CN219251089U - Disinfection robot based on automatic trace searching - Google Patents
Disinfection robot based on automatic trace searching Download PDFInfo
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- CN219251089U CN219251089U CN202320622595.9U CN202320622595U CN219251089U CN 219251089 U CN219251089 U CN 219251089U CN 202320622595 U CN202320622595 U CN 202320622595U CN 219251089 U CN219251089 U CN 219251089U
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Abstract
The disinfection robot based on automatic tracking comprises a base body and a base which are spliced, wherein a controller is arranged on the base body, a scanning camera and a tracking camera are respectively arranged on two sides of the base body, and the scanning camera is used for scanning and imaging a place to be disinfected and transmitting the place to the controller so as to carry out line planning in the controller; the tracking camera is used for acquiring image information on a line to carry out line correction in the sterilization and disinfection process of the disinfection robot according to a planned line so as to realize automatic tracking and obstacle avoidance and realize visual observation of the sterilization process; a plurality of spray heads are arranged at equal intervals on the upper part of the matrix, and are used for generating disinfection spray to kill germs and accurately adjusting and quantifying different disinfection doses; the liquid storage tank is arranged in the matrix, the liquid level sensor is arranged in the liquid storage tank, and the liquid level sensor is connected with the controller through the AD converter.
Description
Technical field:
the utility model relates to a disinfection robot based on automatic tracking.
The background technology is as follows:
many infectious agents of infectious diseases are mostly invaded from outside, with major infection routes including contact and spray infections; in order to reduce the possibility of infection of infectious diseases and cut off the transmission path of the infectious diseases, disinfection and sterilization are required to be carried out by regularly spraying disinfection and sterilization medicaments on important sanitary epidemic prevention places such as intensive personnel and indoor closed places.
In general, the mode of spraying the sterilizing agent mainly comprises a manual mode or a mode of adopting a sterilizing robot to operate, and compared with the manual sterilizing mode, the sterilizing robot is more efficient and more convenient, so that the sterilizing robot is gradually popularized and becomes a main tool for sterilizing germs.
The existing disinfection robots always kill a designated area or place according to a user instruction, the user needs to always transmit a control instruction to control the advancing direction and speed of the disinfection robots, so that the disinfection tasks can be completed gradually, the operation process is complicated, and for different types of areas and places, particularly in places with complex internal elements, collision phenomenon can occur in the working process of the disinfection robots due to the fact that the automatic tracking and obstacle avoidance cannot be performed, the disinfection robots are damaged, the overall working efficiency of the disinfection robots can be affected, and therefore the disinfection tasks can not be completed well.
The utility model comprises the following steps:
the embodiment of the utility model provides a disinfection robot based on automatic tracking, which has reasonable structural design, is based on the integrated control function of a controller, is matched with multiple types of electric elements and functional components, does not need a user to always transmit control instructions to the disinfection robot to carry out driving control, can automatically carry out tracking and obstacle avoidance in the disinfection process, simplifies the actual operation steps, can be suitable for various different application places and environments, can effectively improve the working efficiency of the disinfection robot, can avoid damage to the disinfection robot in the disinfection process, can also play a good disinfection effect, and further realize real-time detection, visualization of the disinfection effect and accurate disinfection dosage, and solves the problems in the prior art.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
the disinfection robot based on automatic tracking comprises a base body and a base which are spliced, wherein a controller is arranged on the base body, a scanning camera and a tracking camera are respectively arranged on two sides of the base body, and the scanning camera is used for scanning and imaging a place to be disinfected and transmitting the place to the controller so as to carry out line planning in the controller; the tracking camera is used for acquiring image information on a line to carry out line correction in the sterilization and disinfection process of the disinfection robot according to a planned line so as to realize automatic tracking and obstacle avoidance and realize visual observation of the sterilization process; a plurality of spray heads are arranged at equal intervals on the upper part of the matrix, and are used for generating disinfection spray to kill germs and accurately adjusting and quantifying different disinfection doses; a liquid storage tank is arranged in the matrix, a liquid level sensor is arranged in the liquid storage tank, and the liquid level sensor is connected with the controller through an AD converter; the controller is connected with the spray head through a driver, the controller is connected with the scanning camera through an instruction input device, the controller is connected with the tracking camera through a trigger, and a timer is further connected to the controller and is used for transmitting clock pulse signals to the controller so as to realize automatic control and real-time of sanitation detection; the base is provided with a plurality of universal wheels, each universal wheel is respectively and correspondingly provided with a servo motor, and the servo motors are connected with the controller through a coupler and a speed reducer so as to realize the control of the movement and the steering of the sterilizing robot.
