A robot atomization disinfection dosage control system and method

Abstract

The present invention relates to the field of atomization disinfection, and discloses a robot atomization disinfection dosage control system and method. The key technical points of the technical solution include a nozzle control module, a path planning module, a driving module, and a concentration configuration module. Through the setting of the first control strategy and the second control strategy, disinfection is carried out twice successively. Since the disinfection requirements of different parts are different, the first time is to disinfect environmental items, mainly including facilities such as desks and chairs, which are areas where human activities are relatively intensive, and key disinfection is carried out. Then, the environmental space is disinfected comprehensively. Since the residual disinfectant after the previous atomization disinfection will diffuse into the air, the second disinfection is carried out according to the actually detected concentration value, so as to facilitate the control of the dosage of the disinfectant, ensure the disinfection effect while reducing the waste of the disinfectant.

Description

Technical Field

[0001] The present invention relates to the field of atomization disinfection, and more particularly to a robot atomization disinfection dosage control system and method. Background Art

[0002] With the development of robot technology, robots are increasingly applied in daily life. Since the disinfection process itself has a certain degree of infectivity and harm to the body. Thus, automated disinfection robots have emerged, and the robots can enter the designated positions by themselves for disinfection and sterilization. Atomization disinfection uses an atomizer to atomize the disinfectant into ultra-fine particles of hundreds of millions of nanometers in size and spread them into the environment to be disinfected. These ultra-fine nano antibacterial particles can more effectively kill bacteria and molds in the air and on the attached objects, leaving them nowhere to hide. However, the existing atomization disinfection cannot control the spraying dosage of the disinfectant, which is likely to cause overuse and waste of the disinfectant. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a robot atomization disinfection dosage control method, which is convenient for controlling the disinfection dosage and avoiding the waste and overuse of the disinfectant.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A robot atomization disinfection dosage control system includes

[0006] A nozzle control module, the disinfection control module includes a plurality of nozzle units, a plurality of concentration detection units and a nozzle control unit. The concentration detection units correspond to the nozzle units one by one. Each of the nozzle units is preset with a spraying range. The nozzle control module is configured with a first control strategy and a second control strategy.

[0007] When in the first control strategy, the nozzle control module controls each nozzle unit to spray atomized disinfectant liquid at a preset first flow rate.

[0008] When in the second control strategy, the concentration detection unit detects the disinfectant concentration in real time and compares it with the standard concentration value to generate a concentration deviation value. The nozzle control unit obtains the concentration deviation value and adjusts the ejection amount of the corresponding nozzle unit. The ejection amount is positively correlated with the concentration deviation value. If the concentration deviation value is less than the preset value, the nozzle control unit controls to close the corresponding nozzle unit.

[0009] A path planning module that scans the space to be disinfected to divide environmental objects and environmental space, and formulates a first movement path and a second movement path. The first movement path enables the spraying range to cover the environmental objects, and the second movement path enables the spraying range of the nozzle to cover the environmental space. The first movement path corresponds to the first control strategy, and the second movement path corresponds to the second control strategy;

[0010] A driving module that controls the disinfection robot to move according to the first movement path and the second movement path;

[0011] A concentration configuration module that configures the disinfectant solution with a preset first concentration and a second concentration. The first concentration corresponds to the first movement path, and the second concentration corresponds to the second movement path. The second concentration is less than the first concentration.

[0012] A method for controlling the atomization disinfection dose of a robot, providing a robot atomization disinfection dose control system as described in claim 1, including the following steps:

[0013] A path planning step, where the path planning module scans the space to be disinfected to divide environmental objects and environmental space, and formulates a first movement path and a second movement path. The first movement path enables the spraying range of the nozzle to cover each environmental object, and the second movement path enables the spraying range of the nozzle to cover the environmental space;

[0014] A first disinfection step, where the driving module drives the disinfection robot to move along the first movement path, and the nozzle control module controls each nozzle unit to spray atomized disinfectant solution with the first concentration on the environmental objects;

[0015] A second disinfection step, where the driving module drives the disinfection robot to move along the second movement path, and the nozzle control module controls each nozzle unit to spray atomized disinfectant solution with the second concentration on the environmental objects. The second concentration is less than the first concentration. Each concentration detection unit detects the disinfectant concentration in real time and compares it with the standard concentration value to generate a concentration deviation value. The nozzle control unit obtains the concentration deviation value and adjusts the spraying amount of the corresponding nozzle unit. The spraying amount is positively correlated with the concentration deviation value. If the concentration deviation value is less than the preset value, the nozzle control unit controls to close the corresponding nozzle unit.

