WO2021165389A1 - Disinfection robot and disinfection robot control system - Google Patents

Disinfection robot and disinfection robot control system Download PDF

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Publication number
WO2021165389A1
WO2021165389A1 PCT/EP2021/054013 EP2021054013W WO2021165389A1 WO 2021165389 A1 WO2021165389 A1 WO 2021165389A1 EP 2021054013 W EP2021054013 W EP 2021054013W WO 2021165389 A1 WO2021165389 A1 WO 2021165389A1
Authority
WO
WIPO (PCT)
Prior art keywords
disinfection
mobile platform
support
liquid storage
storage tank
Prior art date
Application number
PCT/EP2021/054013
Other languages
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
Priority claimed from CN202010109105.6A external-priority patent/CN113290565A/en
Priority claimed from CN202020197873.7U external-priority patent/CN212044749U/en
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to EP21708574.5A priority Critical patent/EP4090387A1/en
Publication of WO2021165389A1 publication Critical patent/WO2021165389A1/en

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Classifications

    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • 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
    • 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
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • B05B9/0423—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material for supplying liquid or other fluent material to several spraying apparatus
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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

Definitions

  • the present invention relates to the technical field of robots, in particular to a disinfection robot and a disinfection robot control system.
  • 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.
  • an atomizing nozzle also called a disinfection gun
  • a disinfection gun is generally arranged in a fixed manner in a mobile platform; the atomizing nozzle is immobile relative to the mobile platform, and consequently disinfection operations lack flexibility.
  • Embodiments of the present invention propose a disinfection robot and a disinfection robot control system.
  • a disinfection robot comprising: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; a support, mounted on the mobile platform and having N degrees of freedom, wherein N is a positive integer that is at least 2; an atomizing nozzle, fixed to the support and adapted to atomize and spray out the disinfection fluid in the liquid storage tank.
  • the atomizing nozzle fixed to the support can move as the support moves, and has multiple degrees of freedom, thus increasing the flexibility of disinfection work.
  • one said atomizing nozzle, one said support and one said liquid storage tank are provided; and the disinfection robot further comprises: a conduit, passing through the support; a first end of the conduit extending into the liquid storage tank, and a second end of the conduit being connected to the atomizing nozzle.
  • the connection includes scenarios such as the second end extending into the atomizing nozzle, or into a duct of the atomizing nozzle, or being connected to the atomizing nozzle or a duct port thereof.
  • a single atomizing nozzle may be provided, thus facilitating implementation.
  • M said atomizing nozzles and M said supports are provided, the atomizing nozzles and the supports being in one-to-one correspondence with each other, wherein M is a positive integer that is at least 2, and one said liquid storage tank is provided; and the disinfection robot further comprises:
  • each conduit passes through the corresponding support; wherein a first end of each conduit extends into the liquid storage tank, and a second end of each conduit is connected to the corresponding atomizing nozzle.
  • multiple atomizing nozzles may be provided, thus further increasing the flexibility of disinfection work, and the multiple atomizing nozzles can share a liquid storage tank, thereby lowering costs.
  • K said atomizing nozzles, K said supports and K said liquid storage tanks are provided, the atomizing nozzles, the supports and the liquid storage tanks being in one- to-one correspondence with each other, wherein K is a positive integer that is at least 2; and the disinfection robot further comprises:
  • each conduit passes through the corresponding support; wherein a first end of each conduit extends into the corresponding liquid storage tank, and a second end of each conduit is connected to the corresponding atomizing nozzle.
  • multiple atomizing nozzles may be provided, thus further increasing the flexibility of disinfection work, and the multiple atomizing nozzles have respective liquid storage tanks, thereby increasing disinfection efficiency.
  • the disinfection robot further comprises: a visual sensor, mounted on the mobile platform and configured to collect image data of an environment of the disinfection robot; a programmable logic controller, mounted in an internal space of the mobile platform and configured to generate prompt information when a predetermined target is identified from the image data; a communication module, mounted in an internal space of the mobile platform and configured to transmit the image data and the prompt information.
  • the programmable logic controller can identify a predetermined target from the image data, and the communication module can transmit the image data and prompt information, thus it is possible to display graphic data of a peripheral environment of the disinfection robot so as to improve the safety of disinfection work, and also possible to make it easy for a user to decide whether to carry out disinfection work.
