CN216561529U

CN216561529U - Intelligent unmanned disinfection trolley based on slam

Info

Publication number: CN216561529U
Application number: CN202122546416.1U
Authority: CN
Inventors: 潘铭杰; 沈祯恺; 孙赟琦; 施沈巍; 盛琦
Original assignee: Shanghai Jian Qiao University
Current assignee: Shanghai Jian Qiao University
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2022-05-17
Anticipated expiration: 2031-10-22

Abstract

The utility model relates to an intelligent unmanned disinfection trolley based on slam, which comprises an ROS robot chassis, wherein crawler-type driving mechanisms are symmetrically arranged on two sides of the ROS robot chassis; an obstacle sensing unit is arranged on the ROS robot chassis; be equipped with the spraying mechanism who is used for spraying the atomizing antiseptic solution on the ROS robot chassis, include lift supporting platform and locate last disinfection shower nozzle of lift supporting platform, disinfection shower nozzle can follow lift supporting platform reciprocates. The track driving mode for the disinfection trolley can adapt to more complex terrains and can turn around in situ; the disinfection platform adopts the lift mode to realize the disinfection of no dead angle on a wider range, adopts atomizer to make disinfection efficiency higher, and the disinfection scope is wider.

Description

Intelligent unmanned disinfection trolley based on slam

Technical Field

The utility model relates to a disinfection device, in particular to an intelligent unmanned disinfection trolley based on slam.

Background

The disinfection mode is mainly disinfected and sterilized by manually spraying the disinfectant, a large amount of manpower and time are consumed, the working efficiency is low, the disinfection effect is easily influenced by dead zones and dead angles of disinfection caused by human factors, and the disinfection robot can well solve the problem. The disinfection robot can plan the disinfection path independently, successfully avoid encountered obstacles and accurately finish disinfection work according to a designed walking route. At present, most of disinfection vehicles on the market are large in size, personnel are needed to assist in controlling an algorithm inside the robot to navigate the walking process of the robot, the working efficiency is low, the energy consumption is high, and the existing disinfection robot is difficult to adapt to when used on a complex terrain in an external occasion.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems and provide an intelligent unmanned disinfection trolley based on slam.

The purpose of the utility model is realized by the following technical scheme:

an intelligent unmanned disinfection trolley based on slam comprises an ROS robot chassis, wherein crawler-type driving mechanisms are symmetrically arranged on two sides of the ROS robot chassis;

an obstacle sensing unit is arranged on the ROS robot chassis;

be equipped with the sprinkling mechanism who is used for spraying the antiseptic solution of atomizing on the ROS robot chassis, include lift supporting platform and locate disinfection shower nozzle on the lift supporting platform, disinfection shower nozzle can be followed lift supporting platform reciprocates.

The track driving mode for the disinfection trolley can adapt to more complex terrains and can turn around in situ; the disinfection platform adopts the lift mode to realize the disinfection of no dead angle on a wider range, adopts atomizer to make disinfection efficiency higher, and the disinfection scope is wider.

Further, crawler-type actuating mechanism is including setting up in the front of ROS robot chassis, the drive wheel of rear side portion, set up a plurality of supporting wheels at the lateral part, and the parcel is in the track of drive wheel and supporting wheel outside.

Furthermore, the supporting wheels are arranged in an upper row and a lower row and are positioned between the driving wheels.

Further, the driving wheel is connected with a track driving motor, and the track driving motor is connected and arranged inside the ROS robot chassis.

Further, obstacle induction element includes camera (1) and radar (2), camera (1) are located the front end on ROS robot chassis, radar (2) are located ROS robot chassis upper portion, obstacle induction element with locate controller in the ROS robot chassis is connected for transmit obstacle perception information. The working process of the whole trolley firstly surveys and draws the environment through the camera, a virtual map is established in the raspberry group and used for setting a navigation route, so that the trolley can be disinfected through the set route, if places which are difficult to reach automatically to areas in a high risk room or programs can be remotely controlled on line by a remote controller, and a certain place is manually disinfected accurately.

Further, lift supporting platform includes the lift bracing piece, the lift bracing piece passes through the base and vertically fixes on the ROS robot chassis, be equipped with the slide rail on the lift bracing piece, be equipped with the slider on the slide rail, set up on the slider the disinfection shower nozzle.

Furthermore, the slider is connected with a driving part (such as a push rod of a lifting motor), and moves up and down along the slide rail under the action of the driving part to drive the disinfection spray head to move up and down, so that the disinfection without dead angles can be carried out in a large range.

Furthermore, the disinfection spray head is connected with a disinfection liquid container arranged on the ROS robot chassis through a pipeline, and spray liquid is controlled through the arranged delivery pump.

Furthermore, the disinfection spray nozzle is an atomization spray nozzle capable of spraying atomized disinfectant.

