CN215261853U - Toilet environment automatic measuring device - Google Patents
Toilet environment automatic measuring device Download PDFInfo
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- CN215261853U CN215261853U CN202120110047.9U CN202120110047U CN215261853U CN 215261853 U CN215261853 U CN 215261853U CN 202120110047 U CN202120110047 U CN 202120110047U CN 215261853 U CN215261853 U CN 215261853U
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- 238000005259 measurement Methods 0.000 claims abstract description 70
- 230000007613 environmental effect Effects 0.000 claims abstract description 63
- 238000005070 sampling Methods 0.000 claims abstract description 29
- 238000012545 processing Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 18
- 239000002245 particle Substances 0.000 claims description 13
- 239000000523 sample Substances 0.000 claims description 12
- 238000009529 body temperature measurement Methods 0.000 claims description 2
- 238000009530 blood pressure measurement Methods 0.000 claims 1
- 238000012360 testing method Methods 0.000 description 16
- 238000001514 detection method Methods 0.000 description 8
- 230000003749 cleanliness Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000001580 bacterial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000011527 multiparameter analysis Methods 0.000 description 1
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Abstract
The utility model relates to a toilet measures technical field, discloses a toilet environment automatic measuring device, and this toilet environment automatic measuring device includes: the mobile robot comprises a bearing part, a moving part and an environmental parameter measuring device, wherein the moving part is installed at the bottom side of the bearing part and used for moving, and the environmental parameter measuring device is installed on the bearing part and used for obtaining environmental parameters of a target sampling position; a positioning system for positioning the mobile robot; and the scheduling controller is in signal connection with the mobile part, the environmental parameter measuring device and the positioning system. This environment automatic measuring device of toilet can rely on mobile robot to realize unmanned automatic measure, saves the manual work, and effective reduce cost can effectively avoid personnel itself to get into the error that the clean room that awaits measuring brought to the influence of indoor environment, has overcome because the different errors that bring of measurement personnel's professional literacy, has effectively improved measurement quality.
Description
Technical Field
The utility model relates to a toilet measures technical field, in particular to toilet's environment automatic measuring device.
Background
The industries of precision manufacturing and other special environments with requirements on environmental cleanliness, such as microelectronics, aerospace, pharmacy, medical instruments, medical health, food and the like, all relate to clean rooms, and the environments in the clean rooms all need high cleanliness requirements, so the cleanliness detection of the clean rooms is an important link in clean room construction and completion inspection and acceptance, and is also an important work in clean room operation and maintenance. The controlled parameters of the clean room are related to the application environment, including temperature, humidity, pressure difference, cleanliness, colony count, customs, noise, static electricity and the like, and are all environmental parameters needing to be detected; the detection of the clean room is a test work with high requirements and large workload, at present, a sampling point needs to be determined manually during the detection, people are used as the maximum dust source and can influence the accuracy of measurement to a great extent, in addition, the test quality depends on the professional literacy of detection personnel to a great extent, and experts cannot directly give inspection and guidance. Clean room inspection is therefore a time-consuming and labor-intensive task, and in the present situation where labor costs are high, there is an urgent need to develop a solution that can achieve high quality inspection.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a toilet's environment automatic measuring device, this toilet's environment automatic measuring device can rely on mobile robot to realize unmanned automatic measurement, save the manual work, effective reduce cost, and can effectively avoid personnel itself to get into the error that the clean room that awaits measuring brought the influence of indoor environment and bring, adopt mobile robot to carry out full-machine automatic measurement's mode, the test quality is higher, overcome because the different errors of bringing of detection personnel's professional literacy, effectively improved measurement quality.
In order to achieve the above purpose, the utility model provides the following technical scheme:
an automated measurement device for a clean room environment, comprising:
the mobile robot comprises a bearing part, a moving part which is arranged at the bottom side of the bearing part and used for moving, and an environmental parameter measuring device which is arranged at the bearing part and used for obtaining environmental parameters of a target sampling position;
a positioning system for positioning the mobile robot;
and the scheduling controller is in signal connection with the mobile part, the environmental parameter measuring device and the positioning system.
