CN111562782B - Epidemic prevention disinfection cleaning robot - Google Patents
Epidemic prevention disinfection cleaning robot Download PDFInfo
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- CN111562782B CN111562782B CN202010293541.3A CN202010293541A CN111562782B CN 111562782 B CN111562782 B CN 111562782B CN 202010293541 A CN202010293541 A CN 202010293541A CN 111562782 B CN111562782 B CN 111562782B
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Abstract
The invention discloses an epidemic prevention disinfection cleaning robot, which comprises: the walking machine body is provided with walking wheels and a steering wheel; the water tank assembly is used for containing a disinfection solution for operation and ground washing wastewater; the brush disc assembly is movably arranged at the front end of the walking machine body and used for cleaning the ground; the water absorption assembly is used for collecting the ground washing wastewater and conveying the ground washing wastewater to the water tank assembly; the spray disinfection device is used for carrying out spray disinfection on the surface of the specified object according to set time length; the unmanned system is used for controlling the walking machine body to automatically finish walking of the operation area and identification of the designated object according to a set driving strategy; and the electric control system is electrically connected with the walking machine body, the water tank assembly, the brush disc assembly, the water absorption assembly, the spraying disinfection device and the unmanned system respectively. The invention has the functions of automatic cleaning and disinfection, solves the problems of low efficiency, incomplete range and difficult safety guarantee existing in manual cleaning and disinfection operation, and provides powerful technical support for well-done epidemic prevention and control work.
Description
Technical Field
The invention relates to the field of robots, in particular to an epidemic prevention disinfection cleaning robot.
Background
The disinfection robot is suitable for high-risk and high-risk infectious disease spread and transmission places such as hospitals, high-speed railway stations, bus stations, shopping malls, supermarkets, parks, farmer markets and the like. The existing disinfection robot generates disinfection gas in a robot inner device disinfection system, the pneumatic system of the robot is utilized to diffuse the disinfection gas quickly in an indoor space, the disinfection coverage and uniformity are increased, pathogenic microorganisms in the air can be killed effectively without dead angles, and the disinfection robot can automatically, efficiently and accurately disinfect and defend the indoor space according to a set route. However, the existing sterilization robot has the following disadvantages:
1. the existing disinfection robot needs manual assistance for walking or disinfection operation; 2. the disinfection robot adopts the space full-coverage disinfection of the disinfection gas generated in the indoor closed space, needs to be parked in the space for a certain time to realize fixed-point disinfection, cannot walk and operate in real time, and has lower working efficiency and large energy consumption; 3. the disinfection robot has single function and can only carry out disinfection operation.
Disclosure of Invention
The invention provides an epidemic prevention disinfection cleaning robot, which aims to solve the technical problems that the existing disinfection robot needs manual assistance, is low in efficiency and energy consumption and has a single function.
The technical scheme adopted by the invention is as follows:
an epidemic prevention disinfection cleaning robot, comprising:
the walking machine comprises a walking machine body, wherein the bottom of the walking machine body is provided with a walking wheel with a hub motor, and the top of the walking machine body is provided with a steering wheel for manual driving;
the water tank assembly is fixedly arranged on the walking machine body and is used for containing a disinfection solution for operation and ground washing wastewater;
the brush disc assembly is movably arranged at the front end of the walking machine body and used for cleaning the ground;
the water absorption assembly is movably arranged at the bottom of the walking machine body and is positioned behind the brush disc assembly, and is used for collecting the ground washing wastewater and conveying the ground washing wastewater to the water tank assembly;
the spray disinfection device is arranged behind the machine body, is connected with the disinfection solution in the water tank assembly and is used for carrying out spray disinfection on the surface of a specified object according to set time;
the unmanned system is used for controlling the walking machine body to automatically finish walking of the operation area and identification of the designated object according to a set driving strategy;
and the electric control system is respectively electrically connected with the walking machine body, the water tank assembly, the brush disc assembly, the water absorption assembly, the spray disinfection device and the unmanned system and is used for controlling the action of each part of executive elements according to the running strategy of manual operation or the unmanned system.
Furthermore, a brush disc push rod connected with the brush disc assembly and used for adjusting the operation position of the brush disc assembly is arranged on the walking machine body; and the water absorption rake push rod is connected with the water absorption assembly and is used for adjusting the operation position of the water absorption rake in the water absorption assembly.
Furthermore, the water tank assembly comprises a clean water storage container, a sewage storage container and a disinfectant storage container which are isolated from each other, the sewage storage container is connected with the water absorption assembly through a pipeline, and a mixing channel for mixing is arranged between the clean water storage container and the disinfectant storage container.
