TWI592175B - Intelligently automatic detection disinfection robot - Google Patents
Intelligently automatic detection disinfection robot Download PDFInfo
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- TWI592175B TWI592175B TW104117912A TW104117912A TWI592175B TW I592175 B TWI592175 B TW I592175B TW 104117912 A TW104117912 A TW 104117912A TW 104117912 A TW104117912 A TW 104117912A TW I592175 B TWI592175 B TW I592175B
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Description
本發明係提供一種智慧型自動偵測消毒機器人,尤指一種藉由遠端監控本體,並藉由消毒裝置定位於欲消毒之消毒目標物位置。 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.
按,自民國92年SARS肆虐台灣以後,預防感染已經變成全民共識,其實在我們周圍處處都是感染源,不論係醫院、餐廳、學校、公司、工廠,甚至於一般社會大眾家中都有致病菌,皆可能導致一般社會大眾生病,尤其在醫院環境中,為有效預防院內感染,更需要頻繁地清潔與消毒可能被病原體污染的表面與設備,包括極接近病患的設施以及在病患照護上經常接觸的環境表面(例如:門把、電梯按紐、衛浴設備表面等)。 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.).
手部衛生是預防醫療照護相關感染(Healthcare associated-infections,HAIs),最簡單、有效且最合乎成本效益的方法。此外,許多疾病傳染的媒介係經由外部入侵,例如:流行性感冒、腸病毒,上述疾病造成死亡之機率屢見不鮮;病毒感染途經廣泛,其中主要感染途徑包括接觸性及飛沫性傳染,且經由病人之嘔吐物跟排泄物接觸傳染;過去令人驚恐的SARS,以及近年常見的疾病包括肺結核、水痘、病毒性出血熱(伊波拉病毒出血熱、馬堡病毒出血熱),或係最近多起案例中傳染力強的諾羅病毒,即係透過此途徑進行散播,醫院與公共場所更係加速傳播病毒的地方,因此更加突顯預防傳染病之重要性,故提升消毒水平,同樣提升工作人員與一般社會大眾的信心。 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.
再者,市面上雖已有眾多清潔型機器人,例如:提供居家清潔的吸塵機器人、清理空調管線的空調清潔機器人或收取垃圾的收垃圾機器人;惟上述清潔型機器人皆無法自動導航至欲消毒之消毒目標物給予消毒,且亦無法執行完畢消毒作業後,即利用導航定位系統利用驅動裝置移動至另一區域進行消毒之缺失。 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.
有鑑於此,吾等發明人乃潛心進一步研究自動消毒裝置,並著手進行研發及改良,期以一較佳設作以解決上述問題,且在經過不斷試驗及修改後而有本發明之問世。 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.
爰是,本發明之目的係為阻隔使用者於公共場所藉由手部接觸門把或電梯按鈕而感染病毒之概率。 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.
為達致以上目的,吾等發明人提供一種智慧型自動偵測消毒機器人,其包含:一本體,其設有一驅動裝置,藉以帶動該本體行進;一偵測裝置,其係設於該本體,且該偵測裝置係使用攝影單元偵測一消毒目標物;一消毒裝置,其係設於該本體;以及一處理單元,其係耦接該驅動裝置、該偵測裝置與該消毒裝置,該處理單元係建立一該消毒目標物之影像;藉之,該本體藉由該驅動裝置行進,該偵測裝置偵測到該消毒目標物,若該消毒目標物係與該處理單元建立之該消毒目標物影像相符時,則藉由該消毒裝置噴灑該消毒目標物。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該消毒裝置係藉由一馬達驅動一抵掣件,藉由該抵掣件擠壓消毒裝置。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該處理單元更耦接一雷射測距儀,該雷射測距儀係設於該本體,且該雷射測距儀係偵測該 本體與該牆面間之一距離值,且該處理單元藉由該距離值供該本體藉由驅動裝置沿一牆面行走,又該雷射測距儀更耦接至少一傳動裝置,所述傳動裝置係調整該雷射測距儀之角度與方向者。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該距離值係利用該雷射測距儀測量距離該牆面最短之距離,將測量到之距離值傳送至該處理單元,以令該處理單元控制該驅動裝置與牆面間之距離。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該雷射測距儀係偵測該本體於行進方向之區域,以判斷一障礙物之位置,令該本體藉由該驅動裝置繞過該障礙物。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該雷射測距儀係量測與該本體之一距離數值,將該距離數值傳予處理單元作為該驅動裝置帶動該本體之轉向角度。 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. .
