Disinfection device driving method and disinfection device

A disinfection device and driving direction technology, which is applied to motor vehicles, transportation and packaging, two-dimensional position/channel control, etc., can solve the problems of complex logic and large CPU usage, and achieve simple logic, efficient sterilization, and increased work safety sexual effect

Active Publication Date: 2022-04-05
雷神等离子科技(杭州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This technology adopts different countermeasures according to the state of the obstacle, but it needs the static and dynamic of the obstacle, the logic is relatively complicated, and the CPU takes up a lot

Method used

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  • Disinfection device driving method and disinfection device
  • Disinfection device driving method and disinfection device
  • Disinfection device driving method and disinfection device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049]In this embodiment, an AGV trolley with a disinfectant injector is taken as an example. The trolley has two spray heads, and the spraying directions of the two spray heads are opposite, and form an angle of 90° with the displacement direction of the trolley. This type of trolley can spray disinfectant in two directions, and the spraying range of the spray head can be adjusted according to the size of the space scene. The spraying distance of the spray head in this embodiment is adjustable within the range of 2m-10m. The AGV trolley with a disinfectant injector is equipped with a laser radar device, which can detect obstacles around the trolley under the current workplace in real time. Specifically, 2D lidar scanning can be used.

[0050] Based on the above-mentioned AGV trolley with a disinfectant injector, this embodiment discloses an obstacle avoidance method when the trolley encounters an obstacle during the disinfection process, which is applied to the working method...

Embodiment 2

[0078] Such as Figure 5 , Figure 6 As shown in the flowchart, the present embodiment provides a method for driving a disinfection device based on point cloud data, comprising the following steps:

[0079] Step 1, use laser radar to scan, obtain the point cloud distribution map of the current workplace, and calculate the outline of the workplace;

[0080] Step 2, if the width data of the contour line of the work site exceeds the preset value, establish a spiral equidistant line, and use the helical equidistance line to displace; if the data of the contour line width of the work site is less than or equal to the preset value, it is judged as the first entrance and exit , go through the first entrance and exit and return to step 1;

[0081] Step 3, the trolley is displaced according to the spiral equidistant line. If no obstacle is encountered, the displacement of the current work site is completed along the spiral equidistant line; if an obstacle is encountered, proceed to s...

Embodiment 3

[0129] The present invention also provides a disinfection device, which includes a self-propelled trolley (such as the AGV trolley described in Embodiment 2), and at least one set of laser radar equipment, gyroscope, positioning system and ADS system are loaded on the trolley to ensure The car's normal positioning, obstacle recognition, steering and other functions. And at least one set of disinfectant injectors, such as one-sided disinfectant injectors and two sets of disinfectant injectors in opposite directions. The spray range of the disinfectant injector is 2m-10m.

[0130] Wherein, the lidar emits at a 360° angle. In this embodiment, two sets of laser radars are used to detect the outline of the work site and the subsidence area respectively. A group may also be used in other embodiments.

[0131] Based on this embodiment, aiming at the driving method in the application scenario where the disinfection vehicle sprays disinfectant by itself, the point cloud data is used...

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Abstract

The invention discloses a driving method of a disinfection device and a disinfection device, comprising the steps of obtaining the point cloud distribution map of the current workplace that needs to be disinfected, and calculating the contour line of the workplace; The distance line is displaced by a spiral equidistant line; if the width data of the contour line of the work site is less than or equal to the preset value, it is judged as the first entrance and exit, passes through the first entrance and exit and returns to the above steps; according to the spiral equidistance Line displacement, if no obstacle is encountered, the displacement of the current work site is completed along the spiral equidistant line; if an obstacle is encountered, the obstacle avoidance method is invoked, and if the obstacle is bypassed. The invention provides an automatic sterilization and disinfection device, which installs a disinfectant injector on a self-propelled trolley, and uses a simple unified logic form, which can be adapted to sterilization and disinfection applications in different complex scenarios.

Description

technical field [0001] The invention relates to the technical field of automatic disinfection, in particular to a driving method of a disinfection device and a disinfection device. Background technique [0002] In recent years, health problems have attracted social attention. The application of smart cars in the field of sterilization and disinfection to realize unmanned automatic sterilization is the current development direction. Most of the traditional disinfection methods require staff to push the trolley to operate. Due to the limitation of human operation, its work efficiency is not high. [0003] The smart car robot can operate automatically in an environment according to the preset mode, without human management, and can be used for scientific exploration and so on. The smart car can display time, speed, and mileage in real time. It has functions such as automatic tracking, light finding, and obstacle avoidance. It can be programmed to control driving speed, accurat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D2201/0216
Inventor 黄保家孔德华金浩强
Owner 雷神等离子科技(杭州)有限公司
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