The model of controller is STM32F103C8T6, is equipped with 64 pins on the controller, the controller links to each other with instruction input ware through No. four pins, the controller links to each other with AD converter through fifteen pins, the controller links to each other with the shaft coupling through twenty-first pins, the controller links to each other with the speed reducer through twenty-first pins, the controller links to each other with the trigger through thirty-third pins and thirty-fourth pins, the controller links to each other with the driver through thirty-eighth pins, the controller links to each other with the timer through forty-fifth pins.
The model of the instruction input device is TLP290, four pins are arranged on the instruction input device, the first pin of the instruction input device is connected with the scanning camera, a ninth resistor, a tenth resistor and a fourth capacitor are connected in parallel between the first pin and the second pin of the instruction input device, a fifth capacitor and an eighth resistor are connected in parallel between the third pin and the fourth pin of the instruction input device, and the third pin of the instruction input device is connected with the fourth pin of the controller.
The model of the AD converter is AD8551, 8 pins are arranged on the AD converter, the AD converter is connected with fifteen pins of the controller through six pins, and the AD converter is connected with the liquid level sensor through three pins.
The model of the trigger is FDS9945, the second pin of the trigger is connected with the thirty-fourth pin of the controller, the third pin of the trigger is connected with the thirty-third pin of the controller, and a tracking camera is connected between the fifth pin and the eighth pin of the trigger.
The model of the driver is ULN2003, 16 pins are arranged on the driver, the driver is connected with thirty-eighth pins of the controller through a first pin, a first relay is connected to sixteen pins of the driver, a first resistor and a first diode which are connected in parallel are arranged on the first relay, and an equipment interface is arranged on the first relay and is used for connecting a spray head.
The model of the timer is DS1302, 8 pins are arranged on the timer, a fourth resistor and a fourth capacitor which are connected in parallel are arranged between a six pin and a seven pin of the timer, and the seven pin of the timer is connected with a forty-five pin of the controller.
Buffer springs are respectively connected to two sides between the base body and the base.
By adopting the structure, the utility model scans and images the places to be sterilized and disinfected through the scanning camera and transmits the images to the controller so as to carry out line planning in the controller; acquiring image information on a line by a tracking camera in a sterilization and disinfection process of a disinfection robot according to a planned line to carry out line correction so as to realize automatic tracking and obstacle avoidance; sterilizing and spraying by a spray head to kill germs; transmitting a clock pulse signal to the controller through a timer to realize real-time automatic control; the servo motor is controlled by the coupler and the speed reducer to realize the control drive of the movement and the steering of the sterilizing robot, and the sterilizing robot has the advantages of simplicity, convenience, practicability, high efficiency and safety.
Description of the drawings:
fig. 1 is a schematic structural view of the present utility model.
Fig. 2 is a bottom view of fig. 1.
Fig. 3 is a control schematic of the present utility model.
Fig. 4 is an electrical schematic of the controller of the present utility model.
Fig. 5 is an electrical schematic of the command input of the present utility model.
Fig. 6 is an electrical schematic diagram of the AD converter of the present utility model.
Fig. 7 is an electrical schematic of the trigger of the present utility model.
Fig. 8 is an electrical schematic of the actuator of the present utility model.