據上所述之智慧型自動偵測消毒機器人,其中,該處理單元更耦接一抬升裝置,該抬升裝置係設於該本體,且該消毒裝置係設於該抬升裝置一端,又該抬升裝置係連接該馬達,該抬升裝置係移動該消毒裝置至該消毒目標物之方位。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該偵測裝置更包含一攝影單元,該攝影單元係拍攝該消毒裝置對應方向之影像,且該處理單元更連接一遠端監控裝置,該遠端監控裝置係監控該本體之即時位置,且該遠端監控裝置更連接一顯示單元,該顯示單元係對應顯示該攝影單元拍攝對應該消毒裝置前方之影像。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該處理單元更耦接一導航定位系統,該導航定位系統係設有一對應室內實際操作環境之虛 擬地圖,且定位該本體於該虛擬地圖之一位置點。 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.
據上所述之智慧型自動偵測消毒機器人,其中,該處理單元更耦接一空氣清淨裝置與一有毒氣體偵測器,且該空氣清淨裝置與該有毒氣體偵測器係設於該本體。 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 .
是由上述說明及設置,顯見本發明主要具有下列數項優點及功效,茲逐一詳述如下: 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.本發明利用裝設驅動裝置,即可位移至室內已規劃之任一須消毒作業之區域,藉以將消毒清潔的範圍擴大。 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.本發明藉由裝設抬升裝置,以供消毒裝置適用於清潔不同高度的消毒目標物,藉此更確實與有效地對使用者之手部經常碰觸之區域進行消毒。 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.本發明藉由雷射測距儀掃描測量牆面,以作為本體相對於牆面之距離值,藉以達致本發明隨牆面行走之情形;此外,雷射測距儀藉由傳動裝置,以調整雷射測距儀之角度與方向;再者,利用雷射測距儀所掃描到本體於行進方向區域中最近的距離來判斷前方之障礙物,當距離障礙物一定範圍內時,本體即利用驅動裝置做閃避動作,藉此避免與障礙物發生碰撞,而當閃避障礙物後則再偵測本體與牆面間之距離值,以回復到隨牆行走之模式。 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.使用者可藉由遠端監控裝置遠端監控本發明消毒之作業狀況,此外,藉由對應實際操作環境之虛擬地圖,且定位本體於虛擬地圖之位置點,即可供使用者利用顯示單元得知本發明所在位置,以及規劃本體進行消毒作業之路徑與範圍。 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.
〔本發明〕 〔this invention〕
1‧‧‧本體 1‧‧‧ Ontology
11‧‧‧驅動裝置 11‧‧‧ drive
12‧‧‧偵測裝置 12‧‧‧Detection device
13‧‧‧消毒裝置 13‧‧‧ disinfection device
131‧‧‧馬達 131‧‧‧Motor
132‧‧‧抵掣件 132‧‧‧Agreement
14‧‧‧處理單元 14‧‧‧Processing unit
141‧‧‧空氣清淨裝置 141‧‧‧Air cleaning device
142‧‧‧有毒氣體偵測器 142‧‧‧toxic gas detector
15‧‧‧雷射測距儀 15‧‧‧Laser rangefinder
151‧‧‧傳動裝置 151‧‧‧Transmission
16‧‧‧抬升裝置 16‧‧‧ lifting device
17‧‧‧攝影單元 17‧‧‧Photographic unit
171‧‧‧影像 171‧‧ images
18‧‧‧遠端監控裝置 18‧‧‧ Remote monitoring device
181‧‧‧顯示單元 181‧‧‧Display unit
19‧‧‧導航定位系統 19‧‧‧Navigation and Positioning System
191‧‧‧虛擬地圖 191‧‧ virtual map
2‧‧‧消毒目標物 2‧‧‧ disinfection target
3‧‧‧牆面 3‧‧‧ wall
4‧‧‧障礙物 4‧‧‧ obstacles
第1圖係本發明之方塊示意圖。 Figure 1 is a block diagram of the present invention.
