WO2021165376A1 - Autonomous control system of sterilizing robot with double mistorizer guns based on intelligent vision algorithm - Google Patents

Autonomous control system of sterilizing robot with double mistorizer guns based on intelligent vision algorithm Download PDF

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Publication number
WO2021165376A1
WO2021165376A1 PCT/EP2021/053983 EP2021053983W WO2021165376A1 WO 2021165376 A1 WO2021165376 A1 WO 2021165376A1 EP 2021053983 W EP2021053983 W EP 2021053983W WO 2021165376 A1 WO2021165376 A1 WO 2021165376A1
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WO
WIPO (PCT)
Prior art keywords
disinfection
support
predetermined target
atomizing nozzle
robot
Prior art date
Application number
PCT/EP2021/053983
Other languages
English (en)
French (fr)
Inventor
Kai Wang
Qi Yu
Zhao Jun SUN
Ru Long CHEN
Jiang Bo LIU
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to EP21707633.0A priority Critical patent/EP4090502A1/en
Publication of WO2021165376A1 publication Critical patent/WO2021165376A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L9/00—Disinfection, sterilisation or deodorisation of air
    • A61L9/14—Disinfection, sterilisation or deodorisation of air using sprayed or atomised substances including air-liquid contact processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/11—Apparatus for generating biocidal substances, e.g. vaporisers, UV lamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/20—Targets to be treated
    • A61L2202/25—Rooms in buildings, passenger compartments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
    • A61L2209/10—Apparatus features
    • A61L2209/11—Apparatus for controlling air treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
    • A61L2209/10—Apparatus features
    • A61L2209/11—Apparatus for controlling air treatment
    • A61L2209/111—Sensor means, e.g. motion, brightness, scent, contaminant sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2209/00—Aspects relating to disinfection, sterilisation or deodorisation of air
    • A61L2209/10—Apparatus features
    • A61L2209/13—Dispensing or storing means for active compounds
    • A61L2209/134—Distributing means, e.g. baffles, valves, manifolds, nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/65—Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits
    • B05B15/652—Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits whereby the jet can be oriented

Definitions

  • the present invention relates to the technical field of robots, in particular to a disinfection robot control method and control apparatus, and a disinfection robot.
  • the robot is used as a carrier, and a disinfection system arranged inside the robot produces a diffusing disinfection gas that is able to effectively kill pathogenic microbes in the air.
  • the disinfection robot can automatically perform disinfection and epidemic prevention work precisely and efficiently according to a set route.
  • Embodiments of the present invention propose a disinfection robot control method and control apparatus, and a disinfection robot.
  • a disinfection robot control method comprising: collecting image data of an environment of a disinfection robot; generating prompt information when a predetermined target is identified from the image data; transmitting the image data and the prompt information.
  • an embodiment of the present invention can transmit graphic data of the environment of the disinfection robot and issue a prompt for the predetermined target, thereby improving the safety of disinfection work.
  • the method further comprises: detecting a distance value from the disinfection robot to the predetermined target; detecting a temperature value of the predetermined target; transmitting the distance value and the temperature value.
  • an embodiment of the present invention can send key parameters of a disinfection operation, making it easy for a user to gain an understanding of the on-site situation of the disinfection robot.
  • the disinfection robot comprises: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; M supports, each mounted on the mobile platform, wherein each support has N degrees of freedom; and M atomizing nozzles, respectively fixed to the supports which are in one-to-one correspondence therewith; wherein N and M are positive integers which are at least 2; and the method further comprises: receiving a disinfection command for the predetermined target; controlling at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command; controlling the atomizing nozzle fixed to the at least one support to atomize and spray the disinfection fluid in the liquid storage tank.
  • an embodiment of the present invention can control atomizing and spraying by multiple atomizing nozzles, thus increasing the flexibility of disinfection work.
  • the step of controlling at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command comprises: moving the at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray a different part of the predetermined target respectively.
  • an embodiment of the present invention can realize respective disinfection of different parts of the predetermined target by multiple atomizing nozzles.
  • the step of controlling at least one support to move in at least one degree of freedom on the basis of the disinfection command comprises: moving the at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can separately spray the predetermined target, wherein there is coincidence of a spraying region, on the predetermined target, of the at least one atomizing nozzle.