Further, the water tank assembly still including with electrical control system electrical connection's antiseptic solution mixing arrangement, antiseptic solution mixing arrangement including be used for detecting respectively the liquid level gauge of liquid volume in clear water storage container and the antiseptic storage container, setting are in control gate valve or delivery pump, the flowmeter on the hybrid channel, when receiving mixing instruction, open control gate valve or delivery pump and make antiseptic flow into clear water storage container according to setting for the flow and mix.
Further, the surface of the designated object is a part which is usually contacted by a human body in the working area, and comprises a seat, a door handle and an armrest.
Further, the unmanned system includes a perception layer and a decision layer, the perception layer performs map construction, positioning, navigation and obstacle avoidance after correcting relevant errors through data fusion of sensors, and the method includes:
the multi-line laser radar is arranged at the upper end of the walking machine body and used for constructing a map, positioning and navigating;
the front lower ultrasonic sensor, the front upper ultrasonic radar, the side ultrasonic sensor and the rear ultrasonic sensor are respectively arranged at the front lower end, the front upper end, the two side edges and the rear end of the walking machine body and are used for avoiding obstacles of the robot in front, back, left and right directions;
the single-line laser radar is arranged at the front end of the walking machine body and used for constructing a map, positioning and avoiding obstacles;
the front depth camera and the rear depth camera are respectively arranged at the front end and the rear end of the walking machine body and are used for identifying an object through machine vision and avoiding obstacles;
the decision layer comprises an industrial personal computer which is respectively electrically connected with the sensors of the sensing layer and used for planning a path and controlling a process according to the known position information constructed by the sensors of the sensing layer, and planning a traveling path and speed of the robot and an obstacle avoidance mode.
Furthermore, the sensing layer further comprises a solid-state area array radar which is arranged at the front end of the walking machine body and used for obstacle avoidance and ground cliff detection.
Furthermore, the sensing layer further comprises an inertia measurement unit, and the inertia measurement unit is used for correcting positioning and navigation by combining the multi-line laser radar and the single-line laser radar.
Further, the industrial computer still be used for: acquiring image data returned by the front depth camera, removing ground information in the image data, detecting the area and size of ground stains by fusing three-dimensional point cloud data through a deep learning algorithm, and finally adjusting relevant operation parameters of robot disinfection and cleaning in real time according to a detection result to ensure that the cleaning effect reaches the standard.
Further, the electrical control system includes:
the multifunctional motor driver is respectively and electrically connected with the industrial personal computer, the hub motor, the brush disc motor of the brush disc assembly and the water absorption motor of the water absorption assembly and is used for driving the hub motor, the brush disc motor and the water absorption motor to act according to the designated parameters of the industrial personal computer;
the controller is respectively electrically connected with the industrial personal computer and the disinfection and cleaning execution element and is used for driving the disinfection and cleaning execution element to act according to the designated parameters of the industrial personal computer;
the human-computer interaction screen is electrically connected with the industrial personal computer and is used for inputting robot control parameters and displaying current and historical state data of the robot;
and the battery BMS system is used for optimally managing the battery to provide electric energy for the robot.
The invention has the following beneficial effects:
the epidemic prevention disinfection and cleaning robot provided by the invention is provided with a washing structure and a directional spraying disinfection device, has the functions of manual driving, autonomous movement and obstacle avoidance, and fills the gap of intelligent disinfection and cleaning operation in high-risk and high-risk environments. Rely on the function of robot autonomous movement, reach cleaning, disinfection function integration, cleaning, the unmanned autonomous completion of disinfection process, the replacement people goes deep into the epidemic situation region, cuts off management infectious source and propagation way, in time cleans and disinfects, accomplishes all-round, no dead angle, more thorough disinfection and disappears and kills, solves the problem that the inefficiency, scope are not thorough, the difficult assurance of security that artifical cleaning and disinfection operation exist, does good epidemic situation prevention and control work conscientiously.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic front view of an epidemic prevention disinfection cleaning robot in the preferred embodiment of the invention.
Fig. 2 is a schematic diagram of the unmanned system of the preferred embodiment of the present invention.
Fig. 3 is a schematic diagram of the overall control architecture of the epidemic prevention disinfection cleaning robot in the preferred embodiment of the invention.
Fig. 4 is a schematic diagram of a three-level safety control strategy of the epidemic prevention disinfection cleaning robot in the preferred embodiment of the invention.