Fig. 9 is an electrical schematic of the timepiece of the utility model.
In the figure, 1, a substrate, 2, a base, 3, a scanning camera, 4, a tracking camera, 5, a spray head, 6, a universal wheel, 7 and a buffer spring.
The specific embodiment is as follows:
in order to clearly illustrate the technical features of the present solution, the present utility model will be described in detail below with reference to the following detailed description and the accompanying drawings.
As shown in fig. 1-9, the disinfection robot based on automatic tracking comprises a base body 1 and a base 2 which are spliced, wherein a controller is arranged on the base body 1, a scanning camera 3 and a tracking camera 4 are respectively arranged on two sides of the base body 1, and the scanning camera 3 is used for scanning and imaging a place to be disinfected and transmitting the place to the controller so as to carry out line planning in the controller; the tracking camera 4 is used for acquiring image information on a line to carry out line correction in the sterilization and disinfection process of the disinfection robot according to a planned line so as to realize automatic tracking and obstacle avoidance and realize visual observation of the disinfection process; a plurality of spray heads 5 are arranged at equal intervals on the upper part of the matrix 1, and the spray heads 5 are used for generating disinfection spray to kill germs and accurately adjust and quantify dosages of different disinfectants; a liquid storage tank is arranged in the matrix 1, a liquid level sensor is arranged in the liquid storage tank, and the liquid level sensor is connected with a controller through an AD converter; the controller is connected with the spray head 5 through a driver, the controller is connected with the scanning camera 3 through an instruction input device, the controller is connected with the tracking camera 4 through a trigger, and a timer is also connected to the controller and is used for transmitting clock pulse signals to the controller so as to realize automatic control and real-time of sanitation detection; the base 2 is provided with a plurality of universal wheels 6, each universal wheel 6 is correspondingly provided with a servo motor, and the servo motors are connected with the controller through a coupler and a speed reducer so as to realize the control of the movement and the steering of the sterilizing robot.
The model of controller is STM32F103C8T6, is equipped with 64 pins on the controller, the controller links to each other with instruction input ware through No. four pins, the controller links to each other with AD converter through fifteen pins, the controller links to each other with the shaft coupling through twenty-first pins, the controller links to each other with the speed reducer through twenty-first pins, the controller links to each other with the trigger through thirty-third pins and thirty-fourth pins, the controller links to each other with the driver through thirty-eighth pins, the controller links to each other with the timer through forty-fifth pins.
The model of the instruction input device is TLP290, four pins are arranged on the instruction input device, the first pin of the instruction input device is connected with the scanning camera, a ninth resistor, a tenth resistor and a fourth capacitor are connected in parallel between the first pin and the second pin of the instruction input device, a fifth capacitor and an eighth resistor are connected in parallel between the third pin and the fourth pin of the instruction input device, and the third pin of the instruction input device is connected with the fourth pin of the controller.
The model of the AD converter is AD8551, 8 pins are arranged on the AD converter, the AD converter is connected with fifteen pins of the controller through six pins, and the AD converter is connected with the liquid level sensor through three pins.
The model of the trigger is FDS9945, the second pin of the trigger is connected with the thirty-fourth pin of the controller, the third pin of the trigger is connected with the thirty-third pin of the controller, and a tracking camera is connected between the fifth pin and the eighth pin of the trigger.
The model of the driver is ULN2003, 16 pins are arranged on the driver, the driver is connected with thirty-eighth pins of the controller through a first pin, a first relay is connected to sixteen pins of the driver, a first resistor and a first diode which are connected in parallel are arranged on the first relay, and an equipment interface is arranged on the first relay and is used for connecting a spray head.
The model of the timer is DS1302, 8 pins are arranged on the timer, a fourth resistor and a fourth capacitor which are connected in parallel are arranged between a six pin and a seven pin of the timer, and the seven pin of the timer is connected with a forty-five pin of the controller.