  • an embodiment of the present invention can realize coincident disinfection of the predetermined target by multiple atomizing nozzles.
  • the step of controlling at least one support to move in at least one degree of freedom on the basis of the disinfection command comprises: moving the at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray the predetermined target and a peripheral environment of the predetermined target respectively.
  • an embodiment of the present invention can realize separate disinfection of the predetermined target and the peripheral environment by multiple atomizing nozzles.
  • a disinfection robot control apparatus comprising: a collection module, configured to collect image data of an environment of a disinfection robot; an identification module, configured to generate prompt information when a predetermined target is identified from the image data; a communication module, configured to transmit the image data and the prompt information.
  • an embodiment of the present invention can transmit graphic data of the environment of the disinfection robot and issue a prompt for the predetermined target, thereby improving the safety of disinfection work.
  • the apparatus further comprises: a distance detection module, configured to detect a distance value to the predetermined target; a temperature detection module, configured to detect a temperature value of the predetermined target; wherein the communication module is further configured to transmit the distance value and the temperature value.
  • an embodiment of the present invention can transmit key parameters of a disinfection operation, making it easy for the user to gain an understanding of the on-site situation of the disinfection robot.
  • the disinfection robot comprises: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; M supports, each mounted on the mobile platform, wherein each support has N degrees of freedom; and M atomizing nozzles, respectively fixed to the supports which are in one-to-one correspondence therewith; wherein N and M are positive integers which are at least 2;
  • the communication module is further configured to receive a disinfection command for the predetermined target; and the apparatus further comprises: a control module, configured to control at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command; and control the atomizing nozzle fixed to the at least one support to atomize and spray the disinfection fluid in the liquid storage tank.
  • an embodiment of the present invention can control atomizing and spraying by multiple atomizing nozzles, thus increasing the flexibility of disinfection work.
  • control module is configured to move the at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray a different part of the predetermined target respectively.
  • an embodiment of the present invention can realize respective disinfection of different parts of the predetermined target by multiple atomizing nozzles.
  • control module is configured to move the at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can separately spray the predetermined target, wherein there is coincidence of a spraying region, on the predetermined target, of the at least one atomizing nozzle.
  • an embodiment of the present invention can realize coincident disinfection of the predetermined target by multiple atomizing nozzles.
  • control module is configured to move the at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray the predetermined target and a peripheral environment of the predetermined target respectively.
  • an embodiment of the present invention can realize separate disinfection of the predetermined target and the peripheral environment by multiple atomizing nozzles.
  • a disinfection robot comprising a processor, a memory, and a computer program that is stored on the memory and capable of being run on the processor; when executed by the processor, the computer program implements any one of the above embodiments of the disinfection robot control method.
  • an embodiment of the present invention further proposes a disinfection robot having a memory-processor architecture.
  • a computer-readable storage medium wherein a computer program is stored on the computer-readable storage medium; when executed by a processor, the computer program implements any one of the above embodiments of the disinfection robot control method
  • an embodiment of the present invention further proposes a computer-readable storage medium containing a computer program for executing the disinfection robot control method.
  • Fig. 1 is a modular diagram of the disinfection robot of the present invention.
  • Fig. 2 is a demonstrative three-dimensional drawing of the disinfection robot of the present invention.
  • Fig. 3 is a demonstrative structural diagram of the disinfection robot control system of the present invention.
  • Fig. 4 is a demonstrative structural diagram of the disinfection robot control system of the present invention.
  • Fig. 5 is a demonstrative flow chart of the disinfection robot control method of the present invention.
  • Fig. 6 is a demonstrative structural diagram of the disinfection robot control apparatus of the present invention.
  • Fig. 7 is a demonstrative structural diagram of a disinfection robot control apparatus having a memory-processor architecture in the present invention.
  • disinfection robots in the prior art lack a visual sensing mechanism, so control personnel need to follow the robot within a visible distance in order to operate the robot by eye, making it difficult to ensure the safety of operating personnel.
  • disinfection robots in the prior art are generally provided with a single atomizing nozzle that is immobile relative to a mobile platform, so movement of the mobile platform has to be relied upon to adjust a spraying angle of the atomizing nozzle, and the spraying coverage is not wide, with the result that disinfection operations lack flexibility.
  • the present invention proposes a disinfection robot, having an atomizing nozzle that can have multiple degrees of freedom following a support, so as to increase the flexibility of disinfection work.