In the figure: 1. a brush disc assembly; 2. a hub motor; 3. a steering device; 4. a water absorption assembly; 5. a brush disc push rod; 6. a water absorption pushing rod; 7. a traveling wheel; 8. a walking machine body; 9. a spray disinfection device; 10. a steering wheel; 11. an unmanned system; 12. a water tank assembly; 13. an electrical control system; 14. a front lower ultrasonic sensor; 15. a solid-state area array radar; 16. a single line laser radar; 17. a front upper ultrasonic radar; 18. a front depth camera; 19. a side ultrasonic sensor; 20. an inertial measurement unit; 21. a multiline laser radar; 22. a back depth camera; 23. a rear ultrasonic sensor; 24. and an industrial personal computer.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, the preferred embodiment of the present invention provides an epidemic prevention disinfection and cleaning robot, which comprises a walking machine body 8, a water tank assembly 12, a brush disc assembly 1, a water absorption assembly 4, a spray disinfection device 9, an unmanned system 11 and an electric control system 13.
The bottom of walking organism 8 is provided with walking wheel 7, and the top is provided with the steering wheel 10 that is used for manual driving, and wherein, be located walking wheel 7 of walking organism 8 front end through turn to device 3 with walking organism 8 is connected, is convenient for turn to, be located walking wheel 7 of walking organism 8 rear end then only provides power, does not possess the function of turning to. The walking wheel 7 is provided with the wheel hub motor 2 which is driven by electric energy provided by the lithium battery to rotate, the epidemic prevention disinfection cleaning robot takes the lithium battery as power energy, the epidemic prevention disinfection cleaning robot is driven to walk by the wheel hub motor 2, the wheel hub motor 2 and the walking wheel 7 are integrally installed, the robot structure can be effectively simplified, and the robot structure is more compact and reliable.
The water tank assembly 12 is fixedly arranged on the walking machine body 8 and is used for containing a disinfection solution for operation and ground washing wastewater, on one hand, the water tank assembly 12 provides the prepared disinfection solution for operation, and simultaneously, a user also collects the ground washing wastewater in a sealing manner, so that the secondary pollution of the wastewater generated by the robot cleaning operation to the environment is prevented;
the brush disc assembly 1 is movably arranged at the front end of the walking machine body 8 and mainly cleans the ground in a rotating mode.
The assembly 4 activity that absorbs water sets up 8 bottoms of walking organism just are located brush dish assembly 1 rear for collect wash ground waste water and carry extremely water tank assembly 12, the robot is at the operation in-process of walking, brush dish assembly 1 rotates according to the speed of settlement and sprays the disinfection solution that mixes, washs and disinfect ground, and the sewage after the washing is then through being located brush dish assembly 1 rear absorb water assembly 4 collect the back and carry extremely carry out subsequent innocent treatment in the sewage of water tank assembly 12 is collected.
The spray disinfection device 9 is arranged behind the machine body 8 and connected with disinfection solution in the water tank assembly 12, and is used for spraying disinfection on the surface of a specified object according to set time length, wherein the surface of the specified object is specifically a part which is usually contacted by a human body in an operation area, and comprises object surfaces which are easily touched by the human body, such as a seat, a door handle, a handrail and the like.
The unmanned system 11 is used for controlling the walking machine body 8 to automatically finish walking in a working area and identifying a specified object according to a set driving strategy, in the embodiment, the unmanned system 11 enables the robot to have the functions of autonomous movement and obstacle avoidance, and in addition, the robot is simultaneously provided with a steering wheel 10 for manual driving, so the robot can carry out unmanned or manned operation according to actual needs. Generally, when the robot reaches a working area to perform normal disinfection and cleaning operation, the robot adopts a manual driving mode, so that the problems of low efficiency, incomplete range and difficult safety guarantee of manual cleaning and disinfection operation are solved, and the safe and efficient implementation of the cleaning and disinfection operation is ensured.
The electric control system 13 is electrically connected with the walking machine body 8, the water tank assembly 12, the brush disc assembly 1, the water absorption assembly 4, the spray disinfection device 9 and the unmanned system 11 respectively, and is used for controlling the action of each part of executive elements according to manual operation or a driving strategy of the unmanned system 11.
