CN109568623B

CN109568623B - Disinfection path control method and chip of portable intelligent disinfection robot

Info

Publication number: CN109568623B
Application number: CN201811623415.9A
Authority: CN
Inventors: 姜新桥; 肖刚军; 许登科
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2020-12-15
Anticipated expiration: 2038-12-28
Also published as: CN109568623A

Abstract

The invention discloses a disinfection path control method and a chip of a portable intelligent disinfection robot, wherein the disinfection path control method comprises the following steps: step 1, controlling the portable intelligent disinfection robot to start autonomous movement on the surface of an area to be disinfected, and controlling the portable intelligent disinfection robot to receive and respond to position information from the area to be disinfected; step 2, while continuing to drive the portable intelligent disinfection robot to move, determining a disinfection position according to the received and responded position information, and constructing an environment map of an area to be disinfected in real time; step 3, planning a corresponding disinfection path according to the environment map of the area to be disinfected constructed in real time in the step 2 and the received and responded position information, and setting a preset disinfection frequency according to the disinfection area range defined by the disinfection path; and 4, controlling the portable intelligent disinfection robot to move repeatedly according to the disinfection path in the step 3, and finishing the disinfection operation with preset disinfection times.

Description

Disinfection path control method and chip of portable intelligent disinfection robot

Technical Field

The invention relates to the technical field of disinfection equipment, in particular to a disinfection path control method and a chip of a portable intelligent disinfection robot.

Background

The description of the background of the invention pertaining to the related art to which this invention pertains is given for the purpose of illustration and understanding only of the summary of the invention and is not to be construed as an admission that the applicant is explicitly or implicitly admitted to be prior art to the date of filing this application as first filed with this invention.

At present the disinfection mode mainly uses the manual antiseptic solution that sprays to go on, need consume a large amount of manual works and time, but cause sterile blind area and dead angle very easily, in addition the sterilizer on the market is mostly fixed, can play good sterile effect to the closely air of disinfection equipment and object surface, nevertheless obviously descend to the disinfection effect on remote air and object surface, if will disinfect to other places, just need to remove the manual work of disinfection equipment appointed place and disinfect again, and accomplish the disinfection operation back at disinfection equipment, need the manual work to remove the machine to appointed position and deposit, use inconveniently, influence the disinfection effect.

In recent years, techniques for solving the above problems have appeared in the field of bedding, for example: chinese patent application No. CN201710803069.1 discloses an automatic disinfection robot device for bed, which does not need to increase disinfection device by transforming the bed body itself, but needs to lay track cloth on the bed body, and set magnetic track, optical track or color track on the track cloth, and meanwhile, the robot needs to perform disinfection operation by receiving the guiding signal of the track. In the process of using the robot, the track cloth arranged in the technical scheme limits the working flexibility of the robot and is not beneficial to comprehensively sterilizing and disinfecting a working area.

Disclosure of Invention

In order to overcome the technical defects, the invention provides the following technical scheme:

a disinfection path control method of a portable intelligent disinfection robot is implemented in an area to be disinfected with at least one open edge, and comprises the following steps: step 1, controlling the portable intelligent disinfection robot to start autonomous movement on the surface of an area to be disinfected, and controlling the portable intelligent disinfection robot to receive and respond to position information from the area to be disinfected; step 2, while continuing to drive the portable intelligent disinfection robot to move, determining a disinfection position according to the received and responded position information, and constructing an environment map of an area to be disinfected in real time; step 3, planning a corresponding disinfection path according to the environment map of the area to be disinfected constructed in real time in the step 2 and the received and responded position information, and setting a preset disinfection frequency according to the disinfection area range defined by the disinfection path; wherein the size of the range of the disinfection area has positive correlation with the preset disinfection frequency; and 4, controlling the portable intelligent disinfection robot to move repeatedly according to the disinfection path in the step 3, and finishing the disinfection operation with preset disinfection times. The invention can carry out the disinfection operation with preset disinfection times according to the environmental information of the area to be disinfected, can not only rely on the map which is automatically constructed to carry out sufficient disinfection, but also avoid the problems of inadequate disinfection and the like, thereby improving the disinfection effect.