  • Fig. 1 is a modular diagram of the disinfection robot of the present invention.
  • Fig. 2 is a demonstrative three-dimensional drawing of the disinfection robot of the present invention.
  • the disinfection robot 10 comprises: a mobile platform 11; a liquid storage tank 12, mounted on the mobile platform 11 and adapted to store a disinfection fluid; a support 13, mounted on the mobile platform 11 and having N degrees of freedom, wherein N is a positive integer that is at least 2; an atomizing nozzle 14, fixed to the support 13 and adapted to atomize and spray out the disinfection fluid in the liquid storage tank 12.
  • the mobile platform 11 is a main body part of the disinfection robot 10.
  • the mobile platform 11 may specifically implemented as a wheeled mobile platform or continuous-track mobile platform driven by a drive motor, etc.
  • the liquid storage tank 12 is mounted (preferably removably) on the mobile platform 11.
  • the liquid storage tank 12 is used for storing the disinfection fluid.
  • the disinfection fluid may be implemented as 84 disinfection fluid, peroxyacetic acid, Lysol, bleaching powder, potassium permanganate, etc.
  • the support 13 is mounted on the mobile platform 11.
  • the support 13 has N degrees of freedom, wherein N is a positive integer that is at least 2. Furthermore, the atomizing nozzle 14 is fixed to the support 13.
  • the atomizing nozzle 14 can move together with the support 13.
  • the atomizing nozzle 14 also has N degrees of freedom.
  • the range of values of N is [2,6].
  • N 6 degrees of freedom comprise degrees of freedom of movement in the directions of the three Cartesian coordinate axes x, y and z, and degrees of freedom of rotation about these three Cartesian coordinate axes, in the three-dimensional coordinate system shown in Fig. 2.
  • the atomizing nozzle 14 of the present invention can have multiple degrees of freedom following the support 13, thereby increasing the flexibility of disinfection work.
  • the atomizing nozzle 14 can atomize and spray out the disinfection fluid in the liquid storage tank 12, and thereby carry out disinfection work.
  • a pump arranged in the liquid storage tank 12 presses the disinfection fluid in the liquid storage tank 12 into the atomizing nozzle 14.
  • An iron plate is arranged inside the atomizing nozzle 14; disinfection fluid flowing at high speed strikes the iron plate, forms atomized particles after rebounding, and is sprayed out through an outlet of the atomizing nozzle 14.
  • the disinfection robot 10 further comprises: a conduit passing through the support 13 (not shown in Figs. 1 and 2). A first end of the conduit extends into the liquid storage tank 12, and a second end of the conduit extends into the atomizing nozzle 14.
  • the pump arranged in the liquid storage tank 12 presses the disinfection fluid in the liquid storage tank 12 into the atomizing nozzle 14 via the conduit.
  • the disinfection robot 10 further comprises: M conduits, wherein each conduit passes through the corresponding support 13. A first end of each conduit extends into the liquid storage tank 12, and a second end of each conduit extends into the corresponding atomizing nozzle 14.
  • the M atomizing nozzles 14 separately acquire disinfection fluid from the common liquid storage tank 12 via the respective conduits.
  • the disinfection robot 10 further comprises: K conduits, wherein each conduit passes through the corresponding support 13. A first end of each conduit extends into the corresponding liquid storage tank 12, and a second end of each conduit extends into the corresponding atomizing nozzle 14.
  • the K atomizing nozzles 14 separately acquire disinfection fluid from the respective liquid storage tanks 12 via the respective conduits.
  • N is equal to 2; wherein the support 13 has a degree of freedom of rotation about the width direction of the mobile platform 11 (e.g. the y-axis in the three-dimensional coordinate system of Fig. 2), and has a degree of freedom of rotation about the height direction of the mobile platform 11 (e.g. the z-axis in the three-dimensional coordinate system of Fig. 2).
  • the atomizing nozzle 14 fixed to the support 13 has a degree of freedom of rotation about the width direction of the mobile platform 11, and has a degree of freedom of rotation about the height direction of the mobile platform 11; in this case, the atomizing nozzle can realize spraying with upward/downward tilting, and horizontal spraying.