[0016] In the present invention, preferably, it also includes a human flow acquisition module, which is arranged at the entrance and exit and collects human flow data, the human flow data reflects the number of people entering and exiting the space to be disinfected within the interval between two disinfections, the concentration configuration unit obtains the human flow data and corrects the first concentration, and the first concentration is positively correlated with the human flow data.

[0017] In the present invention, preferably, the atomization disinfection dosage control system includes a flow rate control module, the flow rate control module changes the spraying range of each nozzle element by adjusting the air volume, and the flow rate control module includes a positioning unit, the positioning unit obtains the current position of the disinfection robot,

[0018] The path planning module is configured with a map database. The path planning module scans and records the position and normal length of each point on the first moving path in the map database. The normal length reflects the length of the environmental object in the normal direction of the first moving path.

[0019] The flow rate control module uses the current position as an index to search the corresponding normal length in the map database to define it as a spraying distance, and outputs the corresponding air volume according to the spraying distance so that the atomized disinfectant can cover the environmental objects.

[0020] In the present invention, preferably, it also includes a standard concentration correction module, which records the spraying volume of each nozzle unit and corrects the corresponding standard concentration value. The spraying volume reflects the volume of atomized disinfectant actually sprayed by each nozzle unit under the second moving path, and the standard concentration value is negatively correlated with the spraying volume.

[0021] In the present invention, preferably, it also includes a sampling module, which randomly selects a preset number of detection points in the environmental space after the disinfection is completed, and calculates the qualified rate of the disinfectant concentration values ​​between multiple detection points. If the qualified rate is less than the qualified threshold, the preset increment is added to the standard concentration value of each nozzle unit, and the newly obtained standard concentration value is used as the standard concentration value for the next complete atomization disinfection, and the unqualified detection points are atomized and disinfected again, and the random sampling of detection points and the calculation of the qualified rate are repeated until the qualified rate meets the qualified threshold.

[0022] In the present invention, preferably, the second moving path is arranged to spirally rotate from the periphery to the center along the shape of the environmental space.

[0023] In the present invention, preferably, the robot atomization disinfection dosage control system further includes a sampling module,

[0024] The robot atomization disinfection dose control method further includes a concentration sampling step. Specifically, after the second disinfection step, the sampling module randomly selects a preset number of detection points in the environmental space and calculates the pass rate of the disinfectant concentration values among multiple detection points. If the pass rate is less than the qualified threshold, a preset increment is added to the standard concentration value of each nozzle unit, and the newly obtained standard concentration value is used as the standard concentration value for the next complete atomization disinfection. Then, the unqualified detection points are atomized and disinfected again, and the detection points are randomly selected and the pass rate is calculated repeatedly until the pass rate meets the qualified threshold.

[0025] In the present invention, preferably, the robot atomization disinfection dose control system further includes a standard concentration correction module.

[0026] The robot atomization disinfection dose control method further includes a standard concentration correction step. Specifically, after the concentration sampling step, the standard concentration correction module records the spraying amount of each nozzle unit and corrects the corresponding standard concentration value. The spraying amount reflects the volume of the atomized disinfectant actually sprayed by each nozzle unit under the second movement path, and the standard concentration value is negatively correlated with the spraying amount.