Since the seat, the door handle, the armrest, and the like are parts that are easily touched by a human body; the surfaces of the objects also become places where bacteria or viruses are most easily spread, so when disinfection operation is carried out, the embodiment can carry out key spray disinfection on the positions, and can also carry out spraying while walking, so that the uniformity, accuracy and effectiveness of spray disinfection are ensured; meanwhile, the existing disinfection robot has single function and can only carry out disinfection operation,
the epidemic prevention disinfection and cleaning robot of the embodiment is provided with a washing structure and a directional spraying disinfection device 9, has the functions of manual driving, autonomous movement and obstacle avoidance, and fills the gap of intelligent disinfection and cleaning operation in high-risk and high-risk environments. Rely on the function of robot autonomous movement, reach the integration of cleaning, disinfection function, it is clean, the unmanned autonomous completion of disinfection process, the replacement people goes deep into the epidemic situation region, cut off management infectious source and propagation way, in time clean and disinfect, solve current disinfection robot function singleness, can only carry out the shortcoming of disinfection operation, accomplish all-round, no dead angle, more thorough disinfection is killed, solve the inefficiency that artifical cleaning and disinfection operation exist, the scope is not thorough, the difficult problem of guaranteeing of security, do epidemic situation prevention and control work conscientiously.
In addition, in order to improve the operability, a brush disc push rod 5 which is connected with the brush disc assembly 1 and is used for adjusting the operation position of the brush disc assembly 1 is arranged on the walking machine body 8; and the water absorption and shoving push rods 6 are connected with the water absorption assembly 4 and are used for adjusting the operation position of the water absorption and shoving in the water absorption assembly 4, the push rods are electrically driven to realize the position adjustment of the brush disc push rod 5 and the water absorption and shoving push rod 6, for example, when the water absorption and shoving push rod is operated from a storage place to an operation area or is transferred, or after the operation is finished, the brush disc assembly 1 and the water absorption and shoving can be lifted by the push rods, and the relative positions of the brush disc assembly 1 and the water absorption and the bottom surface can be adjusted by the push rods before or in the operation process, so that the requirements of the washing and water absorption operations are met.
In another possible embodiment, in order to meet the operation requirement, the water tank assembly 12 comprises a clean water storage container, a sewage storage container and a disinfectant storage container which are isolated from each other, the sewage storage container is connected with the water absorption assembly 4 in a pipeline manner, and a mixing channel for mixing is arranged between the clean water storage container and the disinfectant storage container. Before operation, the disinfectant with a set proportion flows into the clear water storage container through the mixing channel manually to prepare a disinfectant solution meeting the requirements of the relevant proportion, and the disinfectant solution is best prepared for subsequent cleaning and disinfection.
In another possible embodiment, in order to reduce the contact between the operator and the disinfectant, reduce the instability of the preparation ratio, and improve the automation degree of the equipment, the embodiment adopts a scheme of automatically preparing the disinfectant solution, that is, the clear water and the disinfectant are automatically mixed to perform disinfection and cleaning operation according to the set ratio of the disinfectant to the clear water during operation. For this purpose, the water tank assembly 12 further includes a disinfectant mixing device electrically connected to the electrical control system 13, the disinfectant mixing device includes a level meter for detecting the volume of the liquid in the clean water storage container and the disinfectant storage container, a control gate valve or a delivery pump, and a flow meter disposed on the mixing channel, when a mixing command is received, the control gate valve or the delivery pump is opened to allow the disinfectant to flow into the clean water storage container for mixing according to a set flow rate, the level meter can determine the current volume of the clean water and the disinfectant in the clean water storage container and the disinfectant storage container, the flow meter can detect the volume of the disinfectant flowing into the clean water storage container, when the ratio of the volume of the disinfectant flowing into the clean water storage container and the volume of the clean water meets a set requirement, the control gate valve or the delivery pump is closed to block the mixing channel between the clean water storage container and the disinfectant storage container, the automatic preparation of the disinfectant solution is completed, and during mixing, the disinfectant can automatically flow in by utilizing the height difference and can also be pumped by arranging an anti-corrosion delivery pump.
As shown in fig. 2, in a possible embodiment, the unmanned system 11 includes a sensing layer and a decision layer, the sensing layer performs mapping, positioning, navigation and obstacle avoidance after correcting related errors through data fusion of sensors, and the decision layer includes an industrial personal computer 24.
Wherein, the perception layer specifically includes:
the multi-line laser radar 21 is arranged at the upper end of the walking machine body 8, is electrically connected with the industrial personal computer 24 through an Ethernet interface, and is used for constructing a map, positioning and navigating;
the front lower ultrasonic sensor 14, the front upper ultrasonic radar 17, the side ultrasonic sensor 19 and the rear ultrasonic sensor 23 are respectively arranged at the front lower end, the front upper end, the two side edges and the rear end of the walking machine body 8, are electrically connected with the industrial personal computer 24 through RS485 interfaces and are used for avoiding obstacles on the front, the back, the left and the right of the robot;
the single-line laser radar 16 is arranged at the front end of the walking machine body 8, is electrically connected with the industrial personal computer 24 through an Ethernet interface, and is used for constructing a map, positioning and avoiding barriers;
the front depth camera 18 and the rear depth camera 22 are respectively arranged at the front end and the rear end of the walking machine body 8, are electrically connected with the industrial personal computer 24 through a USB interface, and are used for identifying an object through machine vision and avoiding an obstacle, namely, in the embodiment, the depth cameras are used for the robot to avoid the obstacle and also used for identifying whether a human body normally-contacted part exists in an operation area or not, and comprise a seat, a door handle, an armrest and the like, after the relevant human body normally-contacted part is identified, the industrial personal computer 24 starts the spray disinfection device 9 and sprays and disinfects the surface of the specified object according to set duration, so that the fixed-point timed disinfection of the seat, the door handle, the armrest and other parts is realized, the disinfection efficiency is improved, and the use amount of the disinfection solution is optimized and saved.