  • each atomizing nozzle 14 having a degree of freedom of rotation about the width direction of the mobile platform 11, and having a degree of freedom of rotation about the height direction of the mobile platform 11, a favourable compromise can be achieved between flexibility of disinfection work and control complexity.
  • the disinfection robot further comprises: a first motor (not shown in Figs. 1 and 2), mounted on the support 13 and adapted to drive the support 13 to rotate about the width direction of the mobile platform 11; and a second motor (not shown in Figs. 1 and 2), mounted on the support 13 and adapted to drive the support 13 to rotate about the height direction of the mobile platform 11.
  • the support 13 may be mounted at a first end of the mobile platform 11; and the liquid storage tank 12 is removably mounted at a second end of the mobile platform 11, wherein the first end and second end form opposite ends.
  • the liquid storage tank 12 in an embodiment of the present invention is preferably arranged at an end of the mobile platform 11, so as to facilitate removal of the liquid storage tank 12.
  • the disinfection robot 10 further comprises: a visual sensor 15, mounted on the mobile platform 11; a distance-measuring sensor 16, mounted on the mobile platform 11; a temperature sensor 17, mounted on the mobile platform 11; a programmable logic controller (PLC) 18, mounted in an internal space of the mobile platform 11, and separately connected to the visual sensor 15, the distance-measuring sensor 16 and the temperature sensor 17; and a communication module 19, mounted in an internal space of the mobile platform 11 and connected to the PLC 18, and adapted to have a communicative connection with a remote controller 20.
  • PLC programmable logic controller
  • the visual sensor 15 is configured to collect image data of an environment of the disinfection robot; the PLC 18 is configured to generate prompt information when a predetermined target is identified from the image data; the distance-measuring sensor 16 is configured to determine a distance to the predetermined target; the temperature sensor 17 is configured to detect the temperature of the predetermined target; and the communication module 19 is configured to send the prompt information and parameter values including distance and temperature, for example to the remote controller 20.
  • the visual sensor 15 may be implemented as one or more cameras, e.g. implemented as a visible-light camera, an infrared camera, etc.
  • the visual sensor 15 collects image data of the environment of the disinfection robot continuously.
  • the predetermined target may be a specific object such as a rubbish bin, an operating table or protective clothing.
  • a template image or characteristic parameter of the predetermined target, etc. is saved in the PLC 18 in advance.
  • prompt information such as a voice prompt, text prompt or graphic prompt is generated.
  • the voice prompt is "Rubbish bin found" in audio format
  • the text prompt is "Rubbish bin found” in text format
  • the graphic prompt is a prompt box in which an outline of the predetermined target is highlighted, etc.
  • the communication module 19 sends one or more of the following to the remote controller 20 via the communicative connection with the remote controller 20: the image data of the environment of the disinfection robot provided by the visual sensor 15, the prompt information provided by the PLC 18, a distance value provided by the distance-measuring sensor 16 and a temperature value provided by the temperature sensor 17.
  • the communication module 19 sends data to the remote controller 20 via a wireless interface or a wired interface.
  • the wired interface comprises at least one of the following: a universal serial bus interface, controller local area network interface or serial port, etc.
  • the wireless interface comprises at least one of the following: an infrared interface, near field communication interface, Bluetooth interface, Zigbee interface, wireless broadband interface, third-generation mobile communication interface, fourth- generation mobile communication interface or fifth-generation mobile communication interface, etc.
  • the remote controller 20 may comprise a display screen, to display one or more of the image data of the environment of the disinfection robot, the prompt information provided by the PLC 18, the distance value provided by the distance-measuring sensor 16 and the temperature value provided by the temperature sensor 17, such that a user can ascertain key information concerning a disinfection operation without following the robot.
  • the communication module 19 is further configured to receive a disinfection command from the remote controller 20; and the PLC 18 is further configured to control the support 13 to move in at least one of the N degrees of freedom on the basis of the disinfection command, and control the atomizing nozzle 14 to atomize and spray out the disinfection fluid in the liquid storage tank 12 when the support 13 moves to a target point.
  • Example (1) the disinfection command is specifically implemented as: a maximum coverage disinfection command for instructing the atomizing nozzle 14 to cover a predetermined target to the maximum extent.
  • the PLC 18 controls the respective movement of each support in relation to the predetermined target, so that the range of spraying of the predetermined target is largest.