[0027] Advantages of the present invention:

[0028] Through the setting of the first control strategy and the second control strategy, disinfection is carried out twice successively. Since the disinfection requirements of different parts are different, the first time is to disinfect environmental items, mainly including facilities such as desks and chairs, which are areas where human activities are relatively intensive, and key disinfection is carried out. Then, the entire environmental space is disinfected. Since the residual disinfectant after the previous atomization disinfection will disperse into the air, the second disinfection is carried out based on the actually detected concentration value, so as to facilitate the control of the dosage of the disinfectant, ensure the disinfection effect and reduce the waste of the disinfectant. Description of the Drawings

[0029] Figure 1 is a schematic diagram of the system architecture of this embodiment;

[0030] Figure 2 is a flowchart of the method in this embodiment.

[0031] Reference Signs:

[0032] 1. Nozzle control module; 11. Nozzle unit; 12. Concentration detection unit; 13. Nozzle control unit; 2. Path planning module; 3. Driving module; 4. Concentration configuration module; 5. Human flow acquisition module; 6. Flow rate control module; 7. Standard concentration correction module; 8. Sampling module. Detailed Embodiments

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0036] Please also refer to Figures 1 to 2, this embodiment provides a robot atomization disinfection dose control system, including a nozzle control module 1, a path planning module 2, a driving module 3, and a concentration configuration module 4. The disinfection control module includes a number of nozzle units 11, a number of concentration detection units 12, and a nozzle control unit 13. The concentration detection units 12 correspond to the nozzle units 11 one by one. Each nozzle unit 11 is preset with a spraying range. The nozzle control module 1 is configured with a first control strategy and a second control strategy. When in the first control strategy, the nozzle control module 1 controls each nozzle unit 11 to spray atomized disinfectant at a preset first flow rate; when in the second control strategy, the concentration detection unit 12 detects the disinfectant concentration in real time and compares it with the standard concentration value to generate a concentration deviation value. The nozzle control unit 13 obtains the concentration deviation value and adjusts the spraying amount of the corresponding nozzle unit 11. The spraying amount is positively correlated with the concentration deviation value. If the concentration deviation value is less than the preset value, the nozzle control unit 13 controls to turn off the corresponding nozzle unit 11. Through the setting of the first control strategy and the second control strategy, this invention conducts disinfection twice successively. Since the disinfection requirements of different parts are different, the first time is to disinfect environmental items, mainly including facilities such as desks and chairs, which are areas where human activities are relatively intensive, and focus on disinfection. Then, the environmental space is disinfected comprehensively. Since the residual disinfectant after the previous atomization disinfection will disperse into the air, the second disinfection is carried out according to the actually detected concentration value, so as to facilitate the control of the dosage of the disinfectant, ensure the disinfection effect, and reduce the waste of the disinfectant.

[0037] The path planning module 2 scans the space to be disinfected to divide environmental items and the environmental space, and formulates a first movement path and a second movement path. The first movement path enables the spraying range to cover environmental items, and the second movement path enables the spraying range of the nozzles to cover the environmental space. The first movement path corresponds to the first control strategy, and the second movement path corresponds to the second control strategy. The setting of the first movement path is based on the standard of reducing the movement of the disinfection robot. The second movement path is spirally rotated from the periphery to the center along the shape of the environmental space. The driving module 3 controls the disinfection robot to move according to the first movement path and the second movement path. The concentration configuration module 4 configures the disinfectant with a preset first concentration and a second concentration. The first concentration corresponds to the first movement path, and the second concentration corresponds to the second movement path. The second concentration is less than the first concentration. Distinguish the disinfectant concentrations used for the two disinfections, and the second concentration is less than the first concentration. The second spray can supplement and strengthen the first disinfection, and the low-concentration disinfectant is easier to control the concentration of the disinfectant, making the dosage more accurate and reducing the waste of the disinfectant.

[0038] The atomization disinfection dosage control system includes a flow rate control module 6. The flow rate control module 6 changes the spraying range of each nozzle element by adjusting the air volume. The flow rate control module 6 includes a positioning unit that obtains the current position of the disinfection robot. The path planning module 2 is configured with a map database. The path planning module 2 scans and records the positions of points and the normal lengths on the first moving path in the map database. The normal length reflects the length of environmental items in the normal direction of the first moving path. The flow rate control module looks up the corresponding normal length in the map database using the current position as an index to define the spraying distance, and outputs the corresponding air volume according to the spraying distance so that the atomized disinfectant can cover the environmental items. Under the first control strategy, first, disinfect the items in the space, such as common and frequently used items by humans like desks and chairs. Adjust the air volume so that the disinfectant can be sprayed onto the surfaces of these items, improving the comprehensiveness of disinfection and avoiding dead corners.