Further, the step 2 further comprises: and in the process of continuously driving the portable intelligent disinfection robot to move, when cliff reflection information of the surface edge position of the area to be disinfected is received, controlling the portable intelligent disinfection robot to move from a first disinfection position to a second disinfection position to continue disinfection, and changing the motion direction of the portable intelligent disinfection robot so that the portable intelligent disinfection robot is guided to leave the open edge. According to the technical scheme, the robot is controlled to avoid falling by receiving the radiation signals reflected by the edge position of the surface of the area to be disinfected, so that the robot is maintained to perform disinfection operation on the surface of the area to be disinfected in a reciprocating manner, the time is saved, and the efficiency of sterilization and disinfection is high.

Further, the disinfection path control method further includes: the portable intelligent disinfection robot emits ultraviolet light to penetrate through a dust absorption hole of a robot chassis, and light spots are formed on the surface of the area to be disinfected; when the struck light spot is close to the edge position of the surface of the area to be disinfected, the direction and the size of the disinfection path are adjusted, so that the effective area of the light spot scanned on the surface of the area to be disinfected is the largest.

The chip is arranged in the portable intelligent disinfection robot and used for controlling the portable intelligent disinfection robot to execute the disinfection path control method, and the disinfection effect of the portable intelligent disinfection robot is improved.

Drawings

Fig. 1 is a schematic structural diagram of a portable intelligent disinfection robot provided by an embodiment of the present invention.

Fig. 2 is a flowchart of a disinfection path control method of a portable intelligent disinfection robot according to an embodiment of the present invention.

Wherein, the reference numbers:

101: a chassis of the portable intelligent disinfection robot; 102: a drive module; 1021: a left driving wheel 1022, a right driving wheel; 103: a sterilizing lamp; 104: an acquisition module; 105: a control module; 106: a dust collection hole of the chassis; 107: a dust storage box; 1071: an input port of the dust storage box.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a portable intelligent disinfection robot, as shown in fig. 1, the portable intelligent disinfection robot includes: a chassis 101 with a dust extraction aperture 106, a drive module 102, a collection module 104, a control module 105 and a disinfection module. Wherein the acquisition module 104 is carried by the chassis 101 and arranged to face the surface of the area to be disinfected for receiving and responding to position information from the surface of the area to be disinfected, in particular, the acquisition module 104 comprises an infrared distance sensor for sensing the distance to an obstacle on the surface of the area to be disinfected and an infrared cliff sensor for preventing falling at the position of the edge of the surface of the area to be disinfected, the acquisition module 104 of fig. 1 may be an infrared cliff sensor, the probe of which is arranged to face the surface of the area to be disinfected, so that the acquisition module 104 prevents the portable intelligent disinfection robot from falling by measuring the distance of the area to be disinfected from the ground.

The driving module 102 includes left and

right driving wheels

1022 and 1021 connected to opposite sides of the chassis 101 and configured to drive the portable intelligent sterilization robot to move on a surface of an area to be sterilized, the left and

right driving wheels

1022 and 1021 being installed at opposite sides of the chassis 101 in opposite directions to regulate movement of the robot, and the driving module 102 further includes a universal wheel (not shown in the drawings) rotatably installed at a front portion of the chassis 101 such that the portable intelligent sterilization robot turns by the universal wheel when walking to a turn, and the universal wheel supporting the portable intelligent sterilization robot in cooperation with the left and

right driving wheels

1022 and 1021 to stabilize a physical position of the portable intelligent sterilization robot and prevent the portable intelligent sterilization robot from tipping over.

