligent mobile aerosol collecting robot comprises: a collection structure for collecting aerosols; the sampling assembly comprises a shell, a control assembly and a sampling module, wherein the shell is used for forming an isolation protection layer, the control assembly is used for controlling the starting and stopping of the sampling module, and the sampling module collects aerosol into sampling liquid through the collecting structure to form sample liquid; the moving assembly is arranged below the sampling assembly and used for moving the robot; and the central control component is used for controlling the collecting structure, the sampling component and the moving component.
Further, the collecting structure comprises at least one air inlet cylinder, a plurality of air inlet holes are distributed on the outer wall of the air inlet cylinder, and the collecting structure further comprises a negative pressure device arranged above the sampling assembly and used for sucking aerosol. The contact area of the aerosol and the air inlet cylinder is enlarged through the plurality of air inlet holes, the collection volume of the aerosol is enlarged, and the flow rate during aerosol collection is controlled by adjusting the suction force of the negative pressure device.
Further, the inner wall of the air inlet cylinder forms a spiral air flow pipeline for guiding uniform-speed inhalation of aerosol. The device is beneficial to guiding the aerosol to keep a constant-speed steady state in the inhalation process, is beneficial to uniformly distributing the particle density of the aerosol, and is beneficial to improving the collection efficiency of aerosol samples.
Further, collection module includes sampling cup, liquid feeding pipe, liquid feeding pump and stock solution bottle, the stock solution bottle is used for storing the sampling liquid, the liquid feeding pipe link up to the inner wall of sampling cup, the liquid feeding pump pressurization forms and adheres to sampling liquid on the inner wall of sampling cup, collection module still includes sample tray, freezes deposit pipe, drain pipe, play liquid pump, drain port, the drain pipe is located the bottom of cup of sampling cup, sample tray is the rolling disc that is equipped with a plurality of installation position, freezes the deposit pipe and arranges in the installation position, it is used for depositing the reaction liquid to freeze the deposit pipe, the reaction liquid in the drain pipe by the liquid feeding pump pressurization forms and flows to the drain port, the drain port pass through electric putter plug in the silica gel on the freeze the deposit pipe is last. The device is beneficial to adsorbing novel coronavirus particles in the air flow by the viscous force of sampling liquid when centripetal movement is carried out along the wall surface under the actions of cyclone, inertia and gravity after the aerosol is introduced into the sampling cup, and improves the efficiency of collecting and sampling viruses in the aerosol.
Further, the liquid storage bottle and the sample tray comprise sensors, and the control assembly is connected to the sensors and used for prompting the replacement of sampling liquid and the replacement of a freezing storage tube. The automatic prompt is favorable for judging whether the liquid is changed or not by the acquisition module arranged inside, and the using convenience and the intelligent degree of the robot are improved.
Further, the collection module further comprises a waste liquid pool, a waste liquid pipe and an air outlet hole, wherein the waste liquid pool is arranged in the middle of the sample tray, the waste liquid pipe is arranged at the installation position and connected with the waste liquid pool for guiding out waste liquid for cleaning the sampling cup and the liquid outlet pipe; the air outlet hole is used for discharging waste gas flowing through the sampling cup. The device is beneficial to avoiding cross infection caused by repeated collection and sampling, the degree of cross contamination of sample liquid can be reduced through a cleaning process after each sampling, the accuracy of virus content in the sample liquid is improved, the size of a robot is reduced in a sample tray through the arrangement of a waste liquid tank, the flexibility of movement of the robot is improved, and the application scene of the robot is increased.
Further, the central control assembly comprises a touch screen and a data signal transmission device, the touch screen is used for displaying instructions and electric quantity, and is provided with a navigation route program for guiding a moving route of the moving assembly; the data transmission signal device comprises a signal transceiver and a control assembly, wherein the signal transceiver is used for transmitting instructions to the control assembly, and the control assembly controls the start and stop of the liquid adding pump and the liquid outlet pump through the instructions; the robot control system further comprises a remote control assembly, wherein the remote control assembly controls one or more touch screens and is used for synchronously controlling one or more robots in real time. The intelligent robot has the advantages that remote control of the robot and monitoring of a real-time moving route are facilitated, the intelligent degree of the robot is improved, application convenience and flexibility of the robot are improved, synchronous monitoring of a plurality of robots is facilitated, and sampling and collecting efficiency of the robots is improved.
