TWI592175B - Intelligently automatic detection disinfection robot - Google Patents

Description

Intelligent automatic detection and disinfection robot

The invention provides an intelligent automatic detection and disinfection robot, in particular to a remote monitoring body, and is positioned by a disinfecting device to a disinfecting target position to be disinfected.

According to the fact that since the Republic of China’s SARS ravaged Taiwan in 1992, prevention of infection has become a consensus among the people. In fact, there are sources of infection everywhere around us. Whether it is hospitals, restaurants, schools, companies, factories, or even the general public, there are pathogenic bacteria. It may lead to illness in the general public, especially in the hospital environment. In order to effectively prevent nosocomial infections, it is necessary to frequently clean and disinfect surfaces and equipment that may be contaminated by pathogens, including facilities that are very close to patients and often in patient care. Environmental surfaces in contact (eg door handles, elevator buttons, bathroom surfaces, etc.).

Hand hygiene is the simplest, most effective, and most cost-effective way to prevent health care associated-infections (HAIs). In addition, many vectors of disease transmission are caused by external invasions, such as influenza, enterovirus, and the incidence of death caused by these diseases is common; viral infections are widespread, and the main infection routes include contact and droplet infection, and through patients Vomiting is in contact with excreta; SARS in the past, and common diseases in recent years include tuberculosis, varicella, viral hemorrhagic fever (Ebola hemorrhagic fever, Marburg hemorrhagic fever), or in recent cases The highly contagious norovirus is spread through this route. Hospitals and public places are more likely to accelerate the spread of the virus. Therefore, the importance of preventing infectious diseases is further highlighted. Therefore, the level of disinfection is improved, and the staff and the general society are also upgraded. Public confidence.

In addition, there are many clean robots on the market, such as: vacuum cleaners that provide cleaning at home, air-conditioning cleaning robots that clean air-conditioning pipelines, or garbage-collecting robots that collect garbage; but the above-mentioned clean robots cannot automatically navigate to the disinfection. After the disinfection target is disinfected, and the disinfection operation cannot be performed, the navigation device is used to move to another area for the lack of disinfection by using the driving device.

In view of this, our inventors have devote themselves to further research on automatic disinfection devices, and have initiated research and development and improvement, with a better design to solve the above problems, and have been experimentally and modified to have the present invention.

Accordingly, the object of the present invention is to block the probability of a user infecting a virus in a public place by touching the door handle or the elevator button with a hand.

In order to achieve the above object, the inventors provide a smart automatic detection and disinfection robot, which comprises: a body provided with a driving device for driving the body to travel; and a detecting device coupled to the body, And the detecting device detects a disinfecting target by using a photographing unit; a disinfecting device is disposed on the body; and a processing unit coupled to the driving device, the detecting device and the disinfecting device, The processing unit establishes an image of the disinfecting target; the body is traveled by the driving device, and the detecting device detects the disinfecting target, and if the disinfecting target is established with the processing unit, the disinfecting When the target image matches, the disinfecting target is sprayed by the disinfecting device.

According to the intelligent automatic detection and disinfection robot described above, the sterilizing device drives an urging member by a motor, and the sterilizing device is squeezed by the urging member.

According to the intelligent automatic detection and disinfection robot described above, the processing unit is further coupled to a laser range finder, the laser range finder is disposed on the body, and the laser range finder is detected. The a distance between the body and the wall, and the processing unit is configured to allow the body to travel along a wall by the driving device, and the laser range finder is further coupled to the at least one transmission device. The transmission adjusts the angle and direction of the laser rangefinder.

According to the intelligent automatic detection and disinfection robot described above, wherein the distance value is used to measure the shortest distance from the wall by the laser range finder, and the measured distance value is transmitted to the processing unit to make the The processing unit controls the distance between the drive and the wall.

According to the intelligent automatic detection and disinfection robot described above, the laser range finder detects the area of the body in the traveling direction to determine the position of an obstacle, so that the body bypasses the driving device The obstacle.

According to the intelligent automatic detection and disinfection robot described above, the laser range finder measures a distance value from the body, and transmits the distance value to the processing unit as the driving device to drive the steering angle of the body. .