  • the disinfection robot further comprises: a distance-measuring sensor, mounted on the mobile platform and configured to detect a distance value to the predetermined target; a temperature sensor, mounted on the mobile platform and configured to detect a temperature of the predetermined target; wherein the communication module is further configured to transmit the distance value and the temperature value.
  • a distance value and a temperature value of the predetermined target can be further provided, thus providing auxiliary parameters for the user to make a decision.
  • the communication module is further configured to receive a disinfection command; and the programmable logic controller is further configured to control the support to move in at least one of the N degrees of freedom on the basis of the disinfection command, and control the atomizing nozzle to atomize and spray out the disinfection fluid in the liquid storage tank when the support moves to a target point.
  • an embodiment of the present invention can also execute a remotely provided disinfection command, and control free movement of the atomizing nozzle.
  • N is equal to 2; wherein the support has a degree of freedom of rotation about the width direction of the mobile platform, and has a degree of freedom of rotation about the height direction of the mobile platform.
  • the atomizing nozzle can realize spraying with upward/downward tilting, and horizontal spraying.
  • a disinfection robot control system comprising: a disinfection robot, comprising: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; a support, mounted on the mobile platform and having N degrees of freedom, wherein N is a positive integer that is at least 2; an atomizing nozzle, fixed to the support and adapted to atomize and spray out the disinfection fluid in the liquid storage tank; a visual sensor, mounted on the mobile platform and configured to collect image data of an environment of the disinfection robot; a programmable logic controller, mounted in an internal space of the mobile platform and 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; a remote controller, configured to display the image data and the prompt information.
  • a disinfection robot comprising: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; a support, mounted on the mobile platform and having
  • the atomizing nozzle fixed to the support can move as the support moves, and has multiple degrees of freedom, thus increasing the flexibility of disinfection work.
  • the programmable logic controller can identify a predetermined target from the image data, and the communication module can transmit the image data and prompt information, thus it is possible to display graphic data of a peripheral environment of the disinfection robot so as to improve the safety of disinfection work, and also possible to make it easy for the user to decide whether to carry out disinfection work.
  • the remote controller is further configured to send a disinfection command;
  • the programmable logic controller is further configured to control the support to move in at least one of the N degrees of freedom on the basis of the disinfection command, and control the atomizing nozzle to atomize and spray out the disinfection fluid in the liquid storage tank when the support moves to a target point.
  • an embodiment of the present invention can also execute a remotely provided disinfection command, and control free movement of the atomizing nozzle.
  • 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. Key to the drawings:
  • 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.
  • 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.
  • 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 be 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 is connected to the atomizing nozzle 14.
  • the connection includes scenarios such as the second end extending into the atomizing nozzle 14, or into a duct of the atomizing nozzle 14, or being connected to the atomizing nozzle 14 or a duct port thereof.
  • 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.
  • M there are M atomizing nozzles 14 and M supports 13, and the atomizing nozzles 14 and supports 13 are in one-to-one correspondence with each other, wherein M is a positive integer that is at least 2, and there is one liquid storage tank 12.
  • 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 in and is connected to 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 is connected to 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 (2) 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
  • the 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.
  • 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.

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Abstract

Embodiments of the present invention propose a disinfection robot (10) and a disinfection robot control system (30). 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; and 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). In embodiments of the present invention, the atomizing nozzle (14) has multiple degrees of freedom following the support (13), thus increasing the flexibility of disinfection work. Furthermore, multiple atomizing nozzles (14) may be provided, thus further increasing the diversity of disinfection work. In addition, graphic data of a peripheral environment of the disinfection robot (10) can also be displayed in a remote controller (20), to improve the safety of disinfection work.