Further, the central control assembly further comprises a camera, an obstacle avoidance device and an emergency stop device, wherein the camera is arranged below the touch screen, the obstacle avoidance device comprises a ranging sensor, a loudspeaker and a laser radar, the ranging sensor and the laser radar are used for sensing and detecting obstacles, and the loudspeaker is used for warning pedestrians; the emergency stop device is a manual switch and is arranged between the touch screen and the camera; the control assembly is connected to the camera, the obstacle avoidance device and the scram device and is used for sending signals to the signal transceiver. The robot is favorable for sensing crowd density and road conditions of a moving route, reducing collision of the robot in the moving process, providing effective warning for surrounding pedestrians of the robot and prolonging the service life of the robot.
Further, the obstacle avoidance device detects the intensity of pedestrians to judge and form classification instructions A1, A2 and A3, the personnel intensity value is A1 & gtA 2 & gtA 3, the classification instructions are used for guiding the moving route of the navigation route program, the pressure value P formed by the negative pressure device and the start and stop speeds V, U, W of the liquid adding pump, the electric push rod and the liquid outlet pump. The application flexibility of the robot in different scenes is improved, and the robot can adjust the moving route and the sampling frequency according to different densities.
Further, the navigation route program guides the robot to move around the circle corresponding to the pedestrian areas A1 and A2, and guides the robot to move transversely corresponding to the pedestrian area A3; the pressure value of the negative pressure device under the A1 instruction is P1, the pressure value under the A2 instruction is P2, the pressure value under the A3 instruction is P3, and the pressure value is P1 > P2 > P3; the start-stop speed of the liquid adding pump under the A1 instruction is V1, the start-stop speed of the liquid adding pump under the A2 instruction is V2, the start-stop speed of the liquid adding pump under the A3 instruction is V3, and the speed value is V1 & gtV 2 & gtV 3; the start-stop speed of the electric push rod under the A1 instruction is U1, the start-stop speed of the electric push rod under the A2 instruction is U2, the start-stop speed of the electric push rod under the A3 instruction is U3, and the speed value is U1 & gtU 2 & gtU 3; the start-stop speed of the liquid outlet pump under the A1 instruction is W1, the start-stop speed of the liquid outlet pump under the A2 instruction is W2, the start-stop speed of the liquid outlet pump under the A3 instruction is W3, and the speed value is W1 > W2 > W3. Each claim needs to be discussed with respect to its working principle and further technical problems to be solved. The robot is favorable for sampling aerosol in areas with high personnel concentration, the moving route of the robot can avoid the dense place, and in areas with low personnel concentration, the moving route of the robot can traverse the aerosol, and simultaneously, the moving route of the robot is correspondingly transmitted to a negative pressure device, an electric push rod and a liquid outlet pump for accurate sampling.
Compared with the prior art, the invention has the beneficial effects that: the intelligent aerosol sampling device has the advantages that large-space intelligent aerosol sampling is realized, workload of manual aerosol sampling is reduced, application scenes of aerosol sampling by a robot are enlarged, remote control of a moving route of the robot is realized, the efficiency of automatic moving of the robot for collecting the aerosol in real time is improved, the intelligent degree of the robot is improved, and the service life of the robot is prolonged.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is an assembled schematic view of the collecting structure of the present invention.
FIG. 3 is an assembled schematic view of the sampling assembly of the present invention.
Fig. 4 is a robot movement roadmap according to a preferred embodiment of the invention.
Fig. 5 is a robot movement roadmap according to a preferred embodiment of the invention.