The intelligent automatic detection and disinfection robot according to the above, wherein the processing unit is further coupled to a lifting device, the lifting device is disposed on the body, and the sterilization device is disposed at one end of the lifting device, and the lifting device is further The motor is coupled to the motor, and the lifting device moves the sterilization device to the orientation of the sterilization target.

The intelligent automatic detection and disinfection robot according to the above, wherein the detecting device further comprises a photographing unit, wherein the photographing unit captures an image corresponding to the direction of the disinfecting device, and the processing unit is further connected to a remote monitoring device. The remote monitoring device monitors the instantaneous position of the body, and the remote monitoring device is further connected to a display unit, and the display unit correspondingly displays the camera unit to capture an image corresponding to the front of the disinfecting device.

According to the intelligent automatic detection and disinfection robot described above, the processing unit is further coupled to a navigation and positioning system, and the navigation and positioning system is provided with a virtual corresponding to the actual operating environment in the room. The map is intended to be located, and the body is located at a position of the virtual map.

According to the intelligent automatic detection and disinfection robot described above, the processing unit is further coupled to an air cleaning device and a toxic gas detector, and the air cleaning device and the toxic gas detector are disposed on the body .

It is obvious from the above description and setting that the present invention has the following several advantages and effects, which are detailed as follows:

1. The present invention utilizes a mounting drive to displace the area of any disinfection operation planned in the room, thereby expanding the scope of disinfection and cleaning.

2. The present invention is provided with a lifting device for cleaning the disinfecting target at different heights, thereby more effectively and effectively disinfecting the area where the user's hand frequently touches.

3. The invention scans and measures the wall surface by the laser range finder as the distance value of the body relative to the wall surface, thereby achieving the walking of the invention with the wall surface; in addition, the laser range finder is driven by the transmission device To adjust the angle and direction of the laser range finder; further, use the distance measured by the laser range finder to the nearest distance in the direction of travel to determine the obstacle in front, when the obstacle is within a certain range, The body uses the driving device to do the dodging action, thereby avoiding collision with the obstacle, and when the obstacle is evaded, the distance between the body and the wall is detected to return to the mode of walking with the wall.

4. The user can remotely monitor the working condition of the disinfection of the present invention by using the remote monitoring device, and further, by using the virtual map corresponding to the actual operating environment, and positioning the body at the position of the virtual map, the user can use the display. The unit knows where the invention is located and the path and scope of the planning body for disinfection operations.

〔this invention〕

1‧‧‧ Ontology

11‧‧‧ drive

12‧‧‧Detection device

13‧‧‧ disinfection device

131‧‧‧Motor

132‧‧‧Agreement

14‧‧‧Processing unit

141‧‧‧Air cleaning device

142‧‧‧toxic gas detector

15‧‧‧Laser rangefinder

151‧‧‧Transmission

16‧‧‧ lifting device

17‧‧‧Photographic unit

171‧‧ images

18‧‧‧ Remote monitoring device

181‧‧‧Display unit

19‧‧‧Navigation and Positioning System

191‧‧ virtual map

2‧‧‧ disinfection target

3‧‧‧ wall

4‧‧‧ obstacles

Figure 1 is a block diagram of the present invention.

Figure 2 is a perspective view of the present invention.

Figure 3 is a schematic illustration of the angle and distance traveled by the wall of the present invention.

Fig. 4 is a schematic view showing the distance of obstacles in the present invention.

Figure 5 is a schematic view of the collision prevention of the present invention.

Fig. 6 is a schematic view of the photographing unit photographing and detecting the image of the disinfecting target.

Figure 7 is a virtual map of the walking and display unit of the present invention corresponding to the actual operating environment.

The invention will be described in detail below with reference to the drawings.