Description

DISINFECTION ROBOT AND DISINFECTION ROBOT CONTROL SYSTEM
Technical field
The present invention relates to the technical field of robots, in particular to a disinfection robot and a disinfection robot control system.
Background art
At present, epidemic diseases such as COVID-19 have spread to a serious degree. At the same time, other highly infectious fatal viruses also pose a huge threat to humans. In such circumstances, medical personnel have no choice but to regularly disinfect critical areas with a high risk of infection. However, if medical personnel are exposed to an external environment to carry out disinfection work, the risk of infection will increase.
At present, some simple disinfection robots capable of performing disinfection work in place of humans have already appeared. In the 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.
In an existing disinfection robot, an atomizing nozzle (also called a disinfection gun) is generally arranged in a fixed manner in a mobile platform; the atomizing nozzle is immobile relative to the mobile platform, and consequently disinfection operations lack flexibility. Summary of the invention
Embodiments of the present invention propose a disinfection robot and a disinfection robot control system.
The technical solution of the embodiments of the present invention is as follows:
A disinfection robot, comprising: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; a support, mounted on the mobile platform and having N degrees of freedom, wherein N is a positive integer that is at least 2; an atomizing nozzle, fixed to the support and adapted to atomize and spray out the disinfection fluid in the liquid storage tank.
As can be seen, in an embodiment of the present invention, the atomizing nozzle fixed to the support can move as the support moves, and has multiple degrees of freedom, thus increasing the flexibility of disinfection work.
In one embodiment, one said atomizing nozzle, one said support and one said liquid storage tank are provided; and the disinfection robot further comprises: a conduit, passing through the support; a first end of the conduit extending into the liquid storage tank, and a second end of the conduit being connected to the atomizing nozzle. Here, the connection includes scenarios such as the second end extending into the atomizing nozzle, or into a duct of the atomizing nozzle, or being connected to the atomizing nozzle or a duct port thereof. Thus, in an embodiment of the present invention, a single atomizing nozzle may be provided, thus facilitating implementation.
In one embodiment, M said atomizing nozzles and M said supports are provided, the atomizing nozzles and the supports being in one-to-one correspondence with each other, wherein M is a positive integer that is at least 2, and one said liquid storage tank is provided; and the disinfection robot further comprises:
M conduits, wherein each conduit passes through the corresponding support; wherein a first end of each conduit extends into the liquid storage tank, and a second end of each conduit is connected to the corresponding atomizing nozzle.
Thus, in an embodiment of the present invention, multiple atomizing nozzles may be provided, thus further increasing the flexibility of disinfection work, and the multiple atomizing nozzles can share a liquid storage tank, thereby lowering costs.
In one embodiment, K said atomizing nozzles, K said supports and K said liquid storage tanks are provided, the atomizing nozzles, the supports and the liquid storage tanks being in one- to-one correspondence with each other, wherein K is a positive integer that is at least 2; and the disinfection robot further comprises:
K conduits, wherein each conduit passes through the corresponding support; wherein a first end of each conduit extends into the corresponding liquid storage tank, and a second end of each conduit is connected to the corresponding atomizing nozzle.
Thus, in an embodiment of the present invention, multiple atomizing nozzles may be provided, thus further increasing the flexibility of disinfection work, and the multiple atomizing nozzles have respective liquid storage tanks, thereby increasing disinfection efficiency.
In one embodiment, the disinfection robot further comprises: a visual sensor, mounted on the mobile platform and configured to collect image data of an environment of the disinfection robot; a programmable logic controller, mounted in an internal space of the mobile platform and configured to generate prompt information when a predetermined target is identified from the image data; a communication module, mounted in an internal space of the mobile platform and configured to transmit the image data and the prompt information.
As can be seen, in an embodiment of the present invention, the programmable logic controller can identify a predetermined target from the image data, and the communication module can transmit the image data and prompt information, thus it is possible to display graphic data of a peripheral environment of the disinfection robot so as to improve the safety of disinfection work, and also possible to make it easy for a user to decide whether to carry out disinfection work.
In one embodiment, the disinfection robot further comprises: a distance-measuring sensor, mounted on the mobile platform and configured to detect a distance value to the predetermined target; a temperature sensor, mounted on the mobile platform and configured to detect a temperature of the predetermined target; wherein the communication module is further configured to transmit the distance value and the temperature value.
Thus, in an embodiment of the present invention, a distance value and a temperature value of the predetermined target can be further provided, thus providing auxiliary parameters for the user to make a decision.