第2圖係本發明之立體示意圖。 Figure 2 is a perspective view of the present invention.
第3圖係本發明隨牆面行走之角度與距離之示意圖。 Figure 3 is a schematic illustration of the angle and distance traveled by the wall of the present invention.
第4圖係本發明判斷障礙物距離之示意圖。 Fig. 4 is a schematic view showing the distance of obstacles in the present invention.
第5圖係本發明預防碰撞之示意圖。 Figure 5 is a schematic view of the collision prevention of the present invention.
第6圖係攝影單元拍攝且偵測到消毒目標物影像之示意圖。 Fig. 6 is a schematic view of the photographing unit photographing and detecting the image of the disinfecting target.
第7圖係本發明行走暨顯示單元顯示對應實際操作環境之虛擬地圖。 Figure 7 is a virtual map of the walking and display unit of the present invention corresponding to the actual operating environment.
關於吾等發明人之技術手段,茲舉數種較佳實施例配合圖式於下文進行詳細說明,俾供 鈞上深入了解並認同本發明。 The invention will be described in detail below with reference to the drawings.
請先參閱第1圖及第2圖所示,本發明係一種智慧型自動偵測消毒機器人,其包含: 一本體1,其設有一驅動裝置11,在一較佳之實施例中,該驅動裝置11係包含至少一輪軸與至少一直流馬達(圖未繪示),所述直流馬達係連接所述輪軸,藉以帶動該本體1行進; 一偵測裝置12,其係設於該本體1,且該偵測裝置12係偵測一消毒目標物2,在一較佳之實施例中,該消毒目標物2係門之把手或電梯按鈕;且在一較佳之實施例中,該偵測裝置12偵測該消毒目標物2係利用影像色塊特徵來分析環境之資訊並判別; 一消毒裝置13,其係設於該本體1,該消毒裝置13係藉由一馬達131驅動一抵掣件132,藉由該抵掣件132擠壓消毒裝置13,在一較佳之實施例中,該馬達131係驅動偏心設置之該抵掣件132,以令該抵掣件132擠壓該消毒裝置13進行噴灑,惟並不以此作為限定; 一處理單元14,其係耦接該驅動裝置11、該偵測裝置12與該消毒裝置13,該處理單元14係建立一該消毒目標物2之影像;此外,在一較佳之實施例中,該處理單元14更耦接一空氣清淨裝置141與一有毒氣體偵測器142,且該空氣清淨裝置141與該有毒氣體偵測器142係設於該本體1; 一雷射測距儀15,其係耦接該處理單元14,該雷射測距儀15係設於該本體1,且該雷射測距儀15係偵測該本體1與該牆面3間之一距離值,且該處理單元14係藉由該距離值供該本體1藉由驅動裝置11沿一牆面3行走,該距離值係利用該雷射測距儀15測量距離該牆面3最短之距離,將測量到之距離值傳送至該處理單元14,以令該處理單元14控制該驅動裝置11與牆面3間之距離,在一較佳之實施例中,該雷射測距儀15係偵測該本體1於行進方向之區域,以判斷一障礙物4之位置,藉以令本體1利用驅動裝置11繞過該障礙物4;且在一較佳之實施例中,該雷射測距儀15更耦接至少一傳動裝置151,在一較佳之實施例中,傳動裝置151係伺服馬達;所述傳動裝置151係調整該雷射測距儀15之角度與方向者;此外,在一較佳之實施例中,該雷射測距儀15係量測與該本體1之一距離數值,將該距離數值傳予處理單元14作為該本體1之轉向角度; 一抬升裝置16,其係耦接該處理單元14,該抬升裝置16係設於該本體1,且在一較佳之實施例中,該消毒裝置13係設於該抬升裝置16一端;在一較佳之實施例中,該抬升裝置16設有一驅動單元(圖未繪示),以控制該抬升裝置16之升降;又該抬升裝置16係連接該馬達131,該抬升裝置16係定位該消毒裝置13於該消毒目標物2之方位; 一攝影單元17,其係設於該偵測裝置12,在一較佳之實施例中,該攝影單元17係裝設與該消毒裝置13相同方向者;且該攝影單元17係拍攝該消毒裝置13對應方向之影像171; 一遠端監控裝置18,其係連接該處理單元14,該遠端監控裝 置18係監控該本體1之即時位置;在一較佳之實施例中,該遠端監控裝置18係可啟閉該本體1之運作者;且該遠端監控裝置18更連接一顯示單元181,在一較佳之實施例中,該顯示單元181係對應顯示該攝影單元17拍攝對應該消毒裝置13前方之影像171;以及 一導航定位系統19,其係耦接該處理單元14,該導航定位系統19係設有一對應室內實際操作環境之虛擬地圖191,且定位該本體1於該虛擬地圖191之一位置點,在一較佳之實施例中,藉以得知該本體1所在位置。 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.