Please refer to FIG. 1 and FIG. 2 first. The present invention is an intelligent automatic detection and disinfection robot, which comprises: A body 1 is provided with a driving device 11 . In a preferred embodiment, the driving device 11 includes at least one axle and at least a DC motor (not shown), and the DC motor is coupled to the axle. Thereby driving the body 1 to travel; a detecting device 12 is disposed on the body 1 and the detecting device 12 detects a disinfecting target 2. In a preferred embodiment, the disinfecting target 2 is a door handle or an elevator button; In a preferred embodiment, the detecting device 12 detects that the disinfecting target 2 uses the image color patch feature to analyze the environment information and discriminate; A sterilizing device 13 is disposed on the body 1. The sterilizing device 13 drives an abutting member 132 by a motor 131. The abutting member 132 presses the sterilizing device 13, in a preferred embodiment. The motor 131 drives the eccentrically disposed abutting member 132 to cause the abutting member 132 to be pressed against the sterilizing device 13 for spraying, but is not limited thereto; A processing unit 14 is coupled to the driving device 11, the detecting device 12 and the disinfecting device 13, and the processing unit 14 establishes an image of the disinfecting target 2; and, in a preferred embodiment, The processing unit 14 is further coupled to an air cleaning device 141 and a toxic gas detector 142, and the air cleaning device 141 and the toxic gas detector 142 are attached to the body 1; A laser range finder 15 is coupled to the processing unit 14, the laser range finder 15 is disposed on the body 1, and the laser range finder 15 detects the body 1 and the wall 3 One of the distance values, and the processing unit 14 is configured to travel the body 1 along the wall 3 by the driving device 11 by using the distance value, and the distance value is measured by the laser range finder 15 from the wall surface. 3, the shortest distance, the measured distance value is transmitted to the processing unit 14 to cause the processing unit 14 to control the distance between the driving device 11 and the wall 3. In a preferred embodiment, the laser ranging The meter 15 detects the area of the body 1 in the direction of travel to determine the position of an obstacle 4, so that the body 1 bypasses the obstacle 4 by the driving device 11; and in a preferred embodiment, the laser The range finder 15 is further coupled to at least one transmission device 151. In a preferred embodiment, the transmission device 151 is a servo motor; the transmission device 151 adjusts the angle and direction of the laser range finder 15; In a preferred embodiment, the laser range finder 15 measures the distance from the body 1 and the distance is Numerical processing unit 14 to transmit a steering angle of the main body 1; A lifting device 16 is coupled to the processing unit 14, and the lifting device 16 is disposed on the body 1. In a preferred embodiment, the disinfecting device 13 is disposed at one end of the lifting device 16; In a preferred embodiment, the lifting device 16 is provided with a driving unit (not shown) for controlling the lifting and lowering of the lifting device 16; the lifting device 16 is connected to the motor 131, and the lifting device 16 is for positioning the sterilization device 13 The orientation of the disinfection target 2; A photographing unit 17 is disposed in the detecting device 12. In a preferred embodiment, the photographing unit 17 is installed in the same direction as the disinfecting device 13; and the photographing unit 17 photographs the disinfecting device 13 Image 171 corresponding to the direction; a remote monitoring device 18 connected to the processing unit 14, the remote monitoring device The remote monitoring device 18 can open and close the operator of the body 1 in a preferred embodiment; and the remote monitoring device 18 is further connected to a display unit 181. In a preferred embodiment, the display unit 181 correspondingly displays the photographing unit 17 to capture an image 171 corresponding to the front of the disinfecting device 13; A navigation and positioning system 19 is coupled to the processing unit 14. The navigation and positioning system 19 is provided with a virtual map 191 corresponding to the actual operating environment of the room, and the body 1 is positioned at a position of the virtual map 191. In a preferred embodiment, the location of the body 1 is known.

In a preferred embodiment, the remote monitoring device 18 of the present invention uses LabVIEW (Laboratory Virtual Instrumentation Engineering Workbench) and NI Vision Assistant, all of which are graphical programming platforms and a set of NI Vision Assistant. Software that automatically generates LabVIEW block diagrams, including the same functions that NI Vision Assistant operates when it is built, integrates block diagrams into automation or production test applications, and is used for motion control, instrument control, and Data collection; in a preferred embodiment, the present invention establishes a project dedicated to the platform of the ontology 1 in LabVIEW, wherein LIDAR.vi and Motor Control.vi are the main background programs, and the main body of the body 1 is controlled. The program is built in Wall Following. LIDAR.vi is mainly used to process the environmental information collected by the laser range finder 15. The array of each environmental information is analyzed and distributed through Share. The Variable mechanism is transmitted to the main program to perform operations; and Motor Control.vi is mainly used to control and read the drive device 11, the transmission device 1 51. The subroutine of the information of the navigation and positioning system 19, similarly, the information of the driving device 11, the transmission device 151 and the navigation and positioning system 19 can be transmitted to the main program by the Share Variable mechanism, and the main program also controls the power through the Share Variable. The output is transmitted to the subroutine for control of the drive unit 11 and the transmission unit 151.