Furthermore, the disinfection trolley is provided with a controller, a raspberry group main control board is adopted as a main control board of the controller, and a display screen capable of inputting information is further arranged on the disinfection trolley. The raspberry main control board can perform total calculation and communication, can also be used for linking a mobile phone, and edits programs by using a display screen on the trolley. The mainboard that utilizes the raspberry group sends a signal to driving motor's control version thereby the action of advancing is accomplished to the drive track by driving motor's control panel pair to coming the control motor, can observe the voltage condition on this board and judge electric quantity etc. at last control water pump, through the hose with the sterile water pump-out come through the atomizer blowout.

Compared with the prior art, the utility model has the following beneficial effects:

1. the high risk area is remotely controlled to carry out unmanned disinfection, so that the risk of secondary infection of disinfection personnel is avoided.

2. The disinfection work of cleaning workers is replaced, and the burden of manpower labor is reduced.

3. The disinfection process is automated, and comprehensiveness of a disinfection area is guaranteed. Preventing the possibility of over-sterilization and omission of sterilization.

4. The structure is easy to disassemble and convenient to maintain and repair.

5. Can be remotely controlled and runs 24 hours all day.

6. Is widely used in various occasions.

7. Simple structure and convenient maintenance.

8. The disinfection containers with uniform specification are convenient to replace and convenient to recycle.

9. Can cooperate with people together, and the work efficiency is high.

Drawings

FIG. 1 is a schematic view of the overall structure of the disinfection trolley of the present invention;

FIG. 2 is a schematic front view of the structure of FIG. 1;

FIG. 3 is a side view of the structure of FIG. 1;

FIG. 4 is a schematic top view of the structure of FIG. 1;

fig. 5 is a partial schematic view of a spray mechanism.

Detailed Description

The utility model is described in detail below with reference to the drawings and specific embodiments, wherein the non-disclosed contents in the embodiments are all technical means which are known or are in the prior art.

As shown in fig. 1-4, an intelligent slam-based unmanned disinfection trolley comprises an ROS robot chassis 1, wherein crawler-type driving mechanisms 3 are symmetrically arranged on two sides of the ROS robot chassis 1; an obstacle sensing unit is arranged on the ROS robot chassis 1; be equipped with the sprinkling mechanism 2 that is used for spraying the antiseptic solution of atomizing on ROS robot chassis 1, including lift supporting platform and locate the disinfection shower nozzle 21 on the lift supporting platform, disinfection shower nozzle 21 can reciprocate along lift supporting platform.

Specifically, the crawler-type driving mechanism 3 includes a driving wheel 31 disposed at the front and rear side portions of the ROS robot chassis 1, a plurality of supporting wheels 32 disposed at the side portions, and a crawler wrapped around the driving wheel 31 and the supporting wheels 32. The track driving mode for the disinfection trolley can adapt to more complex terrains and turn around in situ. The disinfection platform adopts the lift mode to realize the disinfection of no dead angle on a wider range, adopts atomizer to make disinfection efficiency higher, and the disinfection scope is wider.

As shown in fig. 1, 2 and 3, the supporting wheels 32 are provided in plural, arranged in two rows, one above the other, and located between the driving wheels 31. The driving wheel 31 is connected with a track driving motor 33, and the track driving motor 33 is connected and arranged inside the ROS robot chassis 1.

As shown in fig. 5, the lifting support platform comprises a lifting support rod, the lifting support rod is vertically fixed on the ROS robot chassis 1 through a base, a slide rail 22 is arranged on the lifting support rod, a slide block 23 is arranged on the slide rail 22, and a disinfection spray head 21 is arranged on the slide block 23. The slide block is connected with a driving part, such as a push rod (not shown in the figure) of a lifting motor, and moves up and down along the slide rail under the action of the driving part to drive the disinfection spray head 21 to move up and down, so that the disinfection without dead angles in a large range is carried out. The disinfection spray head 21 is connected with a disinfection solution container arranged on the ROS robot chassis 1 through a pipeline, and controls spraying solution through the arranged delivery pump, and the disinfection spray head 21 is an atomization spray head capable of spraying atomized disinfection solution.

The obstacle induction unit comprises a camera 5 and a radar 4, the camera 5 is arranged at the front end of the ROS robot chassis 1, the radar 4 is arranged on the upper portion of the ROS robot chassis 1, and the obstacle induction unit is connected with a controller arranged in the ROS robot chassis 1 and used for transmitting obstacle sensing information. The whole trolley working process is that the environment is mapped through the camera, a virtual map is established in the raspberry group for setting a navigation route, so that the trolley can be disinfected through the set route, if the trolley is used for remotely controlling the trolley on line in a high-risk indoor area or a place where a program cannot reach automatically, and a certain place is disinfected accurately manually.