This portable intelligent disinfection robot still includes: a sterilizing module including a sterilizing lamp 103, wherein the sterilizing lamp 103 is disposed above the dust suction hole 106 of the chassis 101 and at a supporting frame (not shown) between the left driving wheel 1022 and the right driving wheel 1021 of the driving module 102; at the in-process that portable intelligent disinfection machine people removed, the light that disinfection lamp 103 produced can see through dust absorption hole 106 and disinfect the disinfection on the bed body, sheet or bed clothes surface, and the operating temperature of disinfection lamp 103 is between 250 degrees ~400 degrees, and disinfection lamp 103 belongs to cold light source, does not have the heat dissipation problem, has better disinfection function of disinfecting to operating temperature is suitable, can not appear the high and scald the problem of user of temperature. In this embodiment, the disinfection lamp 103 is hermetically installed in the metal material cover, and is downward through a narrow light slit with a width of a few millimeters, and is directed to the bed sheet through the dust suction hole 106 to perform the disinfection task. When the remote control device is used specifically, remote operation can be carried out through the remote control device, and even through a machine interface, remote automatic control is carried out: starting, disinfecting and closing, thereby avoiding the problem that operators can hurt human bodies when using the device in a close range.

The portable intelligent disinfection robot also comprises a dust storage box 107, an air channel (not shown in figure 1) exists between the input port 1071 of the dust storage box 107 and the dust suction hole 106, the air channel is in the radiation range of the disinfection lamp 103, and the disinfection lamp 103 can disinfect and sterilize the air in the air channel; the portable intelligent disinfection robot is internally provided with a dust storage box 107, a fan (not shown in the figure) and a filtering device are arranged at the dust storage box 107, the dust absorption fan is used for guiding air to be disinfected of the input port 1071, and the filtering device is used for filtering gas. The dust box 107 can discharge sterilized sterile gas under the action of a blower. While sterilizing, the hair and dust on the surface of the bed body, the bed sheet or the bedding can be adsorbed into the dust storage box 107, the dust storage box 107 can be detached for cleaning after being fully stored, and the bed body, the bed sheet or the bedding can be taken back after being cleaned. The technical scheme realizes dust absorption while sterilizing and disinfecting, thereby realizing omnibearing disinfection.

Preferably, the surfaces of the dust storage box 107 and the dust collection hole 106 are provided with an antibacterial coating which is a composite layer structure and can be formed by sputtering a reflective material, so that ultraviolet rays can be fully reflected, the ultraviolet rays can be fully utilized for sterilization and disinfection, and the problems of incomplete disinfection and dead disinfection angle can be solved.

The control module 105 is electrically connected with the acquisition module 104, the driving module 102 and the disinfection module, and the control module 105 sends a driving instruction to control the driving module 102 so that the portable intelligent disinfection robot moves according to a planned disinfection path; meanwhile, the control module 105 sends out a disinfection command according to the input data of the acquisition module 104, and controls the disinfection module to emit light to execute a disinfection task. The control module 105 is configured to determine a sterilization position where the driving module 102 and the sterilization module operate simultaneously according to the position information of the acquisition module 104, and adjust a sterilization path of the portable intelligent sterilization robot in response to the acquisition module 104 to prevent the portable intelligent sterilization robot from falling off at a surface edge position of an area to be sterilized. Compared with the prior art, this technical scheme is not setting up under the orbital prerequisite of guide, realize independently confirming the removal route according to positional information, the disinfection position, can control portable intelligent disinfection robot and carry out the disinfection operation according to definite removal route and disinfection position, both can fully disinfect, avoid disinfecting not in place scheduling problem again, improve the disinfection effect, and this portable intelligent disinfection robot is the outside portable part of the bed body, need not to reform transform the bed body, its manufacturing cost is lower, conveniently carry and use, it is comparatively convenient.

In an alternative embodiment of the invention, the position information of the surface of the area to be disinfected comprises the ground area, obstacle position information and the position of the edge of the surface of the area to be disinfected. The embodiment is favorable for reasonably determining the disinfection position by acquiring the ground area of the area to be disinfected, the position information of the obstacle and the surface edge position of the area to be disinfected, so that the area to be disinfected is sufficiently disinfected, or the area to be disinfected can be disinfected according to a reasonable moving path, or the moving path is combined with the disinfection position, and the like. In this embodiment, spatial information can be obtained by an indoor positioning technique (UWB or the like). In the embodiment, the related information is acquired through the indoor positioning technology, and high-end complex equipment is not needed. When the moving route and the disinfection position are formulated, the disinfection path and the disinfection position can be better determined by referring to the distribution of the obstacles.