The decision layer comprises an industrial personal computer 24 which is electrically connected with each sensor of the sensing layer respectively and used for planning a path and controlling a process according to known position information constructed by each sensor of the sensing layer, and planning a traveling path, a speed and an obstacle avoidance mode of the robot.
Further, in order to improve the detection capability of the ground cliff, the sensing layer further comprises a solid-state area array radar 15, and the solid-state area array radar 15 is arranged at the front end of the walking machine body 8, is electrically connected with the industrial personal computer 24 through an Ethernet interface, and is used for obstacle avoidance and ground cliff detection.
Further, in order to improve the positioning and navigation accuracy, the sensing layer further comprises an inertial measurement unit 20, and the inertial measurement unit 20 is electrically connected with the industrial personal computer 24 through an RS232 interface and is used for correcting the positioning and navigation by combining the multi-line laser radar 21 and the single-line laser radar 16.
As shown in fig. 3, the electrical control system 13 includes a multifunctional motor driver, a controller, a man-machine interaction screen, and a battery BMS system.
The multifunctional motor driver is respectively and electrically connected with an industrial personal computer 24, the hub motor 2, a brush disc motor of the brush disc assembly 1 and a water absorption motor of the water absorption assembly 4 and is used for driving the hub motor 2, the brush disc motor and the water absorption motor to act according to the designated parameters of the industrial personal computer 24; the controller is respectively electrically connected with the industrial personal computer 24 and the disinfection and cleaning execution element and is used for driving the disinfection and cleaning execution element to act according to the designated parameters of the industrial personal computer 24; the human-computer interaction screen is electrically connected with the industrial personal computer 24 and is used for inputting robot control parameters and displaying current and historical state data of the robot; the battery BMS system is used for optimally managing the battery to provide electric energy for the robot.
In the above embodiment, the unmanned system 11 controls the autonomous walking of the robot through the sensing layer and the decision layer, and the specific control process involves:
one, instant map construction and location (SLAM)
In the embodiment, the multi-line laser radar 21 is used as a main sensor to realize synchronous positioning and map construction. And performing inter-frame matching according to the laser point cloud data, solving space coordinates of the multi-line laser radar 21, generating a grid map of the current frame, solving a laser radar motion track by using the space coordinates and the grid map, reducing accumulated errors in the motion process through skills such as loop detection, map optimization and the like, finally generating a positioning coordinate and a motion track of the mobile robot, and establishing a scene two-dimensional grid map for subsequent path planning and navigation.
Navigation
Navigation strategy: the navigation can be divided into two parts of path planning and process control:
1) path planning
The map data obtained by the instant map construction and positioning is integrated with the data output by the sensors such as the multi-line laser radar 21, the odometer, the inertial measurement unit 20 and the like, and the initialization of the robot in the environment is completed by combining a path planning control algorithm, so that the initial position and the attitude of the robot are determined. The method comprises the following steps of taking a map generated based on a laser SLAM technology as original data, and fusing algorithms such as an A-x algorithm, a Dijkstra algorithm and a boundary limit control strategy to finish two path planning modes of teaching and full coverage, wherein:
the teaching mode specifically comprises the following steps: the operation robot walks the operation route as required, records the route information, analyzes and disperses the route when planning the route, sends the dispersed point as an ordered target point to a decision layer, and calculates and stores the corresponding route through a planning algorithm.
The full coverage mode specifically comprises: the operation robot walks a closed operation path as required, and records the path information. The map is attached with cost information in combination with conditions such as peripheral path boundaries, internal obstacles, and the like. And combining information such as the working width, the turning radius and the like of the robot, fully covering the area according to the paths in the forms of Chinese character bow, Chinese character return and the like by a planning algorithm in a mode of minimizing the navigation cost, and storing the path information for subsequent process control.
2) Process control
The process control includes two parts: and controlling the speed, stopping the obstacle and avoiding the obstacle.