The working principle of the disinfection robot based on automatic tracking in the embodiment of the utility model is as follows: based on the integrated control effect of controller, cooperation multiple type electrical component and functional module do not need the user to carry out drive control to disinfection robot transmission control instruction always, can seek trace and keep away the barrier in disinfection process voluntarily, simplified actual operation step to can be applicable to multiple different application places and environment, can effectively promote disinfection robot's work efficiency, can avoid disinfection robot to produce the damage at disinfection in-process again, also can play good disinfection and sterilization's effect simultaneously, and then realize that sanitary detection is real-time, disinfection effect is visual and disinfection dosage is accurate.
Because of the complexity of the disinfection place, the method adopts a mode of combining the tracking camera and the scanning camera to collect related image information and route information, and compared with the conventional automatic tracking technology, the method can mutually use the information collected by the two cameras as verification and supplement, and adopts a double-insurance mode to realize automatic tracking and obstacle avoidance; meanwhile, the acquisition angles and the acquisition directions of the tracking camera and the scanning camera are relatively set, so that a visual angle blind area can be avoided, and omnibearing acquisition is realized; in general, the scanning camera is an infrared camera, the tracking camera is a high-definition camera, and a planned walking line and a real-time image can be obtained through clear feedback.
In the whole scheme, the device mainly comprises a base body 1 and a base 2 which are spliced, wherein a controller is arranged on the base body 1, a scanning camera 3 and a tracking camera 4 are respectively arranged on two sides of the base body 1, and the scanning camera 3 is used for scanning and imaging a place to be sterilized and disinfected and transmitting the place to the controller so as to carry out line planning in the controller; the tracking camera 4 is used for acquiring image information on a line to carry out route correction in the sterilization and disinfection process of the sterilization robot according to a planned route so as to realize automatic tracking and obstacle avoidance; a plurality of spray heads 5 are arranged at equal intervals on the upper part of the matrix 1, and the spray heads 5 are used for generating disinfection spray to kill germs; a liquid storage tank is arranged in the matrix 1, a liquid level sensor is arranged in the liquid storage tank, and the liquid level sensor is connected with a controller through an AD converter; the controller is connected with the spray head 5 through a driver, the controller is connected with the scanning camera 3 through an instruction input device, the controller is connected with the tracking camera 4 through a trigger, and a timer is also connected to the controller and is used for transmitting a clock pulse signal to the controller so as to realize real-time automatic control; the base 2 is provided with a plurality of universal wheels 6, each universal wheel 6 is correspondingly provided with a servo motor, and the servo motors are connected with the controller through a coupler and a speed reducer so as to realize the control of the movement and the steering of the sterilizing robot.
The controller is a core component, the model of the controller is STM32F103C8T6, 64 pins are arranged on the controller, the controller is connected with the instruction input device through four pins, the controller is connected with the AD converter through fifteen pins, the controller is connected with the coupler through twenty pins, the controller is connected with the speed reducer through twenty-one pins, the controller is connected with the trigger through thirty-three pins and thirty-four pins, the controller is connected with the driver through thirty-eight pins, and the controller is connected with the timer through forty-five pins, so that an integral hardware circuit is formed, and automatic tracing and sterilizing operation of the sterilizing robot are realized by means of the integral hardware circuit.
Preferably, the type of the instruction input device is TLP290, four pins are arranged on the instruction input device, the first pin of the instruction input device is connected with the scanning camera, a ninth resistor, a tenth resistor and a fourth resistor are connected in parallel between the first pin and the second pin of the instruction input device, a fifth resistor and an eighth resistor are connected in parallel between the third pin and the fourth pin of the instruction input device, and the third pin of the instruction input device is connected with the fourth pin of the controller, so that the place image scanned and collected by the scanning camera 3 can be converted into a control instruction form to be transmitted to the controller for storage, the places to be disinfected and sterilized are comprehensively scanned, and the controller further automatically generates relevant planning paths.