  • the PLC 18 can control the spraying directions of the two atomizing nozzles 14 so that they both cover the predetermined target and are non-coincident to the maximum extent.
  • Example (2) the disinfection command is specifically implemented as: a concentrated coverage disinfection command for instructing the atomizing nozzle 14 to carry out disinfection work on a predetermined target in a concentrated fashion.
  • the PLC 18 controls the respective movement of each support in relation to the predetermined target, so that the intensity of spraying of the predetermined target is largest.
  • the spraying directions of the two atomizing nozzles 14 can be controlled to point to the centre of the predetermined target with maximum possible coincidence.
  • Example (3) the disinfection command is specifically implemented as: a primary-secondary disinfection command for instructing an atomizing nozzle (or atomizing nozzles) 14 to align with a predetermined target and another atomizing nozzle 14 to align with a peripheral environment of the predetermined target.
  • the PLC 18 controls the respective movement of each support in relation to the predetermined target, so that the predetermined target is sprayed by at least one atomizing nozzle, and the peripheral environment of the predetermined target is sprayed by an atomizing nozzle other than the at least one atomizing nozzle.
  • the number of atomizing nozzles 14 is three, it is possible to control the spraying direction of one atomizing nozzle 14 to align with the centre of the predetermined target, while the spraying directions of the other two atomizing nozzles 14 align with the peripheral environment of the predetermined target.
  • the present invention also proposes a disinfection robot control system.
  • Fig. 3 is a demonstrative structural diagram of the disinfection robot control system of the present invention.
  • the system comprises: a disinfection robot 10 as shown in Figs. 1 and 2, comprising: a mobile platform 11; a liquid storage tank 12, mounted on the mobile platform 11 and adapted to store a disinfection fluid; a support 13, mounted on the mobile platform 11 and having N degrees of freedom, wherein N is a positive integer that is at least 2; an atomizing nozzle 14, fixed to the support 13 and adapted to atomize and spray out the disinfection fluid in the liquid storage tank 12; a visual sensor 15, mounted on the mobile platform 11; a PLC 18, mounted in an internal space of the mobile platform 11 and connected to the visual sensor 15; and a communication module 19, connected to the PLC 18; a remote controller 20, having a wireless communicative connection with the communication module 19.
  • a disinfection robot 10 as shown in Figs. 1 and 2, comprising: a mobile platform 11; a liquid storage tank 12, mounted on the mobile platform 11 and adapted to store a disinfection fluid; a support 13, mounted on the mobile platform 11 and having N degrees of freedom,
  • the remote controller 20 comprises a display screen. Key information relating to a disinfection operation may be displayed on the display screen.
  • Fig. 4 is a demonstrative structural diagram of the disinfection robot control system of the present invention.
  • the remote controller 20 has a communicative connection with an onboard control part 40 arranged on the disinfection robot.
  • the onboard control part 40 comprises the PLC 18 and the visual sensor 15 arranged in the mobile platform of the disinfection robot.
  • the onboard control part 40 further comprises: a front camera 151 arranged at a front end of the mobile platform, a rear camera 152 arranged at a rear end of the disinfection robot, and a nozzle camera 153 arranged on the atomizing nozzle.
  • the visual sensor 15 is configured to collect first image data of a peripheral environment detected on the basis of a middle visual angle of the mobile platform; the front camera 151 is configured to collect second image data of a front environment of the disinfection robot; the rear camera 152 is configured to collect third image data of a rear environment of the disinfection robot; and the nozzle camera 153 is configured to collect fourth image data of an atomizing nozzle visual angle.
  • These four streams of image data are sent to a video encoder 154 via respective transmission channels (Chi - Ch4).
  • the video encoder 154 encodes the four streams of image data (e.g. performs video and audio bitrate adjustment) to form video data suitable for network transmission, and sends the video data to a slave video transmission module 155.
  • the slave video transmission module 155 transmits the video data via a fourth antenna 46.
  • a second antenna 28 in the remote controller 20 receives the video data, and sends the video data to a master video transmission module 25.
  • the master video transmission module 25 sends the video data to a video decoder 24.
  • the video decoder 24 in the remote controller 20 decodes the video data, and displays the video data on a display screen 21, thereby making it easy for the user to gain an understanding of the peripheral environment of the disinfection robot.