藉之,在一較佳之實施例中,本發明之遠端監控裝置18係採用LabVIEW(Laboratory Virtual Instrumentation Engineering Workbench)與NI Vision Assistant,上述皆為圖形化程式編譯平台,且NI Vision Assistant係一套可自動生成LabVIEW程式框圖的軟體,程序框圖中包含NI Vision Assistant建置時所操作的相同功能,可將程序框圖集成到自動化或生產測試應用中,且用於運動控制、儀器控制和數據採集;在一較佳之實施例中,本發明係在LabVIEW中建立一個專屬於該本體1平台之專案,其中LIDAR.vi與Motor Control.vi為主要的背景程式,而控制該本體1之主程式則係建構在隨牆行走(Wall Following)中,其中,LIDAR.vi主要係用來處理雷射測距儀15所收集到的環境資訊,將每筆環境資訊的陣列經由分析整理後透過Share Variable機制傳送給主程式端做運算;而Motor Control.vi主要係用來控制與讀取驅動裝置11、傳動裝置151與導航定位系統19資訊的子程式,同理藉由Share Variable機制可將驅動裝置11、傳動裝置151與導航定位系統19資訊傳送給主程式端做運算,主程式也經由Share Variable將控制力輸出傳送給子程式端做驅動裝置11、傳動裝置151控制。 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.
請參閱第3圖所示,本發明之本體1沿牆面3行走之距離,在一較佳之實施例中,距離值係利用雷射測距儀15掃描到區域中離牆面3最短之距離,將距離值傳送至處理單元14,以控制驅動裝置11與牆面3間之距離。 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.
續請參閱第4圖及第5圖所示,為預防本發明發生碰撞之情形,在一較佳之實施例中,本發明將雷射測距儀15所量測到的M1、M2、M3與M4距離,其中,在本發明之實施例中,M3距離本體1最近;且在另一較佳之實施例中,M3距離本體1小於50公分作為本發明之本體1與障礙物4的距離數值,輸出距離數值作為本體1之轉向角度(Steering direction),藉此防止本發明與障礙物4發生碰撞之情形者。 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.
請參閱第6圖所示,在一較佳之實施例中,本發明之攝影單元17為WebCam;且在另一較佳之實施例中,本發明辨識消毒目標物2係採用色塊特徵來分析環境的資訊並判別消毒目標物2,以降低消毒目標物2偵測錯誤或是誤判的機率;因此,藉由偵測裝置12係偵測消毒目標物2並利用攝影單元17拍攝消毒目標物2,偵測裝置12辨識消毒目標物2係利用色塊特徵來分析環境之資訊並判別;此外,請參閱第6圖所示,在一較佳之實施例中,顯示單元181將消毒目標物2之影像171框起顯示,處理單元14將由原本的隨牆行走(Wall Following)模式切換為目標辨識(Target Recognition)模式,即調整抬升裝置16的高度以及本體1的轉向;處理單元14將偵測裝置12係偵測並利用攝影單元17拍攝消毒目標物2之影像171色塊特徵,與內部建立之消毒目標物2影像色塊特徵相比,經確定消毒目標物2後,藉由處理單元14傳送至顯示單元181上,並進入目標定位(Target Positioning)模式,使用者可藉遠端監控裝置18由顯示單元181遠端監控且左右旋轉校正本體1的位置;且在一較佳之實施例中,該消毒裝置13係設於該抬升裝置16一端,將抬升裝置16利用驅動單元調整消毒裝置13高度至消毒目標物2的所在高度,使消毒裝置13正對消毒目標物2,再藉由處理單元14令馬達131驅動偏心設置之抵掣件132,以令抵掣件132擠壓消毒裝置13進行噴灑消毒,以達致執行消毒之作業。 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.