In one embodiment, the communication module is further configured to receive a disinfection command; and the programmable logic controller is further configured to control the support to move in at least one of the N degrees of freedom on the basis of the disinfection command, and control the atomizing nozzle to atomize and spray out the disinfection fluid in the liquid storage tank when the support moves to a target point.
Thus, an embodiment of the present invention can also execute a remotely provided disinfection command, and control free movement of the atomizing nozzle.
In one embodiment, N is equal to 2; wherein the support has a degree of freedom of rotation about the width direction of the mobile platform, and has a degree of freedom of rotation about the height direction of the mobile platform.
Thus, in an embodiment of the present invention, the atomizing nozzle can realize spraying with upward/downward tilting, and horizontal spraying.
A disinfection robot control system, comprising: a disinfection robot, comprising: a mobile platform; a liquid storage tank, mounted on the mobile platform and adapted to store a disinfection fluid; a support, mounted on the mobile platform and having N degrees of freedom, wherein N is a positive integer that is at least 2; an atomizing nozzle, fixed to the support and adapted to atomize and spray out the disinfection fluid in the liquid storage tank; a visual sensor, mounted on the mobile platform and configured to collect image data of an environment of the disinfection robot; a programmable logic controller, mounted in an internal space of the mobile platform and 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; a remote controller, configured to display the image data and the prompt information.
As can be seen, in an embodiment of the present invention, the atomizing nozzle fixed to the support can move as the support moves, and has multiple degrees of freedom, thus increasing the flexibility of disinfection work. Furthermore, the programmable logic controller can identify a predetermined target from the image data, and the communication module can transmit the image data and prompt information, thus it is possible to display graphic data of a peripheral environment of the disinfection robot so as to improve the safety of disinfection work, and also possible to make it easy for the user to decide whether to carry out disinfection work.
In one embodiment, the remote controller is further configured to send a disinfection command; the programmable logic controller is further configured to control the support to move in at least one of the N degrees of freedom on the basis of the disinfection command, and control the atomizing nozzle to atomize and spray out the disinfection fluid in the liquid storage tank when the support moves to a target point.
Thus, an embodiment of the present invention can also execute a remotely provided disinfection command, and control free movement of the atomizing nozzle.
Brief description of the drawings
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. Key to the drawings:
Figure imgf000009_0001
Figure imgf000010_0001
Detailed description of the invention The present invention is explained in further detail below in conjunction with the accompanying drawings and embodiments, to clarify the technical solution and advantages thereof. It should be understood that the particular embodiments described here are merely intended to explain the present invention elaboratively, not to define the scope of protection thereof.
The solution of the present invention is expounded below by describing a number of representative embodiments, in order to make the description concise and intuitive. The large number of details in the embodiments are merely intended to assist with understanding of the solution of the present invention. However, obviously, the technical solution of the present invention need not be limited to these details when implemented. To avoid making the solution of the present invention confused unnecessarily, some embodiments are not described meticulously, but merely outlined. Hereinbelow, "comprises" means "including but not limited to", while "according to..." means "at least according to..., but not limited to only according to...". In line with the linguistic customs of Chinese, in cases where the quantity of a component is not specified hereinbelow, this means that there may be one or more of the component; this may also be interpreted as meaning at least one.
The applicant has found through research that: 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. Furthermore, 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.
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.
As can be seen from Figs. 1 and 2, 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.
Here, the mobile platform 11 is a main body part of the disinfection robot 10. The mobile platform 11 may specifically be 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. For example, the disinfection fluid may be implemented as 84 disinfection fluid, peroxyacetic acid, Lysol, bleaching powder, potassium permanganate, etc.
Typical examples of the mobile platform 11 and disinfection fluid have been described demonstratively above, but those skilled in the art will realize that such descriptions are merely demonstrative and not intended to define the scope of protection of the embodiments of the present invention.
In an embodiment of the present invention, 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.
Thus, when the support 13 moves, the atomizing nozzle 14 can move together with the support 13. Correspondingly, the atomizing nozzle 14 also has N degrees of freedom.
Preferably, the range of values of N is [2,6]. When N is 6, the 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.
Clearly, 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.
Specifically, the atomizing nozzle 14 can atomize and spray out the disinfection fluid in the liquid storage tank 12, and thereby carry out disinfection work. For example, 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.
In particular implementation, there may be one or more atomizing nozzle 14, one or more support 13 and one or more liquid storage tank 12.