Preferably, the model of AD converter is AD8551, is equipped with 8 pins on AD converter, AD converter passes through No. six pins and links to each other with the fifteen pins of controller, AD converter passes through No. three pins and links to each other with level sensor to detect and feed back the real-time liquid level of liquid storage pot, thereby realize the accurate regulation setting of disinfection dosage.
The tracking camera 4 is controlled through a trigger, and trigger control is performed according to a trigger instruction of the controller, so that the tracking camera 4 is ensured to perform tracking operation according to the requirement of a user, and precise obstacle avoidance is realized; different from the trace searching mode in the prior art, the moving stroke of the disinfection robot can be accurately and effectively decomposed, and the action accuracy of the disinfection robot is ensured.
Preferably, the model of the timer is DS1302, 8 pins are arranged on the timer, a fourth resistor and a fourth capacitor which are connected in parallel are arranged between a six pin and a seven pin of the timer, the seven pin of the timer is connected with a forty-five pin of the controller, clock pulse signals can be transmitted to the controller to realize real-time automatic control, clock signals are additionally arranged, the whole disinfection process of the disinfection robot is accurately quantized in real time, and real-time detection is realized.
When in actual use, the controller is integrally connected with all the electric elements and the functional components, firstly, the scanning camera is used for scanning and imaging the place to be disinfected and automatically planning a disinfection driving path; the whole disinfection robot is in a working state, and a timer transmits a clock pulse signal to a controller to realize real-time control; the tracking camera refers to a planned form path in the moving process of the disinfection robot, and once deviation occurs, the tracking camera can provide a basis for automatic correction of the controller.
In the moving process of the sterilizing robot, under the action of a driver, the spray heads 5 act to emit sterilizing spray to sterilize germs, and a plurality of spray heads arranged at equal intervals can keep the uniform and adjustable sterilizing effect and avoid the phenomenon that the local sterilizing concentration is too high or too low; meanwhile, the liquid level sensor in the liquid storage tank can also detect the real-time liquid level height, and when the insufficient storage amount in the liquid storage tank occurs, a user can find out in time.
The disinfection robot is driven by a servo motor, a coupler and a speed reducer, steering, acceleration and deceleration are easy to control, smooth action of the disinfection robot is ensured, and the disinfection effect can be clearly fed back and displayed.
Specifically, buffer springs 7 are respectively connected to two sides between the base 1 and the base 2, so that if the sterilizing robot moves to deviate and collides with a barrier in a place, the impact force suffered by the sterilizing robot can be effectively relieved, and the sterilizing robot can be effectively protected.
In summary, the automatic tracking-based disinfection robot provided by the embodiment of the utility model is based on the integrated control function of the controller, is matched with multiple types of electrical elements and functional components, does not need to always transmit control instructions to the disinfection robot for driving control, can automatically perform tracking and obstacle avoidance in the disinfection process, simplifies the actual operation steps, is suitable for various different application places and environments, can effectively improve the working efficiency of the disinfection robot, can avoid damage to the disinfection robot in the disinfection process, and can also achieve good disinfection and sterilization effects.
The above embodiments are not to be taken as limiting the scope of the utility model, and any alternatives or modifications to the embodiments of the utility model will be apparent to those skilled in the art and fall within the scope of the utility model.
The present utility model is not described in detail in the present application, and is well known to those skilled in the art.