Based on the above-mentioned portable intelligent disinfection robot, the present invention provides a disinfection path control method, which is implemented in an area to be disinfected having at least one open edge, as shown in fig. 2, and specifically includes: step S201, the control module 105 controls the portable intelligent disinfection robot to start autonomous movement on the surface of the area to be disinfected through the driving module 102, controls the acquisition module 104 to receive and respond to the position information from the area to be disinfected, and then proceeds to step S202. The disinfection path control method provided by the embodiment of the invention can realize the autonomous determination of the disinfection path and the disinfection position according to the environmental information, can reciprocate along the determined disinfection path, and can realize the return motion by the reverse rotation of the motor; can be sterilized fully, avoids the problems of improper sterilization and the like, and improves the sterilization effect. The method provided by the embodiment of the invention has the advantages of less manual participation and high degree of autonomy.

Step S202, while the portable intelligent disinfection robot is continuously driven to move, the disinfection position is determined according to the position information received and responded by the acquisition module, an environment map of an area to be disinfected is built in the control module in real time, and then the step S203 is carried out. Specifically, the method comprises the following steps: when the acquisition module 104 receives cliff reflection information of the surface edge position of the area to be disinfected in the process of continuously driving the portable intelligent disinfection robot to move, the acquisition module 104 responds information; then, according to the response information of the acquisition module 104, the path of the portable intelligent disinfection robot moving from the first disinfection position to the second disinfection position is planned. On the path, the acquisition module 104 records an extremely weak reflected signal or no reflected signal as cliff reflection information, then makes a response message that the portable intelligent disinfection robot is close to the edge of the suspended wall, and then the drive module 102 controls the portable intelligent disinfection robot to move from a first disinfection position to a second disinfection position to deviate from the surface edge position of the area to be disinfected, and then the disinfection operation is continued at the new disinfection position. The embodiment leads the portable intelligent disinfection robot to be guided away from the open edge by changing the movement direction of the portable intelligent disinfection robot; and simultaneously, according to the environmental information acquired by the acquisition module in the steps, an environmental map of the area to be disinfected is constructed in the control module in real time. According to the technical scheme, the robot is controlled to avoid falling by receiving the radiation signals reflected by the edge position of the surface of the area to be disinfected, so that the robot is maintained to perform disinfection operation on the surface of the area to be disinfected in a reciprocating manner, the time is saved, and the efficiency of sterilization and disinfection is high. Wherein the position information of the surface of the area to be sterilized includes a ground area, obstacle position information, and a surface edge position of the area to be sterilized. The embodiment is favorable for reasonably determining the disinfection position by acquiring the ground area of the area to be disinfected, the position information of the obstacle and the surface edge position of the area to be disinfected, so that the area to be disinfected is sufficiently disinfected, or the area to be disinfected can be disinfected according to a reasonable moving path, or the moving path is combined with the disinfection position, and the like.

It should be noted that the real-time construction of the environment map of the area to be disinfected is performed according to the existing technical scheme, and therefore, the difference from the prior art is that a map based on a disinfection path is autonomously constructed in the disinfection operation process to reasonably determine the disinfection position, so as to achieve sufficient disinfection of the area to be disinfected.

Step S203, planning a corresponding disinfection path according to the environment map of the area to be disinfected constructed in real time in step S202 and the position information received and responded by the acquisition module, setting a preset disinfection frequency according to the disinfection area range defined by the disinfection path, and then entering step S204; wherein, the size of the range of the disinfection area has positive correlation with the preset disinfection frequency. When the range of a disinfection area defined by the planned disinfection path is larger, the numerical value of the preset disinfection times is larger, and after the range of the disinfection area is large enough, the preset disinfection times are stabilized at a fixed value; when the range of the area defined by the planned disinfection path is smaller, the numerical value of the preset disinfection times is smaller, and after the range of the disinfection area is small enough, the preset disinfection times can be set to be 0. This step is adjusted based on the data collected by the acquisition module 104. Because general disinfection is directed at a specific area, targeted adjustment can be performed according to data collected by disinfection operation of the specific area, and the specific disinfection operation is more consistent with the actual situation.