For example, in one embodiment, there is one atomizing nozzle 14, one support 13 and one liquid storage tank 12. 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 is connected to the atomizing nozzle 14. Here, the connection includes scenarios such as the second end extending into the atomizing nozzle 14, or into a duct of the atomizing nozzle 14, or being connected to the atomizing nozzle 14 or a duct port thereof. 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.
In one embodiment, there are M atomizing nozzles 14 and M supports 13, and the atomizing nozzles 14 and supports 13 are in one-to-one correspondence with each other, wherein M is a positive integer that is at least 2, and there is one liquid storage tank 12. 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 in and is connected to the corresponding atomizing nozzle 14. In this case, the M atomizing nozzles 14 separately acquire disinfection fluid from the common liquid storage tank 12 via the respective conduits.
In one embodiment, there are K atomizing nozzles 14, K supports 13 and K liquid storage tanks 12, and the atomizing nozzles 14, supports 13 and liquid storage tanks 12 are in one- to-one correspondence with each other, wherein K is a positive integer that is at least 2. 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 is connected to the corresponding atomizing nozzle 14. In this case, the K atomizing nozzles 14 separately acquire disinfection fluid from the respective liquid storage tanks 12 via the respective conduits.
Preferably, 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). Thus, 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. Preferably, when the number of atomizing nozzles 14 is 2, 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.
In one embodiment, 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.
As can be seen from Fig. 2, 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.
In one embodiment, 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.
Preferably, 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. When the PLC 18, based on matching of the template image or characteristic parameter, identifies the predetermined target from the image data, prompt information such as a voice prompt, text prompt or graphic prompt is generated. For example, the voice prompt is "Rubbish bin found" in audio format, the text prompt is "Rubbish bin found" in text format, and 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. For example, the wired interface comprises at least one of the following: a universal serial bus interface, controller local area network interface or serial port, etc.; and 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.
Furthermore 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.
In this case, 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. For example, when the number of atomizing nozzles 14 is two, 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.
In this case, 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. For example, when the number of atomizing nozzles 14 is two, 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 (2): 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.
In this case, 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. For example, when 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.
Typical examples of the disinfection command have been described demonstratively above, but those skilled in the art will realize that such descriptions are merely demonstrative and not intended to define the scope of protection of the embodiments of the present invention.
Based on the above description, 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.
As shown in fig. 3, 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.
In one embodiment, the remote controller 20 comprises a display screen. Key information relating to a disinfection operation may be displayed on the display screen.
For the disinfection robot comprising two atomizing nozzles shown in Fig. 3, Fig. 4 is a demonstrative structural diagram of the disinfection robot control system of the present invention.
In Fig. 4, 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.
Furthermore, 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.
When the user triggers each control button on the display screen 21, the demo board 23 generates a corresponding control command. For example, 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.
When the control command is a movement control command for the robot mobile platform, 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. For example, the motor controller 182 drives the mobile platform to advance, retreat or turn, etc.
When the 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. For example, 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. For example, as shown in Fig. 4, 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, and 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.
The structure of the disinfection robot control system has been described demonstratively above, taking as an example a disinfection robot comprising two atomizing nozzles; those skilled in the art will realize that such a description is merely demonstrative, and not intended to define the scope of protection of the embodiments of the present invention.
Hardware modules in the embodiments may be realized mechanically or electronically. For example, 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. 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 has been displayed and explained in detail above by means of the accompanying drawings and preferred embodiments, but the present invention is not limited to these disclosed embodiments. Based on the embodiments described above those skilled in the art will know that further embodiments of the present invention, also falling within the scope of protection of the present invention, could be obtained by combining code checking means in different embodiments above.