The clean room environment automatic measuring device can be used for measuring the indoor environment in a clean room, and comprises at least one mobile robot, wherein the mobile robot comprises a bearing part and a moving part, the moving part can drive the mobile robot to move, the bearing part can be used for bearing and installing other parts, an environment parameter measuring device is installed on the bearing part, and the environment parameter measuring device can measure the environment parameter of a target sampling position where the environment parameter measuring device is located; the positioning system can realize the positioning of the mobile robot in the clean room, realize trackless movement and accurately determine the position of the mobile robot, wherein the dispatching controller is in signal connection with the moving part and can realize the control of the moving part so as to control the action track of the mobile robot, the dispatching controller is in signal connection with the environmental parameter measuring device and can acquire environmental parameters, the dispatching controller is in signal connection with the positioning system and can acquire the position information of the robot so as to control the moving track of the mobile robot, the clean room environment automatic measuring device can measure the environmental parameters in the clean room under the control of the dispatching controller, does not need to enter the clean room manually for measurement, saves labor and effectively reduces cost, and the mobile robot carries out automatic measurement without the need of personnel entering the clean room to be measured, and can effectively avoid the error caused by the influence of the personnel entering the clean room to be measured on the indoor environment, in addition, the automatic measurement mode is carried out by adopting the mobile robot, the test quality is higher, the errors caused by different professional literacy of detection personnel are overcome, and the measurement quality is effectively improved.
Therefore, above-mentioned toilet's environment automatic measuring device can rely on mobile robot to realize no personnel's automatic measurement, saves the manual work, effective reduce cost, and can effectively avoid personnel itself to get into the error that the clean room that awaits measuring brought to the indoor environment, adopts mobile robot to carry out full robotic automatic measurement's mode, and the test quality is higher, has overcome because the different errors that bring of measurement personnel's professional literacy, has effectively improved measurement quality.
Optionally, the clean room environment automatic measuring device further comprises a data processing device in signal connection with the environmental parameter measuring device, the data processing device is used for generating environmental quality information according to the environmental parameter, and the data processing device is in signal connection with the scheduling controller.
Optionally, the clean room environment automatic measuring device further comprises a monitoring system, the monitoring system is in signal connection with the scheduling controller, and the monitoring system is in signal connection with the data processing device.
Optionally, the mobile robot further includes a camera mounted on the bearing portion, and the camera is in signal connection with the monitoring system.
Optionally, the environmental parameter measuring device comprises at least one probe for sampling, the probe being detachably mounted to the carrier.
Optionally, a lifting device is installed on one side of the bearing part, which is away from the moving part, and the lifting device comprises a lifting table, and the position of the lifting table is adjustable along a direction vertical to the surface of one side of the bearing part, which is away from the moving part; the lifting table is provided with a multi-degree-of-freedom gripper for gripping the probe; the monitoring system is used for issuing instructions to the dispatching controller according to image information of the camera so as to control the lifting device and/or the multi-degree-of-freedom gripper to act.
Optionally, the positioning system comprises: the positioning device is arranged on the mobile robot, and the auxiliary positioning equipment is matched with the positioning device.
Optionally, the positioning device includes a laser radar and a positioning processing module connected to the laser radar signal; the auxiliary positioning device comprises a plurality of light reflecting columns.
Optionally, the environment parameter measuring device includes any one or more of a particle concentration measuring module, a temperature measuring module, a humidity measuring module, a pressure difference measuring module, a colony count measuring module, a speed measuring module, a noise measuring module, a vibration measuring module, an electrostatic measuring module, or an illuminance measuring module.
Optionally, the particle concentration measurement module comprises a particle counter.
Optionally, the mobile robot is plural.
Optionally, the clean room environment automatic measuring device further comprises a battery assembly mounted on the bearing part and used for supplying power, and a charging device used for charging the battery assembly.