The attached drawings are used for identifying and describing: the device comprises an air inlet cylinder 100, an air inlet hole 110, a spiral airflow channel 120, a negative pressure device 130, a shell 200, a control assembly 300, a sampling cup 410, a liquid adding pipe 411, a liquid adding pump 412, a liquid storing bottle 413, a power supply 414, a sample tray 420, a liquid outlet pipe 421, a liquid outlet pump 422, a liquid outlet port 423, an electric push rod 424, a silica gel plug 425, a liquid outlet tank 430, an air outlet hole 440, a touch screen 500, a camera 510, an obstacle avoidance device 520, an emergency stop device 530 and a moving assembly 600.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the invention. For better illustration of the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
As shown in fig. 1-3, the present embodiment is an intelligent mobile aerosol collection robot, which includes: a collection structure for collecting aerosols; the sampling assembly comprises a shell 200, a control assembly 300 and a sampling module, wherein the shell is used for forming an isolation protection layer, the control assembly 300 is used for controlling the start and stop of the sampling module, and the sampling module collects aerosol into sampling liquid through the collecting structure to form sample liquid; the moving assembly 600 is arranged below the sampling assembly and is used for moving the robot; a central control assembly for controlling the collection structure, the sampling assembly and the movement assembly 600.
The collecting structure comprises at least one air inlet cylinder 100, a plurality of air inlet holes 110 are distributed on the outer wall of the air inlet cylinder 100, and a negative pressure device 130 arranged above the sampling assembly is further included for sucking aerosol. In this embodiment, after the robot enters the large space to be sampled, the negative pressure device 130 is started to generate negative pressure in the collecting structure, and aerosol flows to the collecting structure through the air inlet holes 110 densely distributed on the outer wall of the circular surface of the air inlet cylinder 100.
A spiral air flow duct 120 is formed in the air inlet tube 100 for guiding uniform suction of aerosol. In this embodiment, when the aerosol flows to the collecting structure, the flow velocity of the aerosol is stable along the guiding surface of the spiral airflow channel 120 in the downward and forward process, which is conducive to uniform particle concentration before the aerosol enters the collecting module and is conducive to improving the collecting efficiency of the aerosol.
The collection module includes sampling cup 410, liquid feeding pipe 411, liquid feeding pump 412 and stock solution bottle 413, the stock solution bottle 413 is used for storing the sampling liquid, the liquid feeding pipe 411 link up to the inner wall of sampling cup 410, liquid feeding pump 412 pressurization form be attached to the sampling liquid on the inner wall of sampling cup 410, the collection module still includes sample tray 420, freezes to deposit pipe, drain pipe 421, drain pump 422, liquid outlet port 423, the drain pipe 421 is located the bottom of cup of sampling cup 410, sample tray 420 is the rolling disc that is equipped with a plurality of installation position, freezes to deposit the pipe and is used for depositing the reaction liquid, the reaction liquid in the drain pipe 421 by the pressurization of drain pump 422 forms and flows to liquid outlet port 423, liquid outlet port 423 pass through electric putter plug in on the silica gel plug 425 on the freezes the pipe.
In this embodiment, before the aerosol enters the sampling module, the sampling module is in a pre-sampling mode, the liquid filling pump 412 pumps the sampling liquid from the liquid storage bottle 413 to the liquid filling pipe 411, and the liquid filling pipe is connected to the wall hole of the sampling cup 410 in a penetrating manner, and the sampling liquid infiltrates the entire wall of the sampling cup 410 due to the pressure of the liquid filling pump 412.
In this embodiment, after the aerosol enters the sampling module, the sampling module is in a sampling mode, the sampling liquid attached to the wall surface of the sampling cup 410 fully reacts with the aerosol to form a reaction liquid adhering to a part of the aerosol, at this time, the liquid outlet pump 422 pumps the reaction liquid from the sampling cup 410 to the liquid outlet port 423, the liquid outlet port 423 is used for injecting the reaction liquid into a freezing tube in the sample tray 420, a plurality of mounting positions are arranged in the sample tray 420, each mounting position is provided with a freezing tube, a silica gel plug 425 is mounted at the mouth of each freezing tube, and the electric push rod 424 drives the liquid outlet port 423 to be inserted into the silica gel plug 425; after the injection of one freezing tube is completed, the electric push rod 424 drives the liquid outlet port 423 to pull out the silica gel plug 425, at this time, the sample tray 420 automatically rotates, and the next freezing tube is rotated below the liquid outlet port 423, and waits for the sampling module to enter a cleaning mode.