  • the PLC 18 subjects the first image data, second image data, third image data and third image data to image identification processing, and when a predetermined target (e.g. a rubbish bin) can be identified therefrom, generates prompt information such as a voice prompt, text prompt or graphic prompt
  • the PLC 18 sends the prompt information to a slave data transmission module 156.
  • the slave data transmission module 156 transmits the prompt information via a third antenna 45.
  • a first antenna 27 in the remote controller 20 receives the prompt information, and sends the prompt information to the master video transmission module 25.
  • the master video transmission module 25 sends the prompt information to a demo board 23 (e.g. an STM32VE T6 control board), to undergo various types of data processing by the demo board 23, e.g. the prompt information is displayed on the display screen 21, etc.
  • a demo board 23 e.g. an STM32VE T6 control board
  • the demo board 23 When the user triggers each control button on the display screen 21, the demo board 23 generates a corresponding control command.
  • the control command may comprise: a movement control command for the robot mobile platform; a control command for the atomizing nozzle; a control command for robot lighting; or a command for robot activation/shutdown, etc.
  • the master video transmission module 25 transmits the control command via the first antenna.
  • the slave data transmission module 156 receives the control command via the third antenna 45.
  • the PLC 18 processes the control command, and generates a corresponding control output signal.
  • the PLC 18 sends a corresponding output signal to a motor controller 182, so that the motor controller 182 drives the mobile platform to perform an action in response to the movement control command.
  • the motor controller 182 drives the mobile platform to advance, retreat or turn, etc.
  • control command is a control command for the atomizing nozzle, a control command for robot lighting or a command for robot activation/shutdown
  • the PLC 18 forwards the control command to a bus module 181, so that the bus module 181 generates an output signal in response to the movement control instruction.
  • the bus module 181 generates: an output signal SI for controlling a first atomizing nozzle to move upward/downward; an output signal S2 for controlling the first atomizing nozzle to move leftward/rightward; an output signal S3 for controlling a second atomizing nozzle to move upward/downward; an output signal S4 for controlling the second atomizing nozzle to move leftward/rightward; an output signal S5 for controlling robot lighting to turn on/off; an output signal S6 for controlling the robot to turn on/off, etc.
  • a remote controller battery 21 supplies electrical energy for the remote controller 20.
  • An onboard battery 41 of the disinfection robot supplies electrical energy for the onboard control part 40.
  • An output voltage of the onboard battery 41 can be transformed to an output voltage of various specifications via a first DC-DC converter 42, a second DC-DC converter 43 and a third DC-DC converter 44, in order to supply electricity to various constituent parts of the onboard control part 40.
  • an output voltage of the onboard battery 41 is 48 volts
  • an output voltage of the first DC-DC converter 42 is 24 volts
  • an output voltage of the second DC-DC converter 43 is 12 volts
  • an output voltage of the third DC- DC converter 43 is 5 volts.
  • the PLC 18 also detects whether the respective output voltages of the onboard battery 41, the first DC-DC converter, the second DC-DC converter 43 and the third DC-DC converter 44 are normal via a voltage measurement module.
  • an embodiment of the present invention also proposes a disinfection robot control method capable of improving the safety of disinfection work.
  • Fig. 5 is a demonstrative flow chart of the disinfection robot control method of the present invention.
  • the method 500 comprises: Step 501: collecting image data of an environment of a disinfection robot.
  • a visual sensor arranged on the disinfection robot may be used to collect image data of the environment of the disinfection robot.
  • the visual sensor may be arranged on a mobile platform of the disinfection robot.
  • the visual sensor may be implemented as one or more cameras, e.g. implemented as a visible-light camera, an infrared camera, etc.
  • the visual sensor collects image data of the environment of the disinfection robot in real time.
  • Step 502 generating prompt information when a predetermined target is identified from the image data.
  • the predetermined target may be a specific object such as a rubbish bin, an operating table or protective clothing.
  • a controller preferably a PLC
  • the predetermined target is identified from the image data on the basis of an image identification algorithm.
  • a template image or characteristic parameter of the predetermined target, etc. is saved in the controller in advance.
  • prompt information such as a voice prompt, text prompt or graphic prompt is generated.
  • the voice prompt is "Rubbish bin found” in audio format
  • the text prompt is "Rubbish bin found” in text format
  • the graphic prompt is a prompt box in which an outline of the predetermined target is highlighted, etc.