Claims (8)
1. Automatic tracking-based disinfection robot, which is characterized in that: the device comprises a base body and a base which are spliced, wherein a controller is arranged on the base body, a scanning camera and a tracking camera are respectively arranged on two sides of the base body, and the scanning camera is used for scanning and imaging a place to be sterilized and disinfected and transmitting the place to the controller so as to carry out line planning in the controller; the tracking camera is used for acquiring image information on a line to carry out line correction in the sterilization and disinfection process of the disinfection robot according to a planned line so as to realize automatic tracking and obstacle avoidance and realize visual observation of the sterilization process; a plurality of spray heads are arranged at equal intervals on the upper part of the matrix, and are used for generating disinfection spray to kill germs and accurately adjusting and quantifying different disinfection doses; a liquid storage tank is arranged in the matrix, a liquid level sensor is arranged in the liquid storage tank, and the liquid level sensor is connected with the controller through an AD converter; the controller is connected with the spray head through a driver, the controller is connected with the scanning camera through an instruction input device, the controller is connected with the tracking camera through a trigger, and a timer is further connected to the controller and is used for transmitting clock pulse signals to the controller so as to realize automatic control and real-time of sanitation detection; the base is provided with a plurality of universal wheels, each universal wheel is respectively and correspondingly provided with a servo motor, and the servo motors are connected with the controller through a coupler and a speed reducer so as to realize the control of the movement and the steering of the sterilizing robot.
2. The automatic tracking based sterilization robot of claim 1, wherein: the model of controller is STM32F103C8T6, is equipped with 64 pins on the controller, the controller links to each other with instruction input ware through No. four pins, the controller links to each other with AD converter through fifteen pins, the controller links to each other with the shaft coupling through twenty-first pins, the controller links to each other with the speed reducer through twenty-first pins, the controller links to each other with the trigger through thirty-third pins and thirty-fourth pins, the controller links to each other with the driver through thirty-eighth pins, the controller links to each other with the timer through forty-fifth pins.
3. The automatic tracking based sterilization robot of claim 2, wherein: the model of the instruction input device is TLP290, four pins are arranged on the instruction input device, the first pin of the instruction input device is connected with the scanning camera, a ninth resistor, a tenth resistor and a fourth capacitor are connected in parallel between the first pin and the second pin of the instruction input device, a fifth capacitor and an eighth resistor are connected in parallel between the third pin and the fourth pin of the instruction input device, and the third pin of the instruction input device is connected with the fourth pin of the controller.
4. The automatic tracking based sterilization robot of claim 2, wherein: the model of the AD converter is AD8551, 8 pins are arranged on the AD converter, the AD converter is connected with fifteen pins of the controller through six pins, and the AD converter is connected with the liquid level sensor through three pins.
5. The automatic tracking based sterilization robot of claim 2, wherein: the model of the trigger is FDS9945, the second pin of the trigger is connected with the thirty-fourth pin of the controller, the third pin of the trigger is connected with the thirty-third pin of the controller, and a tracking camera is connected between the fifth pin and the eighth pin of the trigger.
6. The automatic tracking based sterilization robot of claim 2, wherein: the model of the driver is ULN2003, 16 pins are arranged on the driver, the driver is connected with thirty-eighth pins of the controller through a first pin, a first relay is connected to sixteen pins of the driver, a first resistor and a first diode which are connected in parallel are arranged on the first relay, and an equipment interface is arranged on the first relay and is used for connecting a spray head.
7. The automatic tracking based sterilization robot of claim 2, wherein: the model of the timer is DS1302, 8 pins are arranged on the timer, a fourth resistor and a fourth capacitor which are connected in parallel are arranged between a six pin and a seven pin of the timer, and the seven pin of the timer is connected with a forty-five pin of the controller.
8. The automatic tracking based sterilization robot of claim 1, wherein: buffer springs are respectively connected to two sides between the base body and the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320622595.9U CN219251089U (en) | 2023-03-23 | 2023-03-23 | Disinfection robot based on automatic trace searching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320622595.9U CN219251089U (en) | 2023-03-23 | 2023-03-23 | Disinfection robot based on automatic trace searching |
Publications (1)
| Publication Number | Publication Date |
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| CN219251089U true CN219251089U (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320622595.9U Active CN219251089U (en) | 2023-03-23 | 2023-03-23 | Disinfection robot based on automatic trace searching |
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| Country | Link |
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| CN (1) | CN219251089U (en) |
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- 2023-03-23 CN CN202320622595.9U patent/CN219251089U/en active Active
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