The liquid storage bottle 413 and the sample tray 420 respectively comprise a sensor, and the control assembly 300 is connected to the sensor and is used for prompting the replacement of the sample liquid and the replacement of the freezing storage tube. In this embodiment, the freezing tube may be detached from the mounting position, and when the sensor detects that the freezing tubes in the sample tray 420 are full, the control assembly 300 sends an instruction to the touch screen 500 for prompting an operator to replace the freezing tubes. In this embodiment, since the pumping amount of the liquid filling pump 411 is fixed every time, when the sensor detects that the pumping number of the liquid filling pump 411 is greater than or equal to 2/3 of the ratio of the capacity of the liquid storage bottle 413 to the pumping amount, or when the sensor detects that the liquid level of the sampling liquid in the liquid storage bottle 413 is lower than 1/3 of the liquid storage bottle 413, the control assembly 300 sends an instruction to the touch screen 500 to prompt an operator to fill up the sampling liquid in the liquid storage bottle 413.
The collection module further comprises a waste liquid pool 430, a waste liquid pipe and an air outlet hole 440, wherein the waste liquid pool 430 is arranged in the middle of the sample tray 420, the waste liquid pipe is arranged at the installation position and connected with the waste liquid pool 430 for guiding out waste liquid for cleaning the sampling cup 410 and the liquid outlet pipe 421; the outlet port 440 is configured to exhaust the exhaust gas flowing through the sampling cup 410. In this embodiment, the sample tray 420 is a rotating disc, the rotating disc is cylindrical, the mounting positions are regularly distributed on the outer ring of the cylindrical rotating disc, the center circle of the rotating disc is a waste liquid pool 430, when the sampling module starts the cleaning mode, the sampling liquid infiltrates the wall of the sampling cup 410 according to the pre-sampling mode, the sampling liquid flows through the liquid outlet pipe 421 to the liquid outlet port 423 through the liquid outlet pump 422, the liquid outlet port 423 is plugged into the waste liquid pipe under the driving of the electric push rod 424, the waste liquid pipe is arranged at the mounting position, the waste liquid pipe is adjacent to the freezing pipe, the waste liquid pipe on the sample tray 420 is communicated with the waste liquid pool 430, and after the sampling module passes through the pre-sampling mode, the control assembly 300 automatically performs the pre-sampling mode-cleaning mode to reduce the cross contamination of the sampling liquid and improve the accuracy of aerosol sampling.
The central control assembly comprises a touch screen 500 and a data signal transmission device, the touch screen 500 is used for displaying instructions and displaying electric quantity, and the touch screen 500 is provided with a navigation route program for guiding a moving route of the moving assembly 600; the data signal transmission device comprises a signal transceiver for transmitting instructions to the control assembly 300, wherein the control assembly 300 controls the start and stop of the liquid feeding pump 412 and the liquid discharging pump 422 through the instructions; a remote control assembly is also included that controls one or more touch screens 500 for real-time synchronous control of one or more robots.
In this embodiment, the touch screen 500 is a platform for interaction with an operator, and a built-in navigation route program thereof can be displayed on the screen, so that the operator can conveniently adjust and select different moving routes of the robot, and besides, the battery consumption in the collection module and the instruction of the control assembly 300 can also be displayed on the screen, so that the operator can conveniently monitor the sampling state of the robot. In this embodiment, the touch screen 500 may be further detachable, and when the touch screen 500 is detached, the wireless signal transceiver built in the touch screen may be used to transmit a command to the control assembly 300, so that an operator may conveniently realize an effect of remote real-time monitoring on the robot. In this embodiment, the remote control component is a component capable of controlling a plurality of touch screens 500 simultaneously, so that an operator can synchronously monitor the control of a plurality of touch screens 500 in real time through one remote control component, thereby synchronously monitoring the sampling states and the moving routes of a plurality of robots in real time, and achieving the effect of efficient monitoring.