  • Step 503 transmitting the image data and prompt information.
  • a communication module arranged on the disinfection robot may be used to transmit the image data and prompt information.
  • graphic data and prompt information are sent to a remote controller comprising a display screen, so that the graphic data and prompt information are displayed in the display screen by the remote controller, and it is thereby possible to present environment information, and issue a prompt for a predetermined target, to improve the safety of disinfection work.
  • the user can scan the scene of the operating theatre in the display screen of the remote controller.
  • a special prompt can further be issued in the display screen of the remote controller for a specific object such as a rubbish bin, operating table or protective clothing, thereby making it easy for the user to decide whether to carry out disinfection on a specific target.
  • the method further comprises: detecting a distance value from the disinfection robot to the predetermined target; detecting a temperature value of the predetermined target; and transmitting the distance value and temperature value.
  • a distance sensor arranged on the disinfection robot detects the distance value from the disinfection robot to predetermined target
  • a temperature sensor arranged on the disinfection robot detects the temperature value of the predetermined target
  • a communication module arranged on the disinfection robot transmits the distance value and temperature value.
  • the communication module can send the distance value and temperature value to the remote controller comprising the display screen, so that the remote controller displays the distance value and temperature value in the display screen, thereby making it easy for the user to ascertain key parameters of the predetermined target.
  • the disinfection robot comprises multiple atomizing nozzles having degrees of freedom
  • these multiple atomizing nozzles may further be subjected to fine control, thereby increasing the flexibility of disinfection work.
  • the disinfection robot shown in Figs. 1 - 2 may be subjected to control.
  • the disinfection robot comprises: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; M supports, each mounted on the mobile platform, wherein each support has N degrees of freedom; and M atomizing nozzles, respectively fixed to the supports which are in one-to-one correspondence therewith; wherein N and M are positive integers which are at least 2; and the method further comprises:
  • Step 504 receiving a disinfection command for the predetermined target.
  • the communication module arranged on the disinfection robot receives the disinfection command for the predetermined target.
  • the disinfection command is received from the remote controller.
  • Step 505 controlling at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command.
  • the controller controls at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command, so as to move the at least one support separately to a target position conforming to the disinfection command.
  • Step 506 controlling the atomizing nozzle fixed to the at least one support to atomize and spray the disinfection fluid in the liquid storage tank.
  • the controller controls the atomizing nozzle fixed to the support to atomize and spray the disinfection fluid in the liquid storage tank.
  • the atomizing nozzles of the disinfection robot can move in a controlled fashion with the supports in multiple degrees of freedom, thus increasing the flexibility of disinfection work.
  • controlling at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command comprises: moving at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray a different part of the predetermined target respectively.
  • the disinfection robot comprises 2 supports, specifically a support A and a support B.
  • the support A is rotated upward about the width direction of the mobile platform, so that the atomizing nozzle fixed to the support A can spray to an upper half of the tree; and the support B is rotated downward about the width direction of the mobile platform, so that the atomizing nozzle fixed to the support B can spray to a lower half of the tree.
  • controlling at least one support to move in at least one degree of freedom on the basis of the disinfection command comprises: moving at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can separately spray the predetermined target, wherein there is coincidence of a spraying region, on the predetermined target, of the at least one atomizing nozzle.
  • the predetermined target is a workbench of length 1.6 m
  • the disinfection robot comprises
  • the 2 supports, specifically a support A and a support B.
  • the support A is moved leftward about the height direction of the mobile platform, so that the atomizing nozzle fixed to the support A can spray to a left part of the workbench (a corresponding range being 0 - 1 m); and the support B is moved rightward about the height direction of the mobile platform, so that the atomizing nozzle fixed to the support B can spray to a right part of the workbench (a corresponding range being 0.6 - 1.6 m).
  • controlling at least one support to move in at least one degree of freedom on the basis of the disinfection command comprises: moving at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray the predetermined target and a peripheral environment of the predetermined target respectively.
  • the disinfection robot comprises
  • the 3 supports, specifically a support A, a support B and a support C.
  • the support A is moved about the width direction of the mobile platform, so that the atomizing nozzle fixed to the support A can spray the rubbish bin;
  • the support B is rotated about the height direction of the mobile platform so that the atomizing nozzle fixed to the support B can spray to a left part of the wall;
  • the support C is rotated about the height direction of the mobile platform so that the atomizing nozzle fixed to the support C can spray to a right part of the wall.