Claims

1. A disinfection robot (10), 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).
2. The disinfection robot (10) as claimed in claim 1, wherein one said atomizing nozzle (14), one said support (13) and one said liquid storage tank (12) are provided; and the disinfection robot (10) further comprises: a conduit, passing through the support (13); a first end of the conduit extending into the liquid storage tank (12), and a second end of the conduit being connected to the atomizing nozzle (14).
3. The disinfection robot (10) as claimed in claim 1, wherein M said atomizing nozzles (14) and M said supports (13) are provided, the atomizing nozzles (14) and the supports (13) being in one- to-one correspondence with each other, wherein M is a positive integer that is at least 2, and one said liquid storage tank (12) is provided; and the disinfection robot (10) further comprises:
M conduits, wherein each conduit passes through the corresponding support (13); wherein a first end of each conduit extends into the liquid storage tank (12), and a second end of each conduit is connected to the corresponding atomizing nozzle (14).
4. The disinfection robot (10) as claimed in claim 1, wherein K said atomizing nozzles (14), K said supports (13) and K said liquid storage tanks (12) are provided, the atomizing nozzles (14), the supports (13) and the liquid storage tanks (12) being in one-to-one correspondence with each other, wherein K is a positive integer that is at least 2; and the disinfection robot (10) further comprises:
K conduits, wherein each conduit passes through the corresponding support (13); wherein a first end of each conduit extends into the corresponding liquid storage tank (12), and a second end of each conduit is connected to the corresponding atomizing nozzle (14).
5. The disinfection robot (10) as claimed in claim 1, further comprising: a visual sensor (15), mounted on the mobile platform (11) and configured to collect image data of an environment of the disinfection robot; a programmable logic controller (18), mounted in an internal space of the mobile platform (11) and configured to generate prompt information when a predetermined target is identified from the image data; a communication module (19), mounted in an internal space of the mobile platform (11) and configured to transmit the image data and the prompt information.
6. The disinfection robot (10) as claimed in claim 5, further comprising: a distance-measuring sensor (16), mounted on the mobile platform (11) and configured to detect a distance value to the predetermined target; a temperature sensor (17), mounted on the mobile platform (11) and configured to detect a temperature of the predetermined target; wherein the communication module (19) is further configured to transmit the distance value and the temperature value.
7. The disinfection robot (10) as claimed in claim 5, characterized in that the communication module (19) is further configured to receive a disinfection command; the programmable logic controller (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.
8. The disinfection robot (10) as claimed in any one of claims 1 - 6, wherein 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), and has a degree of freedom of rotation about the height direction of the mobile platform (11).
9. A disinfection robot control system (30), comprising: a disinfection robot (10), 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) and configured to collect image data of an environment of the disinfection robot; a programmable logic controller (18), mounted in an internal space of the mobile platform (11) and configured to generate prompt information when a predetermined target is identified from the image data; a communication module (19), mounted in an internal space of the mobile platform (11) and configured to transmit the image data and the prompt information a remote controller (20), configured to display the image data and the prompt information.
10. The disinfection robot control system (30) as claimed in claim 9, wherein the remote controller (20) is further configured to send a disinfection command; the programmable logic controller (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
PCT/EP2021/054013 2020-02-21 2021-02-18 Disinfection robot and disinfection robot control system WO2021165389A1 (en)

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