When speed control is carried out, when fused data of the multi-line laser radar 21, the single-line laser radar 16, the front lower ultrasonic sensor 14, the front upper ultrasonic radar 17, the side ultrasonic sensor 19 and the rear ultrasonic sensor 23 of the embodiment aim at static and dynamic multi-targets in the advancing process, the advancing speed is automatically adjusted according to the result of detecting ground stains by the front depth camera 18, the robot is controlled by multi-target constraint speed, if obstacles appear, the robot pauses for waiting, and if the obstacles exist for a long time, an obstacle avoidance strategy is adopted.
As shown in fig. 4, when stopping and avoiding an obstacle, the present embodiment integrally adopts a multiple protection mechanism to perform overall obstacle avoidance:
the method comprises the following steps that a first early warning area is detected by the multi-line laser radar 21, and the distance between the first early warning area and the outline of a robot body is set to be L1;
detecting a second early warning area by the single-line laser radar 16, wherein the distance from the second early warning area to the contour of the robot body is set to be L2;
the front lower ultrasonic sensor 14, the front upper ultrasonic radar 17, the side ultrasonic sensor 19 and the rear ultrasonic sensor 23 adopt a double-probe mode to detect a third early warning area, and the third early warning area is set to have a contour distance L3 from the robot body;
the front depth camera 18 and the solid-state area array radar 15 perform ground cliff detection.
According to different sensor detection distance ranges, corresponding safe distance thresholds L1, L2 and L3 and corresponding traveling speeds v1, v2 and v3 are set (v1 > v2 > v 3).
The specific strategies for stopping and avoiding the obstacle in this embodiment are as follows:
a) when the distance detected by the multi-line laser radar 21 is smaller than a safe distance threshold value L1, the industrial personal computer 24 gives an instruction to control the traveling wheel 7 to decelerate the robot to v 1;
b) when the distance detected by the single-line laser radar 16 is smaller than a safe distance threshold value L2, the industrial personal computer 24 gives an instruction to control the traveling wheel 7 to decelerate the robot to v 2;
c) when the distance detected by the sensor is smaller than a safe distance threshold value L3, the industrial personal computer 24 gives an instruction to control the traveling wheel 7 to decelerate the robot to v 3;
d) when the ultrasonic sensors detect that the duration time of the obstacles in the third early warning area is less than t, the industrial personal computer 24 issues an instruction to control the robot to stop;
e) when the ultrasonic sensors detect that the duration time of the obstacles in the third early warning area is longer than t, the industrial personal computer 24 issues an instruction to control the robot to perform local path replanning to avoid the obstacles, and the robot returns to the previously planned path to continue traveling after avoiding the obstacles according to the newly planned path.
When cliff detection is performed, the solid-state area array radar 15 is used as a main sensor in the embodiment, ground morphology (ground clearance) is detected, cliff detection is performed through laser point cloud mutation, and if a cliff with height mutation is detected, the industrial personal computer 24 issues an instruction to control the robot to perform local path re-planning so as to avoid the cliff.
Third, fault tolerance mechanism
Mainly comprises two layers:
(1) through perception layer sensor data fusion, mainly used location and the perception of navigation, in this embodiment, multi-line laser radar 21, single line laser radar 16, inertial measurement unit 20 are as complementary data, can produce the accumulative error after single sensor long-time work, and the data fusion through the multisensor can revise relevant error.
(2) The whole software architecture designs a fault tolerance mechanism, each sensor and the industrial personal computer 24 adopt a heartbeat real-time connection mechanism and a daemon mechanism, and once heartbeat loss occurs or the daemon mechanism gives an alarm, the system automatically stops and gives an alarm to wait for manual confirmation.
The epidemic prevention disinfection cleaning robot has two epidemic prevention disinfection cleaning operation modes:
the floor and corner areas are washed, disinfected and cleaned, and the object surfaces such as seats and door handles which are easy to touch people are sprayed and disinfected at fixed points, and the two operation modes can be operated simultaneously or independently. The front depth camera 18 is used for identifying whether a seat and a door handle tray object exist in front, and if so, the control system automatically starts the spray disinfection device 9 to disinfect; if the object is not present, only the disinfection and cleaning operation is performed on the ground and the corner area.
When the floor washing, disinfecting and cleaning operation is carried out on the ground and corner areas, the epidemic prevention, disinfecting and cleaning robot covers the working area according to a planned path of the unmanned system 11 to carry out autonomous navigation, walking and obstacle avoidance, simultaneously sprays mixed disinfecting solution to all passing areas, the brushing disc assembly 1 cleans dirt and oil stain in the area, the water absorption assembly 4 absorbs the washed sewage and dirt into the sewage storage container until the sewage storage container is full, and the robot autonomously carries out disinfecting and cleaning operation according to the planned path.