  • An embodiment of the present invention also proposes a disinfection robot control apparatus.
  • Fig. 6 is a demonstrative structural diagram of the disinfection robot control apparatus of the present invention.
  • a disinfection robot control apparatus 600 comprises: a collection module 601, configured to collect image data of an environment of a disinfection robot; an identification module 602, configured to generate prompt information when a predetermined target is identified from the image data; a communication module 603, configured to transmit the image data and prompt information.
  • a distance detection module 604 configured to detect a distance to the predetermined target
  • a temperature detection module 605, configured to detect a temperature of the predetermined target
  • the communication module 603 is further configured to transmit a distance value and a temperature value.
  • the disinfection robot comprises: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; M supports, each mounted on the mobile platform, wherein each support has N degrees of freedom; and M atomizing nozzles, respectively fixed to the supports which are in one-to-one correspondence therewith; wherein N and M are positive integers which are at least 2;
  • the communication module 603 is further configured to receive a disinfection command for the predetermined target; and the apparatus 600 further comprises: a control module 606, configured to control at least one support to move in at least one of respective degrees of freedom on the basis of the disinfection command; and control the atomizing nozzle fixed to the at least one support to atomize and spray the disinfection fluid in the liquid storage tank.
  • control module 606 is configured to move at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray a different part of the predetermined target respectively.
  • control module 606 is configured to move at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can separately spray the predetermined target, wherein there is coincidence of a spraying region, on the predetermined target, of the at least one atomizing nozzle.
  • control module 606 is configured to move at least one support, so that at least one atomizing nozzle fixed to the at least one support respectively can spray the predetermined target and a peripheral environment of the predetermined target respectively.
  • Fig. 7 is a demonstrative structural diagram of a disinfection robot control apparatus having a memory-processor architecture in the present invention.
  • the disinfection robot 700 comprises a processor 701, a memory 702, and a computer program that is stored on the memory 702 and capable of being run on the processor 701; when executed by the processor 701, the computer program implements any one of the above embodiments of the disinfection robot control method.
  • the memory 702 may specifically be implemented as various types of storage media, such as an electrically erasable programmable read-only memory (EEPROM), a flash memory or a programmable read-only memory (PROM).
  • the processor 701 may be implemented as comprising one or more central processors or one or more field-programmable gate arrays, wherein the field- programmable gate array integrates one or more central processor cores.
  • the central processor or central processor core may be implemented as a CPU or MCU or DSP, etc.
  • Hardware modules in the embodiments may be realized mechanically or electronically.
  • one hardware module may comprise a specially designed permanent circuit or logic device (such as a dedicated processor, such as an FPGA or ASIC) for completing a specific operation.
  • the hardware module may also comprise a programmable logic device or circuit that is temporarily configured by software (e.g. comprising a general processor or another programmable processor) for executing a specific operation.
  • software e.g. comprising a general processor or another programmable processor
  • the choice of whether to specifically use a mechanical method, or a dedicated permanent circuit, or a temporarily configured circuit (e.g. configured by software) to realize the hardware module can be decided according to considerations of cost and time.
  • the present invention also provides a machine-readable storage medium, in which is stored an instruction for causing a machine to execute the method according to the present application.
  • a system or apparatus equipped with a storage medium may be provided; software program code realizing the function of any one of the embodiments above is stored on the storage medium, and a computer (or CPU or MPU) of the system or apparatus is caused to read and execute the program code stored in the storage medium.
  • a computer or CPU or MPU
  • program code read out from the storage medium may be written into a memory installed in an expansion board inserted in the computer, or written into a memory installed in an expansion unit connected to the computer, and thereafter instructions based on the program code cause a CPU etc. installed on the expansion board or expansion unit to execute a portion of and all actual operations, so as to realize the function of any one of the embodiments above.
  • Embodiments of storage media used for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards and ROM.
  • program code may be downloaded from a server computer or a cloud via a communication network.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Multimedia (AREA)
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  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
PCT/EP2021/053983 2020-02-21 2021-02-18 Autonomous control system of sterilizing robot with double mistorizer guns based on intelligent vision algorithm WO2021165376A1 (en)

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