Referring to Fig. 3, the distance of the body 1 of the present invention along the wall surface 3, in a preferred embodiment, the distance value is scanned by the laser range finder 15 to the shortest distance from the wall surface 3 in the area. The distance value is transmitted to the processing unit 14 to control the distance between the driving device 11 and the wall 3.

Continuing to refer to Figures 4 and 5, in order to prevent the collision of the present invention, in a preferred embodiment, the present invention measures the M1, M2, M3 measured by the laser range finder 15 and M4 distance, wherein, in the embodiment of the present invention, M3 is closest to the body 1; and in another preferred embodiment, M3 is less than 50 cm from the body 1 as the distance value of the body 1 and the obstacle 4 of the present invention, The distance value is output as the Steering direction of the body 1, thereby preventing the present invention from colliding with the obstacle 4.

Referring to FIG. 6, in a preferred embodiment, the photographing unit 17 of the present invention is WebCam; and in another preferred embodiment, the present invention identifies the disinfecting target 2 by using color patch features to analyze the environment. And discriminate the disinfection target 2 to reduce the probability of detecting or misjudged the disinfection target 2; therefore, the detection device 12 detects the disinfection target 2 and uses the photographing unit 17 to photograph the disinfection target 2, The detecting device 12 recognizes the disinfecting target 2 and analyzes the information of the environment by using the color patch feature; and further, as shown in FIG. 6, in a preferred embodiment, the display unit 181 disinfects the image of the target 2 171 shows that the processing unit 14 switches from the original Wall Following mode to the Target Recognition mode, that is, adjusts the height of the lifting device 16 and the steering of the body 1; the processing unit 14 detects the device 12 The image detecting unit 17 detects and uses the photographing unit 17 to capture the image 171 color patch feature of the disinfecting target 2, and compares with the internally established disinfecting target 2 image color patch feature, after the disinfection target 2 is determined, by processing The unit 14 is transmitted to the display unit 181 and enters a target positioning mode. The user can remotely monitor and remotely rotate the position of the body 1 by the remote monitoring device 18 by the display unit 181; and in a preferred implementation In the example, the sterilizing device 13 is disposed at one end of the lifting device 16, and the lifting device 16 adjusts the height of the sterilizing device 13 to the height of the sterilizing target 2 by using the driving unit, so that the sterilizing device 13 faces the disinfecting target 2, and then borrows The motor 131 drives the eccentrically disposed abutting member 132 by the processing unit 14 to cause the abutting member 132 to be sterilized by the sterilizing device 13 to perform the disinfecting operation.

Referring to FIG. 7, the present invention sets the corresponding indoor real by the navigation and positioning system 19. a virtual map 191 of the operating environment, and the positioning body 1 is located at a position of the virtual map 191, thereby locating the coordinate position and orientation of the body 1; in a preferred embodiment, the navigation positioning system 19 utilizes an encoder (Fig. It is not shown that the axle movement distance and speed are known; therefore, the movement distance and speed information of the axle are utilized, whereby the user can know the coordinate position, orientation and location of the body 1 on the display unit 181, thereby achieving automatic navigation. In addition, when the present invention performs the sterilization operation using the sterilization device 13, the navigation device 19 can be used to move to another region for sterilization by the driving device 11.

In addition, the general public is about 80% to 90% of the time in the indoor environment (including in homes, offices or other buildings). The quality of indoor air directly affects the quality and efficiency of work. The effect of indoor air pollutants on human health should be taken seriously; the indoor air quality can be effectively improved to maintain human health; therefore, the present invention can be installed by the air cleaning device 141 and the toxic gas detector 142 while disinfecting the present invention. To improve the air quality in the room, the processing unit 14 can also detect ambient gases, such as carbon monoxide, which is a colorless and odorless gas. The symptoms after poisoning are not easily detected, so the poisonous gas detector 142 is used to prevent poison gas. Poisoning to avoid the occurrence of injuries.

In summary, the technical means disclosed by the present invention can effectively solve the problems of the prior knowledge, achieve the intended purpose and efficacy, and are not found in the publication before publication, have not been publicly used, and have long-term progress, The invention referred to in the Patent Law is correct, and the application is filed according to law, and the company is invited to give a detailed examination and grant a patent for invention.