The disinfection dolly sets up the controller, and the main control board of controller adopts raspberry group main control board, still sets up the display screen that can input information on the disinfection dolly. The raspberry main control board can perform total calculation and communication, can also be used for linking a mobile phone, and edits programs by using a display screen on the trolley. The mainboard that utilizes the raspberry group sends a signal to driving motor's control version thereby the action of advancing is accomplished to the drive track by driving motor's control panel pair to coming the control motor, can observe the voltage condition on this board and judge electric quantity etc. at last control water pump, through the hose with the sterile water pump-out come through the atomizer blowout.

The main body of the intelligent disinfection trolley is a ROSRobot Operating System program controlled chassis track motor, so that the track realizes high-difficulty actions such as forward and backward turning, in-situ turning and the like. The system is a meta-operation system suitable for robot source opening, provides due services of an operation system, and comprises hardware abstraction, control of bottom equipment, realization of common functions, inter-process message transmission, ROS mileage feedback function, differential driving, dynamic PID parameter regulation and IMU angular velocity function, and can realize correction of linear velocity and angular velocity and modification of parameters and IMU correction. The disinfection trolley is used for constructing the map, radar is used for navigation of the slam map construction camera, and the camera line patrol function can be used and is based on camera line patrol. The laser SLAM directly acquires point cloud data in the environment, and calculates where an obstacle exists and the distance of the obstacle according to the generated point cloud data. However, in the visual SLAM scheme based on monocular, binocular and fisheye cameras, the point cloud in the environment cannot be directly obtained, a gray or color image is formed, the distance of an obstacle needs to be measured by continuously moving the position of the camera, extracting and matching feature points and using a triangulation distance measurement method, and the navigation, obstacle avoidance and other work are performed.

The embodiments described above are intended to facilitate the understanding and use of the utility model by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. The intelligent unmanned disinfection trolley based on slam is characterized by comprising an ROS robot chassis (1), wherein crawler-type driving mechanisms (3) are symmetrically arranged on two sides of the ROS robot chassis (1);

an obstacle sensing unit is arranged on the ROS robot chassis (1);

be equipped with on ROS robot chassis (1) and be used for spraying sprinkling mechanism (2) of atomizing antiseptic solution, include lift supporting platform and locate disinfection shower nozzle (21) on the lift supporting platform, disinfection shower nozzle (21) can be followed lift supporting platform reciprocates.

2. The slam-based intelligent unmanned disinfection trolley of claim 1, wherein the tracked driving mechanism (3) comprises driving wheels (31) arranged at the front and rear sides of the ROS robot chassis (1), a plurality of supporting wheels (32) arranged at the sides, and tracks wrapped outside the driving wheels (31) and the supporting wheels (32).

3. An intelligent slam-based unmanned disinfection vehicle as claimed in claim 2, wherein said support wheels (32) are provided in plurality, arranged in two rows, one above the other, and located between said drive wheels (31).

4. The slam-based intelligent unmanned disinfection trolley of claim 3, wherein the drive wheels (31) are connected with a track drive motor (33), the track drive motor (33) connection being provided inside the ROS robot chassis (1).

5. The slam-based intelligent unmanned disinfection trolley according to claim 1, wherein the obstacle sensing unit comprises a camera (5) and a radar (4), the camera (5) is arranged at the front end of the ROS robot chassis (1), the radar (4) is arranged at the upper part of the ROS robot chassis (1), and the obstacle sensing unit is connected with a controller arranged in the ROS robot chassis (1) and used for transmitting obstacle sensing information.

6. The slam-based intelligent unmanned disinfection trolley according to claim 1, wherein the lifting support platform comprises a lifting support rod, the lifting support rod is vertically fixed on the ROS robot chassis (1) through a base, a slide rail (22) is arranged on the lifting support rod, a slide block (23) is arranged on the slide rail (22), and the disinfection spray head (21) is arranged on the slide block (23).

7. The slam-based intelligent unmanned disinfection trolley as claimed in claim 6, wherein the slider is connected with a driving part and moves up and down along the slide rail under the action of the driving part to drive the disinfection spray head (21) to move up and down.

8. The slam-based intelligent unmanned disinfection trolley according to claim 1, wherein the disinfection sprayer (21) is connected with a disinfection solution container arranged on the ROS robot chassis (1) through a pipeline, and spray liquid is controlled through a set delivery pump.

9. The slam-based intelligent unmanned disinfection vehicle of claim 1, wherein the disinfection nozzle (21) is a misting nozzle capable of spraying misting disinfectant.

10. The slam-based intelligent unmanned disinfection vehicle of any one of claims 1-9, wherein the disinfection vehicle is provided with a controller, a raspberry master control board is adopted as a master control board of the controller, and a display screen capable of inputting information is further arranged on the disinfection vehicle.