Subway carriage disinfection robot and automatic navigation method thereof

An automatic navigation and robot technology, applied in the field of robots, can solve the problems of robots losing coordinates, unable to realize automatic navigation and autonomous disinfection, etc., and achieves the effect of good adaptability and accurate pose estimation results.

Pending Publication Date: 2021-01-05
CHINA ACAD OF SAFETY SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When only lidar or other single navigation equipment is used, it is very easy to cause the robot to lose coordinates, and it is impossible to realize automatic navigation and autonomous disinfection tasks

Method used

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  • Subway carriage disinfection robot and automatic navigation method thereof
  • Subway carriage disinfection robot and automatic navigation method thereof
  • Subway carriage disinfection robot and automatic navigation method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] A subway car disinfection robot, including a robot body and an atomization system, such as figure 2 and Figure 4 As shown, the atomization system is placed in the inner cavity of the robot body, and is provided with a mist outlet 2, a mist outlet hose 3 and an atomization box 4 in sequence from top to bottom. like Figure 8 As shown, the bottom of the atomizing box 4 is provided with several atomizing plates 20 .

[0058] Piezoelectric discs 24 are arranged under the piezoelectric substrate of the atomizing plate. After the piezoelectric discs are energized, multiple waveforms are generated by mutual vibration. Under the action of motion inertia, the liquid is atomized on the flow channel of the atomizing plate. At the same time, if Figure 5 As shown, there are also air holes 23 with a diameter of 0.1 mm under the atomizing plate. The air outlet structure of the air hole 23 is as follows: Image 6 As shown, the flow channel is connected to the micro air compre...

Embodiment 2

[0071] An automatic navigation method for a subway car disinfection robot, comprising the following steps:

[0072] Step 1. A sub-graph is generated from the lidar scan frames scanned continuously for a period of time. The sub-graph adopts the map representation model of the probability grid. When a new lidar scan frame is inserted into the probability grid, the grid status is updated, as follows. :

[0073] The pose of the robot can be calculated by ξ=(ξ x ,ξ y ,ξ θ ) to represent, ξ x and ξ y represents the amount of translation in the x and y directions, ξ θ Represents the amount of rotation in a two-dimensional plane. Record the data measured by the lidar sensor as The initial laser spot is The pose transformation of the lidar scan data frame mapped to the subgraph is denoted as T ξ , which can be mapped to the subgraph coordinate system by formula (1):

[0074]

[0075] In the formula, R i Represents the rotation angle of the lidar observation pose, t i R...

Embodiment 3

[0119] An automatic navigation method for a subway car disinfection robot, comprising the following steps:

[0120] Step 1. A sub-graph is generated from the lidar scan frames scanned continuously for a period of time. The sub-graph adopts the map representation model of the probability grid. When a new lidar scan frame is inserted into the probability grid, the grid status is updated, as follows. :

[0121] The pose of the robot can be calculated by ξ=(ξ x ,ξ y ,ξ θ ) to represent, ξ x and ξ y represents the amount of translation in the x and y directions, ξ θ Represents the amount of rotation in a two-dimensional plane. Record the data measured by the lidar sensor as The initial laser spot is The pose transformation of the lidar scan data frame mapped to the subgraph is denoted as T ξ , which can be mapped to the subgraph coordinate system by formula (1):

[0122]

[0123] In the formula, R i Represents the rotation angle of the lidar observation pose, t i R...

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Abstract

The invention relates to a subway carriage disinfection robot and an automatic navigation method thereof, and belongs to the technical field of robots. A flow channel of an atomization plate of the disinfection robot is communicated with a micro air compressor through an air inlet, air outlets opposite to each other are formed in the side wall of a vertical pipe of the flow channel, air holes arefurther formed in the lower portion of the atomization plate, pressurized air enters the flow channel, sprayed air forms rotational flow to the air holes, atomized particles are subjected to secondarycrushing, and a pneumatic ultrasonic atomizer is adopted, so the atomized fog amount is increased, and the particle size of fog drops is smaller. The automatic navigation method uses a combination ofa laser radar and visual odometer or visual navigation, closed-loop slam mapping navigation strategy is adopted, so that automatic and accurate navigation of the robot in a subway carriage is realized, and the problem of gallery mobile navigation only depending on laser radar positioning is solved; and the problem that a visual odometer or visual navigation is greatly influenced by light is alsoavoided.

Description

technical field [0001] The invention relates to a subway car disinfection robot and an automatic navigation method thereof, belonging to the technical field of robots. Background technique [0002] During the COVID-19 epidemic, subway station security inspection equipment, self-service ticketing equipment, turnstiles, stair handrails, escalator handrails, public toilet door handles and curtains, elevator car four walls, internal and external buttons and other parts that passengers often touch and subway stations Public areas, other operating equipment and facilities, toilets, etc. need to be disinfected regularly; in addition, the interior of the train should be sprayed and disinfected before the train leaves the warehouse or when it returns to the terminal. However, at present, manual disinfection is mostly used, which is highly dependent on the quality, technology and subjectivity of personnel, and some are hidden spaces that are difficult to cover by manual disinfection, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D2201/0217
Inventor 史聪灵车洪磊李建胡鹄任飞
Owner CHINA ACAD OF SAFETY SCI & TECH
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