Drawings
Fig. 1 is a schematic structural view of an automatic clean room environment measuring device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a working measurement flow of an automatic clean room environment measuring device according to an embodiment of the present invention;
icon: 1-a mobile robot; 2-an environmental parameter measuring device; 3-a scheduling console; 4-a monitoring system; 5-a probe; 6-a lifting device; 7-a multi-degree-of-freedom gripper; 8-a positioning device; 9-a reflective column; 10-clean room to be tested.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 and fig. 2, the embodiment of the present invention provides an automatic measuring device for clean room environment, including: the mobile robot comprises at least one mobile robot 1, wherein the mobile robot 1 comprises a bearing part, a moving part which is installed at the bottom side of the bearing part and used for moving, and an environmental parameter measuring device 2 which is installed at the bearing part and used for obtaining a target sampling position, and the environmental parameter measuring device 2 is used for measuring an environmental parameter of the target sampling position; a positioning system for positioning the mobile robot 1; the scheduling controller 3, the scheduling controller 3 and the mobile unit, the environmental parameter measuring device 2, and the positioning system are all connected by signals.
The clean room environment automatic measuring device can be used for measuring the indoor environment in a clean room, and comprises at least one mobile robot, wherein the mobile robot comprises a bearing part and a moving part, the moving part can drive the mobile robot to move, the bearing part can be used for bearing and installing other parts, an environment parameter measuring device is installed on the bearing part, and the environment parameter measuring device can measure the environment parameter of a target sampling position where the environment parameter measuring device is located; the positioning system can realize the positioning of the mobile robot in the clean room, realize trackless movement and accurately determine the position of the mobile robot, wherein the dispatching controller is in signal connection with the moving part and can realize the control of the moving part so as to control the action track of the mobile robot, the dispatching controller is in signal connection with the environmental parameter measuring device and can acquire environmental parameters, the dispatching controller is in signal connection with the positioning system and can acquire the position information of the robot so as to control the moving track of the mobile robot, the clean room environment automatic measuring device can measure the environmental parameters in the clean room under the control of the dispatching controller, does not need to enter the clean room manually for measurement, saves labor and effectively reduces cost, and the mobile robot carries out automatic measurement without the need of personnel entering the clean room to be measured, and can effectively avoid the error caused by the influence of the personnel entering the clean room to be measured on the indoor environment, in addition, the automatic measurement mode is carried out by adopting the mobile robot, the test quality is higher, the errors caused by different professional literacy of detection personnel are overcome, and the measurement quality is effectively improved.
For the above-mentioned automatic measuring device for clean room environment, taking a mobile robot as an example when performing measurement, as shown in fig. 3 in conjunction with fig. 1 and fig. 2, the following specific measurement processes can be illustrated:
firstly, the dispatching control console 3 can control the mobile robot 1 to start a measurement task and control the mobile robot 1 to enter the clean room 10 to be tested, the positioning system can position the mobile robot 1 in the clean room to be tested, the space coordinate of the mobile robot 1 in the clean room to be tested is established, the mobile robot 1 can realize trackless movement, then, the control positioning system of the dispatching control console 3 can scan and obtain a test area in the clean room to be tested and form a test area diagram, the test area diagram comprises horizontal dimension parameters of the test area in the clean room, such as the area of the test area, then, the positioning system internally performs a point distribution program according to the test area diagram to determine a target sampling position, the number of the target sampling positions can be a plurality of or one, and the specific target sampling position is determined, the positioning system can be determined according to the actually measured space size of the clean room to be measured, and specifically, the positioning system can uniformly distribute target sampling positions in a test area in the clean room to be measured, so that the detection accuracy of the whole clean room is ensured; after the target sampling position is determined, the scheduling controller can control the moving part to act, so that the mobile robot 1 moves to the target sampling position, namely the scheduling controller controls the mobile robot 1 to move to a target sampling position, stays at the target sampling position for a preset time, then carries out a test mode, the scheduling controller sends a test instruction to the environmental parameter measuring device 2, the environmental parameter measuring device 2 receives the instruction and carries out measurement, after the environmental parameter of the target sampling position is tested, the scheduling controller judges whether the measurement work is finished, namely whether all target sampling position measurement is finished, if not, the scheduling controller controls the mobile robot 1 to move to the next target sampling position, so that the scheduling controller controls the environmental parameter measuring device 2 to carry out environmental parameter measurement at each target sampling position, the environmental parameter of each target sampling position is obtained until all target sampling positions are judged to be measured, namely, the measurement task in the whole clean room is finished, the dispatching controller controls the mobile robot 1 to move out of the clean room to be measured, under the control of the dispatching controller, the mobile robot 1 returns to the standby position, the measurement of the environmental parameter of the clean room to be measured can be finished, the whole process is used for automatic measurement of the robot, the control operation is simple and reliable, and the measurement efficiency is high.