When the fixed-point spraying disinfection operation is carried out on the surfaces of objects such as seats, door handles and the like which are easy to touch by people, the epidemic prevention disinfection robot automatically identifies the objects such as the seats, the door handles and the handrails which are easy to touch by people according to the front depth camera 18, autonomously navigates, walks and avoids obstacles in a working area according to a planned working path, and automatically identifies whether the objects such as the seats, the door handles and the like exist in the passing area. If the robot can automatically start a fixed-point spraying disinfection operation mode, the spraying disinfection device 9 is automatically opened for spraying disinfection operation, after the spraying operation time with set duration is finished, the robot automatically closes the spraying disinfection device 9, continues to finish the identification of other specified objects in a subsequent working area, and performs fixed-point fixed-time long-time spraying disinfection operation.
This robot still has disinfection cleaning operation real-time detection function: when the robot carries out ground washing, disinfecting and cleaning operations in ground and corner areas, image data are returned through the front depth camera 18, and the industrial personal computer 24 processes the image data: firstly, removing ground information, and then fusing three-dimensional point cloud data through a deep learning algorithm to detect the area and the size of ground stains; and finally, the industrial personal computer 24 automatically adjusts relevant parameters of the robot disinfection and cleaning operation in real time according to the detection result, including adjusting the driving speed, the rotating speed of the brush disc assembly 1 and the like, so as to ensure that the operation effect reaches the standard.
Through the depth fusion of 'cloud + robot', the robot can be remotely controlled in real time and dispatched in a cluster by remote interconnection, the running video, the operation track and the working condition data are transmitted to the intelligent cloud brain platform for remote monitoring, meanwhile, the remote control of the intelligent cloud brain platform is supported, the intelligent cloud brain platform has self-diagnosis and alarm functions, and when a fault occurs, the intelligent cloud brain platform automatically sends fault information and requests the remote cloud platform to perform functions such as emergency intervention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An epidemic prevention disinfection cleaning robot, characterized by comprising:
the walking vehicle comprises a walking machine body (8), wherein the bottom of the walking machine body (8) is provided with a walking wheel (7) with a hub motor (2), and the top of the walking machine body is provided with a steering wheel (10) for manual driving;
the water tank assembly (12) is fixedly arranged on the walking machine body (8) and is used for containing a disinfection solution for operation and ground washing wastewater;
the brush disc assembly (1) is movably arranged at the front end of the walking machine body (8) and is used for cleaning the ground;
the water absorption assembly (4) is movably arranged at the bottom of the walking machine body (8) and is positioned behind the brush disc assembly (1) and used for collecting ground washing wastewater and conveying the ground washing wastewater to the water tank assembly (12);
the spray disinfection device (9) is arranged behind the machine body (8), is connected with disinfection solution in the water tank assembly (12) and is used for carrying out spray disinfection on the surface of a specified object according to a set time length;
the unmanned system (11) is used for controlling the walking machine body (8) to automatically finish walking of a working area and identification of a specified object according to a set driving strategy;
the electric control system (13) is respectively electrically connected with the walking machine body (8), the water tank assembly (12), the brush disc assembly (1), the water absorption assembly (4), the spray disinfection device (9) and the unmanned system (11) and is used for controlling the action of each part of executive elements according to manual operation or the driving strategy of the unmanned system (11)
When the unmanned system (11) controls the walking machine body (8) to automatically finish walking in the operation area according to a set running strategy, the corresponding running speed is determined according to the early warning area corresponding to the distance between the detected obstacle, and if the duration time of the obstacle in the early warning area with the minimum distance is detected to be less than t, the robot is controlled to stop moving; and if the duration time of the obstacle in the minimum early warning area is detected to be longer than t, controlling the robot to perform local path re-planning to avoid the obstacle, and returning to the previously planned path to continue traveling after the robot avoids the obstacle according to the newly planned path, wherein the early warning area is a plurality of areas which use the robot as the center and have different safe distance thresholds, and the traveling speed corresponding to the early warning area is positively correlated with the safe distance threshold of the early warning area.
2. The epidemic prevention disinfection and cleaning robot according to claim 1, characterized in that the walking machine body (8) is provided with a brush disc push rod (5) connected with the brush disc assembly (1) for adjusting the operation position of the brush disc assembly (1); and the water absorption rake push rod (6) is connected with the water absorption assembly (4) and is used for adjusting the operation position of the water absorption rake in the water absorption assembly (4).