The central control assembly further comprises a camera 510, an obstacle avoidance device 520 and an emergency stop device 530, wherein the camera 510 is arranged below the touch screen 500, the obstacle avoidance device 520 comprises a ranging sensor, a loudspeaker and a laser radar, the ranging sensor and the laser radar are used for sensing and detecting obstacles, and the loudspeaker is used for warning pedestrians; the emergency stop device 530 is a manual switch, and is disposed between the touch screen 500 and the camera 510; the control assembly 300 is coupled to the camera 510, obstacle avoidance device 520, and scram device 530 for transmitting signals to the signal transceiver.
In this embodiment, the central control component is configured to collect road condition information and send the road condition information to the touch screen 500, when the camera 510 is turned on, the camera 510 may transmit a picture of the road condition in front to the touch screen 500 in real time, when the ranging sensor and the laser radar are turned on simultaneously, the ranging sensor may measure a distance between the front obstacle and the robot, the laser radar may measure a relative position between the front obstacle and the robot, the speaker may be turned on only when a crowd blocks a moving path of the robot, when the speaker is turned on, a warning voice of "coming to the rear" is sent, please avoid "is also displayed on the touch screen 500, and when the robot has abnormal actions outside a predetermined program or has deviation actions or other safety problems in the program, the emergency stop device 530 is separately disposed on the housing 200 of the robot, and an operator may trigger the emergency stop and power off the working state of the robot by hand.
The obstacle avoidance device 520 detects the intensity of pedestrians to determine and form classification instructions A1, A2 and A3, wherein the intensity value of personnel is A1 > A2 > A3, and the classification instructions are used for guiding the moving route of the navigation route program, the pressure value P formed by the negative pressure device 130, and the start and stop speeds V, U, W of the liquid filling pump 412, the electric push rod 424 and the liquid outlet pump 422. In this embodiment, the distance direction of the obstacle and the robot by the ranging sensor and the laser radar is classified into three levels of dense, normal and sparse, the dense level is the command A1, the normal level is the command A2, the sparse level is the command A3, the moving assembly 600 moves in different directions according to different commands, the pressure value formed by the negative pressure device 130 in the collecting structure changes along with the level command, and the start-stop speed V, U, W of the liquid adding pump 412, the electric push rod 424 and the liquid outlet pump 422 also changes along with the level command.
The navigation route program guides the robot to move around corresponding to pedestrian areas A1 and A2, and guides the robot to move transversely corresponding to a pedestrian area A3; the pressure value of the negative pressure device 130 under the A1 instruction is P1, the pressure value under the A2 instruction is P2, the pressure value under the A3 instruction is P3, and the pressure value is P1 > P2 > P3; the start-stop speed of the liquid adding pump 412 under the A1 instruction is V1, the start-stop speed under the A2 instruction is V2, the start-stop speed under the A3 instruction is V3, and the speed value is V1 > V2 > V3; the start-stop speed of the electric push rod 424 under the A1 instruction is U1, the start-stop speed under the A2 instruction is U2, the start-stop speed under the A3 instruction is U3, and the speed value is U1 > U2 > U3; the start-stop speed of the liquid pump 422 under the A1 instruction is W1, the start-stop speed under the A2 instruction is W2, the start-stop speed under the A3 instruction is W3, and the speed value is W1 > W2 > W3.
In this embodiment, when the obstacle avoidance device 520 determines that the instruction A1 and the instruction A2 are issued, the robot adopts the winding movement route to avoid the pedestrian, so as to avoid cross infection caused by contact between the robot and too many pedestrians when the aerosol is sampled, thereby affecting the sampling accuracy, and when the obstacle avoidance device 520 determines that the instruction A3 is issued, the robot adopts the movement route that directly crosses, so as to improve the efficiency when the aerosol is sampled.