Therefore, above-mentioned toilet's environment automatic measuring device can rely on mobile robot to realize no personnel's automatic measurement, saves the manual work, effective reduce cost, and can effectively avoid personnel itself to get into the error that the clean room that awaits measuring brought to the indoor environment, adopts mobile robot to carry out full robotic automatic measurement's mode, and the test quality is higher, has overcome because the different errors that bring of measurement personnel's professional literacy, has effectively improved measurement quality.
Above-mentioned toilet's environment automatic measuring device still includes the data processing device with environmental parameter measuring device signal connection, and the data processing device is used for generating environmental quality information according to environmental parameter, and data processing device and dispatch controller signal connection, and the data processing device can receive environmental parameter measuring device measuring environmental parameter to handle the calculation to environmental parameter, generate environmental quality information, and then can form environmental parameter's measurement report, so that the staff knows the environmental aspect in the clean room that awaits measuring. The specific processing calculation of the data processing device on the environmental parameter may be to compare the obtained environmental parameter with a preset environmental parameter range, determine that the environmental parameter is unqualified when the environmental parameter exceeds the preset environmental parameter range, and determine that the environmental parameter is qualified when the environmental parameter is within the preset environmental parameter range.
Specifically, as shown in fig. 1 and fig. 2, the clean room environment automatic measuring device further includes a monitoring system 4, the monitoring system 4 is in signal connection with the scheduling controller, the monitoring system 4 is in signal connection with the data processing device, the monitoring system 4 can be in signal connection with the scheduling controller, and can acquire information obtained by the scheduling controller, such as position information of the mobile robot 1 and environment parameter information of the environment parameter measuring device 2, and the monitoring system 4 is in signal connection with the data processing information and can acquire environment quality information, the monitoring device can monitor the position and the measurement condition of the mobile robot 1 in real time, and a worker can control the scheduling controller to issue an instruction to the mobile robot 1 according to the monitored information, so as to adjust the mobile position or the measurement condition of the mobile robot 1.
Specifically, among the above-mentioned automatic measuring device of clean room environment, mobile robot 1 is still including installing in the camera of bearing the weight of the portion, camera and 4 signal connection of monitored control system, the camera can scan mobile robot 1's surrounding environment, can provide image information for monitored control system 4, can realize better control, and can make the staff to the more accurate judgement that lacks of the indoor environment of the clean room that awaits measuring, adjust mobile robot 1 better, be favorable to improving measurement quality and measurement of efficiency.