And S204, controlling the portable intelligent disinfection robot to repeatedly move according to the disinfection path in the step S203, and finishing the disinfection operation with preset disinfection times. The invention can carry out the disinfection operation with preset disinfection times according to the environmental information of the area to be disinfected, can not only rely on the map which is automatically constructed to carry out sufficient disinfection, but also avoid the problems of inadequate disinfection and the like, thereby improving the disinfection effect.

Preferably, the position information further includes the number of bacteria, in this embodiment, the sterilization time may be determined according to the number of bacteria, and in the case that other conditions are the same, the sterilization time may be reduced by a small number of bacteria, and the sterilization time may be extended by a large number of bacteria. The embodiment can more accurately perform the disinfection operation, can fully disinfect and avoid the excess. And obstacle position information may better determine the sterilization path and sterilization position. Of course, the environmental information includes information such as the number of bacteria, obstacle position information, ground area and space height, and the disinfection operation can be carried out more accurately.

Preferably, the sterilization path control method further includes: after the portable intelligent disinfection robot starts the disinfection lamp 103, ultraviolet light emitted by the disinfection lamp 103 penetrates through the dust absorption hole 106, and light spots are formed on the surface of the area to be disinfected; when the struck light spot is close to the surface edge position of the area to be disinfected, the direction and the size of the disinfection path are adjusted, so that the surface scanning range of the light spot in the area to be disinfected is controlled to deviate from the surface edge position of the area to be disinfected, and the maximum effective area scanned by the light spot is ensured. Specifically, in the sterilizing module, the deep ultraviolet sterilization is turned on by controlling a sterilization switch of the sterilizing lamp 103. In this embodiment, the disinfection lamp 103 uses the deep ultraviolet LED to disinfect, and the area of disinfecting can be confirmed to the facula area that it was made, and the definite mode is: the driving module 102 moves the light spot by moving the disinfection module, and the area swept by the light spot is the sterilization area.

And the chip is arranged in the portable intelligent disinfection robot and used for controlling the portable intelligent disinfection robot to execute the disinfection path control method, carrying out disinfection operation according to the disinfection path, the disinfection period and the disinfection position and controlling the portable intelligent disinfection robot to bypass an open edge bounded with an area to be disinfected.

In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Claims

1. A disinfection path control method of a portable intelligent disinfection robot is characterized in that the disinfection path control method is implemented in an area to be disinfected with at least one open edge, and specifically comprises the following steps:

step 1, controlling the portable intelligent disinfection robot to start autonomous movement on the surface of an area to be disinfected, and controlling the portable intelligent disinfection robot to receive and respond to position information from the area to be disinfected;

step 2, while continuing to drive the portable intelligent disinfection robot to move, determining a disinfection position according to the received and responded position information, and constructing an environment map of an area to be disinfected in real time;

step 3, planning a corresponding disinfection path according to the environment map of the area to be disinfected constructed in real time in the step 2 and the received and responded position information, and setting a preset disinfection frequency according to the disinfection area range defined by the disinfection path; wherein the size of the range of the disinfection area has positive correlation with the preset disinfection frequency;

step 4, controlling the portable intelligent disinfection robot to move repeatedly according to the disinfection path in the step 3, and completing disinfection operation with preset disinfection times;

the disinfection path control method further includes:

emitting ultraviolet light to form light spots on the surface of the area to be disinfected;

when the struck light spot is close to the edge position of the surface of the area to be disinfected, the direction and the size of the disinfection path are adjusted, so that the effective area of the light spot scanned on the surface of the area to be disinfected is the largest.

2. The disinfection path control method of claim 1, wherein the step 2 further comprises:

and in the process of continuously driving the portable intelligent disinfection robot to move, when cliff reflection information of the surface edge position of the area to be disinfected is received, controlling the portable intelligent disinfection robot to move from a first disinfection position to a second disinfection position to continue disinfection, and changing the motion direction of the portable intelligent disinfection robot so that the portable intelligent disinfection robot is guided to leave the open edge.

3. A chip built in the portable intelligent disinfection robot for controlling the portable intelligent disinfection robot to execute the disinfection path control method of any one of claims 1 to 2.