As shown in fig. 4 and 5, in the present embodiment, when the robot is in the A3 command of the sparse level, the moving route is crossing the sparse area, the moving route is in a diagonal shape when viewed from the top, and when the robot is in the A2 command of the normal level or the A1 command of the dense level, the moving route is in a normal area or a dense area where the coil is wound, the moving route is in a straight surrounding shape when viewed from the top. As shown in fig. 4, in this embodiment, the number of dense areas sampled by the robot is one, and the outer ring of the dense areas is gradually sparse, when the robot traverses the sparse area and reaches the normal area to start the winding movement sampling, when the robot moves the sampling in the normal area, the robot also gradually circles to the dense area, and the robot continues the winding movement sampling in the dense area until the winding is completed, and the sampling is finished. In this embodiment, as shown in fig. 5, the number of dense areas sampled by the robot is two, the distance between the two dense areas is relatively short, the peripheries of the two dense areas are in a situation that the dense areas are diffused from the peripheries to the normal areas and the peripheries of the two dense areas are diffused from the normal areas to the sparse areas, the robot reaches the vicinity of one of the normal areas after traversing the sparse areas for sampling, starts to sample around the periphery of the two normal areas in a moving manner, and gradually surrounds the robot to the two dense areas when the robot samples around the periphery of the two normal areas in a moving manner, and continues to sample around the periphery of the two dense areas until the winding is completed and the sampling is finished.
In this embodiment, the negative pressure device 130 forms a pressure value P1 under the instruction A1, a pressure value P2 under the instruction A2, and a pressure value P3 under the instruction A3, where P1 > P2 > P3; the start-stop speed of the liquid adding pump 412 under the instruction A1 is V1, the start-stop speed under the instruction A2 is V2, and the start-stop speed under the instruction A3 is V3, wherein V1 > V2 > V3; the start-stop speed of the electric push rod 424 under the instruction A1 is U1, the start-stop speed under the instruction A2 is U2, and the start-stop speed under the instruction A3 is U3, wherein U1 is more than U2 is more than U3; the start-stop speed of the liquid pump 422 under the instruction A1 is W1, the start-stop speed under the instruction A2 is W2, and the start-stop speed under the instruction A3 is W3, wherein W1 is greater than W2 and greater than W3.
Example 2
The difference between this embodiment and embodiment 1 is that the number of air intake cylinders 110 in this embodiment is plural, and the plurality of air intake cylinders 110 are connected to the housing 200 of the robot through four-way connectors, and each air intake cylinder 110 may be connected to one negative pressure device 130 or the plurality of air intake cylinders 110 may be simultaneously connected to one negative pressure device 130, depending on the specific implementation requirements on site.
It should be understood that the foregoing examples of the present invention are merely illustrative of the present invention and are not intended to limit the present invention to the specific embodiments thereof. Any modification, equivalent replacement, improvement, etc. that comes within the spirit and principle of the claims of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An intelligent mobile aerosol collection robot, comprising:
a collection structure for collecting aerosols;
the sampling assembly comprises a shell, a control assembly and a sampling module, wherein the shell is used for forming an isolation protection layer, the control assembly is used for controlling the starting and stopping of the sampling module, and the sampling module collects aerosol into sampling liquid through the collecting structure to form sample liquid;
the moving assembly is arranged below the sampling assembly and used for moving the robot;
and the central control component is used for controlling the collecting structure, the sampling component and the moving component.
2. The intelligent mobile aerosol collection robot of claim 1, wherein the collection structure comprises at least one air inlet cylinder, a plurality of air inlet holes are distributed on the outer wall of the air inlet cylinder, and a negative pressure device is arranged above the sampling assembly and used for sucking aerosol.
3. The intelligent mobile aerosol collection robot of claim 1, wherein the inner wall of the air inlet cylinder forms a spiral air flow pipeline for guiding uniform suction of the aerosol.