Specifically, referring to fig. 1 and fig. 2, in the above clean room environment automatic measuring device, the environment parameter measuring device 2 includes at least one probe 5 for sampling, and the probe 5 is detachably mounted on the bearing part; a lifting device 6 is arranged on one side of the bearing part, which is far away from the moving part, the lifting device comprises a lifting table, and the position of the lifting table is adjustable along the direction vertical to the surface of one side of the bearing part, which is far away from the moving part; a multi-degree-of-freedom gripper 7 for gripping the probe 5 is arranged on the lifting platform; the dispatching controller is in signal connection with the lifting device 6 and the multi-degree-of-freedom gripper 7, and the monitoring system 4 is used for issuing instructions to the dispatching controller according to image information so as to control the lifting device 6 and/or the multi-degree-of-freedom gripper 7 to act. When a specific position needs to be measured in the clean room to be measured, for example, surfaces or special area positions need to be measured, the monitoring system 4 can issue an instruction to the dispatching controller according to image information to enable the mobile robot 1 to move to the corresponding position, a secondary positioning device is installed on the gripper of the multi-degree-of-freedom mechanical gripper and is in signal connection with the monitoring system 4, accurate positioning of the gripper can be carried out more accurately, the monitoring system 4 controls the lifting device 6 and the free gripper to move, the probe 5 is moved to the specific measuring position needing to be measured to sample so as to achieve measurement of environmental parameters of the specific measuring position, and the practicability of the clean room environment automatic measuring device is effectively enhanced.
Specifically, as shown in fig. 1 and 2, in the clean room environment automatic measuring apparatus, the positioning system may include: a positioning device 8 mounted on the mobile robot 1, and an auxiliary positioning device matched with the positioning device; specifically, the positioning device comprises a laser radar and a positioning processing module connected with the laser radar through signals; the auxiliary positioning equipment comprises a plurality of reflection columns 9, and the plurality of reflection columns can be placed according to the spatial layout in the clean room to be measured so as to be matched with the laser radar, so that the positioning system can accurately position the mobile robot 1. It should be noted that the positioning system may also include an infrared distance sensor or other positioning devices, and the embodiment is not limited.
Above-mentioned automatic measuring device of clean room environment, environmental parameter measuring device include particle concentration measurement module, temperature measurement module, humidity measurement module, pressure differential measurement module, colony count measurement module, speed measurement module, noise measurement module, vibration measurement module, static measurement module or the illuminance measurement module in arbitrary one or more. Environmental parameter measuring device can measure one of these parameters of particle concentration, temperature, humidity, pressure differential, bacterial colony, speed, noise, vibration, static or illuminance in the clean room, perhaps measures a plurality of while in these parameters, forms the multi-parameter analysis in the clean room, and the better environmental conditions who knows in the clean room need demonstrate that can select the setting to environmental parameter measuring device according to actual demand, and the limitation is not done to this embodiment.
Specifically, when environment measurement parameter measurement device includes particle concentration measurement module, measure the cleanliness factor of the toilet that awaits measuring promptly, particle concentration measurement module can include the particle counter, uses the particle counter to measure the particle concentration parameter in the clean room that awaits measuring in order to obtain the cleanliness factor of the clean room that awaits measuring and measure, and is simple reliable.
Specifically, the number of the mobile robots in the clean room environment automatic measuring device can be multiple, so that the multiple mobile robots can measure the environmental parameters of the clean room to be measured under the control of the scheduling controller, the measurement flexibility of the clean room environment automatic measuring device is effectively improved, and the functionality of the clean room environment automatic measuring device is enhanced; the method can enable the mobile robots to be located at different target sampling positions to measure simultaneously after the target sampling positions are determined, so that the measurement efficiency is improved, different mobile robots can measure the same target sampling position under the control of the dispatching controller, namely, the same target sampling position is measured repeatedly, the measurement accuracy can be effectively improved, or the mobile robots are controlled to measure in other modes under the control of the dispatching controller, and the embodiment is not limited.