請參閱第7圖所示,本發明藉由導航定位系統19設定對應室內實 際操作環境之虛擬地圖191,且定位本體1於該虛擬地圖191之一位置點,藉以定位本體1之座標位置與方位;在一較佳之實施例中,導航定位系統19利用一編碼器(圖未繪示)得知輪軸移動距離與速度;因此,利用輪軸之移動距離與速度資訊,藉此使用者可於顯示單元181得知本體1的座標位置、方位與所在位置,進而達致自動導航之功效;此外,當本發明利用消毒裝置13執行完消毒作業時,即可藉由導航定位系統19利用驅動裝置11移動至另一區域進行消毒。 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.
再者,一般社會大眾每日約有80%~90%的時間處於室內環境中(包括在住家、辦公室或其他建築物內),室內空氣品質的好壞,直接影響工作品質及效率,因此,室內空氣污染物對人體健康影響應當受到重視;有效改善室內空氣品質,方能維護人體健康;故本發明可藉由裝設空氣清淨裝置141與有毒氣體偵測器142,在本發明消毒之同時改善室內之空氣品質,亦可藉由處理單元14偵測環境氣體,例如:一氧化碳,其係一種無色無味的氣體,中毒後的症狀不易被察覺,故藉由有毒氣體偵測器142以防止毒氣中毒,藉此避免傷故之發生。 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.
綜上所述,本發明所揭露之技術手段確能有效解決習知等問題,並達致預期之目的與功效,且申請前未見諸於刊物、未曾公開使用且具長遠進步性,誠屬專利法所稱之發明無誤,爰依法提出申請,懇祈 鈞上惠予詳審並賜准發明專利,至感德馨。 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.
惟以上所述者,僅為本發明之數種較佳實施例,當不能以此限定本發明實施之範圍,即大凡依本發明申請專利範圍及發明說明書內容所作之等效變化與修飾,皆應仍屬本發明專利涵蓋之範圍內。 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‧‧‧驅動裝置 11‧‧‧ drive
12‧‧‧偵測裝置 12‧‧‧Detection device
13‧‧‧消毒裝置 13‧‧‧ disinfection device
131‧‧‧馬達 131‧‧‧Motor
14‧‧‧處理單元 14‧‧‧Processing unit
141‧‧‧空氣清淨裝置 141‧‧‧Air cleaning device
142‧‧‧有毒氣體偵測器 142‧‧‧toxic gas detector
15‧‧‧雷射測距儀 15‧‧‧Laser rangefinder
151‧‧‧傳動裝置 151‧‧‧Transmission
16‧‧‧抬升裝置 16‧‧‧ lifting device
17‧‧‧攝影單元 17‧‧‧Photographic unit
18‧‧‧遠端監控裝置 18‧‧‧ Remote monitoring device
181‧‧‧顯示單元 181‧‧‧Display unit
19‧‧‧導航定位系統 19‧‧‧Navigation and Positioning System
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DE102020117318A1 (en) | 2020-07-01 | 2022-01-05 | Broetje-Automation Gmbh | Procedure for disinfecting a processing environment |
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CN113290564A (en) * | 2020-02-21 | 2021-08-24 | 西门子股份公司 | Control method and control device of disinfection robot and disinfection robot |
CN111562782B (en) * | 2020-04-15 | 2022-08-16 | 长沙中联重科环境产业有限公司 | Epidemic prevention disinfection cleaning robot |
CN113117116A (en) * | 2021-04-26 | 2021-07-16 | 上海锵玫人工智能科技有限公司 | Outdoor killing robot and killing control method thereof |
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2015
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DE102020117318A1 (en) | 2020-07-01 | 2022-01-05 | Broetje-Automation Gmbh | Procedure for disinfecting a processing environment |
WO2022002744A1 (en) | 2020-07-01 | 2022-01-06 | Broetje-Automation Gmbh | Method for disinfecting a processing environment |
TWI758181B (en) * | 2021-05-11 | 2022-03-11 | 宏碁股份有限公司 | Display device |
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