3. An epidemic prevention disinfection and cleaning robot as claimed in claim 1 wherein said water tank assembly (12) comprises a clean water storage container, a sewage storage container, and a disinfectant storage container isolated from each other, said sewage storage container is connected with the water absorption assembly (4) by pipeline, a mixing channel for mixing is arranged between said clean water storage container and disinfectant storage container.
4. The robot of claim 3, wherein the tank assembly (12) further comprises a disinfectant mixing device electrically connected to the electrical control system (13), the disinfectant mixing device comprises a liquid level meter for detecting the volume of the liquid in the fresh water storage container and the disinfectant storage container, a control gate valve or a delivery pump, and a flow meter arranged on the mixing channel, and when a mixing command is received, the control gate valve or the delivery pump is opened to allow the disinfectant to flow into the fresh water storage container at a set flow rate for mixing.
5. The robot of claim 1, wherein the designated object surface is a part of the working area that is in contact with human body, and comprises a seat, a door handle and an armrest.
6. The robot of claim 1, wherein the unmanned system (11) comprises a sensing layer and a decision layer, the sensing layer performs map construction, positioning, navigation and obstacle avoidance after correcting related errors through data fusion of sensors, and the robot comprises:
the multi-line laser radar (21) is arranged at the upper end of the walking machine body (8) and is used for constructing a map, positioning and navigating;
the front lower ultrasonic sensor (14), the front upper ultrasonic radar (17), the side ultrasonic sensor (19) and the rear ultrasonic sensor (23) are respectively arranged at the front lower end, the front upper end, the two side edges and the rear end of the walking machine body (8) and are used for avoiding obstacles of the robot in front, back, left and right directions;
the single-line laser radar (16) is arranged at the front end of the walking machine body (8) and is used for constructing a map, positioning and avoiding obstacles;
a front depth camera (18) and a rear depth camera (22) which are respectively arranged at the front end and the rear end of the walking machine body (8) and used for identifying objects and avoiding obstacles through machine vision;
the decision layer comprises an industrial personal computer (24) which is respectively electrically connected with the sensors of the perception layer and used for planning a path and controlling a process according to known position information constructed by the sensors of the perception layer, and planning a traveling path and speed of the robot and an obstacle avoidance mode.
7. The robot of claim 6, wherein the sensing layer further comprises a solid-state area array radar (15), and the solid-state area array radar (15) is arranged at the front end of the walking machine body (8) and used for obstacle avoidance and ground cliff detection.
8. An epidemic prevention disinfection and cleaning robot according to claim 6 or 7, characterized in that the sensing layer further comprises an inertial measurement unit (20), and the inertial measurement unit (20) is used for correcting positioning and navigation by combining the multi-line laser radar (21) and the single-line laser radar (16).
9. An epidemic prevention disinfection and cleaning robot as claimed in claim 6, wherein said industrial personal computer (24) is further adapted to: the image data returned by the front depth camera (18) is obtained, ground information in the image data is removed, the three-dimensional point cloud data is fused through a deep learning algorithm to detect the area and the size of ground stains, and finally relevant operation parameters of robot disinfection and cleaning are adjusted in real time according to the detection result to ensure that the cleaning effect reaches the standard.
10. An epidemic prevention disinfection and cleaning robot as claimed in claim 1, characterized in that said electrical control system (13) comprises:
the multifunctional motor driver is respectively and electrically connected with the industrial personal computer (24), the hub motor (2), the brush disc motor of the brush disc assembly (1) and the water absorption motor of the water absorption assembly (4) and is used for driving the hub motor (2), the brush disc motor and the water absorption motor to act according to the designated parameters of the industrial personal computer (24);
the controller is respectively electrically connected with the industrial personal computer (24) and the disinfection and cleaning execution element and is used for driving the disinfection and cleaning execution element to act according to the designated parameters of the industrial personal computer (24);
the human-computer interaction screen is electrically connected with the industrial personal computer (24) and is used for inputting robot control parameters and displaying current and historical state data of the robot;
and the battery BMS system is used for optimally managing the battery to provide electric energy for the robot.
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| CN202010293541.3A CN111562782B (en) | 2020-04-15 | 2020-04-15 | Epidemic prevention disinfection cleaning robot |
| PCT/CN2020/120473 WO2021208381A1 (en) | 2020-04-15 | 2020-10-12 | Epidemic-prevention disinfection and cleaning robot |
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| CN202010293541.3A CN111562782B (en) | 2020-04-15 | 2020-04-15 | Epidemic prevention disinfection cleaning robot |
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| CN111562782A (en) | 2020-08-21 |
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