Specifically, the clean room environment automatic measuring device further comprises a battery assembly and a charging device, wherein the battery assembly is installed on the bearing part and used for supplying power, the charging device is used for charging the battery assembly, the battery assembly is installed on the mobile robot and used for supplying electric energy to various electrical components on the mobile robot, and the charging device can charge the battery assembly, so that the mobile robot can be used normally and repeatedly; specifically, charging device can be automatic charging device, and set up on the mobile robot with battery pack signal connection and be used for the control point ability module of control electric energy, control electric energy module and dispatch controller signal connection, when control electric energy module monitored battery pack's electric energy not enough, can send the not enough signal of electric energy for dispatch controller, the dispatch control platform can give the mobile robot according to the not enough signal of electric energy issue the instruction of charging, makes the mobile robot remove to connect automatic charging device and charge.
It will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. An automatic measuring device for a clean room environment, comprising:
the mobile robot comprises a bearing part, a moving part which is arranged at the bottom side of the bearing part and used for moving, and an environmental parameter measuring device which is arranged at the bearing part and used for obtaining environmental parameters of a target sampling position;
a positioning system for positioning the mobile robot;
and the scheduling controller is in signal connection with the mobile part, the environmental parameter measuring device and the positioning system.
2. The clean room environment automatic measuring device of claim 1, further comprising a data processing device in signal connection with the environmental parameter measuring device, the data processing device being configured to generate environmental quality information based on the environmental parameter, and the data processing device being in signal connection with the scheduling controller.
3. The clean room environment automatic measuring device of claim 2, further comprising a monitoring system in signal connection with the dispatch controller and in signal connection with the data processing device.
4. The clean room environment automatic measuring device of claim 3, characterized in that the mobile robot further comprises a camera mounted on the carrying part, the camera being in signal connection with the monitoring system.
5. The clean room environment automatic measuring device of claim 4, characterized in that the environmental parameter measuring device comprises at least one probe for sampling, which probe is detachably mounted to the carrier.
6. The clean room environment automatic measuring device of claim 5, characterized in that a lifting device is mounted on a side of the carrying part facing away from the moving part, the lifting device comprising a lifting table, the lifting table being adjustable in position in a direction perpendicular to a surface of the side of the carrying part facing away from the moving part; the lifting table is provided with a multi-degree-of-freedom gripper for gripping the probe; the monitoring system is used for issuing instructions to the dispatching controller according to image information of the camera so as to control the lifting device and/or the multi-degree-of-freedom gripper to act.
7. The clean room environment automatic measuring device of claim 1, characterized in that the positioning system comprises: the positioning device is arranged on the mobile robot, and the auxiliary positioning equipment is matched with the positioning device.
8. The clean room environment automatic measuring device of claim 7, characterized in that the positioning device comprises a laser radar and a positioning processing module in signal connection with the laser radar; the auxiliary positioning device comprises a plurality of light reflecting columns.
9. The clean room environment automatic measurement device of claim 1, wherein the environmental parameter measurement device comprises any one or more of a particle concentration measurement module, a temperature measurement module, a humidity measurement module, a differential pressure measurement module, a colony count measurement module, a velocity measurement module, a noise measurement module, a vibration measurement module, an electrostatic measurement module, or an illuminance measurement module.
10. The clean room environment automatic measurement device of claim 9, wherein the particle concentration measurement module comprises a particle counter.
11. The clean room environment automatic measuring device of claim 1, characterized in that the mobile robot is plural.
12. The clean room environment automatic measuring device of any one of claims 1 to 11, further comprising a battery assembly mounted on the carrying portion for supplying power, and a charging device for charging the battery assembly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120110047.9U CN215261853U (en) | 2021-01-15 | 2021-01-15 | Toilet environment automatic measuring device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120110047.9U CN215261853U (en) | 2021-01-15 | 2021-01-15 | Toilet environment automatic measuring device |
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| CN215261853U true CN215261853U (en) | 2021-12-21 |
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Address after: No. 160, West Fourth Ring North Road, Haidian District, Beijing Patentee after: China Electronics Engineering Design Institute Co.,Ltd. Country or region after: China Address before: No. 160, West Fourth Ring North Road, Haidian District, Beijing Patentee before: CHINA ELECTRONICS ENGINEERING DESIGN INSTITUTE Co.,Ltd. Country or region before: China |