The above is only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equivalent changes and modifications made by the scope of the invention and the contents of the invention are all It should remain within the scope of this invention.

11‧‧‧ drive

12‧‧‧Detection device

13‧‧‧ disinfection device

131‧‧‧Motor

14‧‧‧Processing unit

141‧‧‧Air cleaning device

142‧‧‧toxic gas detector

15‧‧‧Laser rangefinder

151‧‧‧Transmission

16‧‧‧ lifting device

17‧‧‧Photographic unit

18‧‧‧ Remote monitoring device

181‧‧‧Display unit

19‧‧‧Navigation and Positioning System

Claims (10)

An intelligent automatic detection and disinfection robot comprises: a body provided with a driving device for driving the body to travel; a detecting device is disposed on the body, and the detecting device detects a disinfecting target And the detecting device is coupled to a photographing unit that captures an image corresponding to the direction of the disinfecting device; a disinfecting device that is coupled to the body; and a processing unit coupled to the driving device The detecting device and the sterilizing device, the processing unit establishes an image of the sterilizing target; wherein the body travels by the driving device, and the detecting device uses the color of the image taken by the photographic unit When the block feature analyzes the information of the environment to detect and discriminate the disinfecting target, if the detecting device detects that the disinfecting target is consistent with the image color patch characteristic of the disinfecting target established by the processing unit, The disinfecting target is sprayed by the disinfecting device. The intelligent automatic detection and disinfection robot according to claim 1, wherein the sterilizing device drives a damper by a motor, and the sterilizing device is squeezed by the urging member. The intelligent automatic detection and disinfection robot according to the first aspect of the invention, wherein the processing unit is further coupled to a laser range finder, the laser range finder is disposed on the body, and the laser measurement The distance detecting device detects a distance between the body and the wall surface, and the processing unit uses the distance value to allow the body to walk along a wall surface by the driving device, and the laser range finder is further coupled to at least A transmission that adjusts the angle and direction of the laser rangefinder. The intelligent automatic detection and disinfection robot according to claim 3, wherein the distance value is used to measure the shortest distance from the wall by the laser range finder, and the measured distance value is transmitted to the processing unit. So that the processing unit controls the distance between the driving device and the wall surface. The intelligent automatic detection and disinfection robot of claim 3, wherein the laser range finder detects an area of the body in a traveling direction to determine the position of an obstacle, so that the body The drive bypasses the obstacle. The intelligent automatic detection and disinfection robot according to claim 3, wherein the The laser range finder measures a distance value from the body, and transmits the distance value to the processing unit as a driving angle of the driving device. The intelligent automatic detection and disinfection robot according to any one of claims 1 to 6, wherein the processing unit is further coupled to a lifting device, the lifting device is disposed on the body, and the sterilization device is Provided at one end of the lifting device, the lifting device is connected to the motor, and the lifting device moves the sterilization device to the orientation of the disinfecting target. The smart automatic detection and disinfection robot according to any one of claims 1 to 6, wherein the processing unit is further connected to a remote monitoring device, wherein the remote monitoring device monitors the instantaneous position of the body, and The remote monitoring device is further connected to a display unit, and the display unit correspondingly displays the camera unit to capture an image corresponding to the front of the disinfecting device. The intelligent automatic detection and disinfection robot according to any one of claims 1 to 6, wherein the processing unit is further coupled to a navigation positioning system, wherein the navigation positioning system is provided with a corresponding indoor operating environment. A virtual map, and positioning the ontology at a location of the virtual map. The intelligent automatic detection and disinfection robot according to any one of claims 1 to 6, wherein the processing unit is further coupled to an air cleaning device and a toxic gas detector, and the air cleaning device is The toxic gas detector is disposed on the body; the air cleaning device includes a filtering device and a fan, and the air cleaning device drives the filtering device to remove or adsorb pollutants in the air, and then The processing unit drives the fan to send out air that has been cleared or adsorbed by the pollutant; the toxic gas detector is coupled to a sensing unit and a warning unit; when the toxic gas in the air is detected by the sensing unit , that is, the message is transmitted to the processing unit for analysis, and then the processing unit transmits the analyzed message to the alert unit.