4. The intelligent mobile aerosol collection robot of claim 1, wherein the collection module comprises a sampling cup, a liquid adding pipe, a liquid adding pump and a liquid storage bottle, wherein the liquid storage bottle is used for storing sampling liquid, the liquid adding pipe penetrates through the inner wall of the sampling cup, and the liquid adding pump pressurizes the sampling liquid to form the sampling liquid attached to the inner wall of the sampling cup; the collecting module further comprises a sample tray, a freezing storage pipe, a liquid outlet pump and a liquid outlet port, wherein the liquid outlet pipe is arranged at the cup bottom of the sampling cup, the sample tray is a rotating disc provided with a plurality of installation positions, the freezing storage pipe is arranged at the installation positions and is used for storing reaction liquid, the reaction liquid in the liquid outlet pipe is pressurized by the liquid outlet pump to flow to the liquid outlet port, and the liquid outlet port is plugged in a silica gel plug on the freezing storage pipe through an electric push rod.
5. The intelligent mobile aerosol collection robot of claim 4, wherein the liquid storage bottle and the sample tray comprise sensors, and the control assembly is connected to the sensors and used for prompting replacement of the sample liquid and replacement of the freezing storage tube.
6. The intelligent mobile aerosol collection robot of claim 4, wherein the collection module further comprises a waste liquid pool, a waste liquid pipe and an air outlet hole, the waste liquid pool is arranged in the middle of the sample tray, the waste liquid pipe is arranged at the installation position and connected with the waste liquid pool for guiding out waste liquid for cleaning the sampling cup and the liquid outlet pipe; the air outlet hole is used for discharging waste gas flowing through the sampling cup.
7. The intelligent mobile aerosol collection robot of claim 4, wherein the central control assembly comprises a touch screen and a data signal transmission device, the touch screen is used for displaying instructions and electric quantity, and is provided with a navigation route program for guiding a moving route of the moving assembly; the data transmission signal device comprises a signal transceiver and a control assembly, wherein the signal transceiver is used for transmitting instructions to the control assembly, and the control assembly controls the start and stop of the liquid adding pump and the liquid outlet pump through the instructions; the robot control system further comprises a remote control assembly, wherein the remote control assembly controls one or more touch screens and is used for synchronously controlling one or more robots in real time.
8. The intelligent mobile aerosol collection robot of claim 7, wherein the central control assembly further comprises a camera, an obstacle avoidance device and an scram device, the camera is arranged below the touch screen, the obstacle avoidance device comprises a ranging sensor, a loudspeaker and a laser radar, the ranging sensor and the laser radar are used for sensing and detecting obstacles, and the loudspeaker is used for warning pedestrians; the emergency stop device is a manual switch and is arranged between the touch screen and the camera; the control assembly is connected to the camera, the obstacle avoidance device and the scram device and is used for sending signals to the signal transceiver.
9. The intelligent mobile aerosol collection robot according to claim 8, wherein the obstacle avoidance device detects the intensity of pedestrians to judge to form classification instructions A1, A2 and A3, the intensity of people is a value of A1 > A2 > A3, and the classification instructions are used for guiding the moving route of the navigation route program, the pressure value P formed by the negative pressure device and the start and stop speeds V, U, W of the liquid adding pump, the electric push rod and the liquid outlet pump.
10. The intelligent mobile aerosol collection robot of claim 9, wherein the navigation routing program directs the robot to move around corresponding to pedestrian zones A1, A2, and the pedestrian zone corresponding to A3 directs the robot to move across; the pressure value of the negative pressure device under the A1 instruction is P1, the pressure value under the A2 instruction is P2, the pressure value under the A3 instruction is P3, and the pressure value is P1 > P2 > P3; the start-stop speed of the liquid adding pump under the A1 instruction is V1, the start-stop speed of the liquid adding pump under the A2 instruction is V2, the start-stop speed of the liquid adding pump under the A3 instruction is V3, and the speed value is V1 & gtV 2 & gtV 3; the start-stop speed of the electric push rod under the A1 instruction is U1, the start-stop speed of the electric push rod under the A2 instruction is U2, the start-stop speed of the electric push rod under the A3 instruction is U3, and the speed value is U1 & gtU 2 & gtU 3; the start-stop speed of the liquid outlet pump under the A1 instruction is W1, the start-stop speed of the liquid outlet pump under the A2 instruction is W2, the start-stop speed of the liquid outlet pump under the A3 instruction is W3, and the speed value is W1 > W2 > W3.
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