[0039] It also includes a standard concentration correction module. The standard concentration correction module records the spraying amounts of each nozzle unit 11 and corrects the corresponding standard concentration values. The spraying amount reflects the volume of atomized disinfectant actually sprayed by each nozzle unit 11 under the second moving path. The standard concentration value is negatively correlated with the spraying amount. This setting is mainly to balance the total amount of disinfectant sprayed between each nozzle unit 11 and avoid the situation where some nozzle units 11 work continuously while the others do not. For example, for the nozzle units 11 arranged along the outer circumference of the disinfection robot, the nozzle unit 11 facing the moving direction, since it enters the un-disinfected area first, the disinfectant concentration detected by the corresponding concentration detection unit 12 is always lower than that of others. If the standard concentration value is not corrected, this nozzle unit 11 will work continuously while the nozzle units 11 located behind hardly work.

[0040] It also includes a sampling inspection module 8. After disinfection, the sampling inspection module 8 randomly selects a preset number of detection points in the environmental space and calculates the qualification rate of the disinfectant concentration values between multiple detection points. If the qualification rate is less than the qualified threshold, increase the preset increment for the standard concentration values of each nozzle unit 11, use the newly obtained standard concentration value as the standard concentration value for the next complete atomization disinfection, and perform atomization disinfection on the unqualified detection points again. Repeat randomly selecting detection points and calculating the qualification rate until the qualification rate meets the qualified threshold.

[0041] A robot atomization disinfection dosage control method provides a disinfection dosage control system as above, including the following steps: a path planning step; a first disinfection step; a second disinfection step.

[0042] The path planning module 2 scans the space to be disinfected, divides the environmental items and the environmental space, and formulates a first movement path and a second movement path. The first movement path enables the spraying range of the nozzle to cover each environmental item, and the second movement path enables the spraying range of the nozzle to cover the environmental space;

[0043] The driving module 3 drives the disinfection robot to move along the first movement path, and the nozzle control module 1 controls each nozzle unit 11 to spray atomized disinfectant with a first concentration on the environmental items;

[0044] The driving module 3 drives the disinfection robot to move along the second movement path, and the nozzle control module 1 controls each nozzle unit 11 to spray atomized disinfectant with a second concentration on the environmental items. The second concentration is less than the first concentration. Each concentration detection unit 12 detects the disinfectant concentration in real time and compares it with the standard concentration value to generate a concentration deviation value. The nozzle control unit 13 obtains the concentration deviation value and adjusts the spraying amount of the corresponding nozzle unit 11. The spraying amount is positively correlated with the concentration deviation value. If the concentration deviation value is less than the preset value, the nozzle control unit 13 controls to close the corresponding nozzle unit 11.

[0045] It further includes a pedestrian flow acquisition module 5. The flow acquisition module is set at the entrance and exit and collects pedestrian flow data. The pedestrian flow data reflects the number of people entering and leaving the space to be disinfected during the interval between two disinfections. The concentration configuration unit obtains the pedestrian flow data and corrects the first concentration. The first concentration is positively correlated with the pedestrian flow data.

[0046] The robot atomized disinfection dose control method further includes a concentration sampling inspection step. The concentration sampling inspection step is specifically as follows: after the second disinfection step, the sampling inspection module 8 randomly selects a preset number of detection points in the environmental space and calculates the qualification rate of the disinfectant concentration values between multiple detection points. If the qualification rate is less than the qualified threshold, a preset increment is added to the standard concentration value of each nozzle unit 11, and the newly obtained standard concentration value is used as the standard concentration value for the next complete atomized disinfection. And the unqualified detection points are atomized and disinfected again. The detection points are randomly selected and the qualification rate is calculated repeatedly until the qualification rate meets the qualified threshold.

[0047] The robot atomized disinfection dose control method further includes a standard concentration correction step. The standard concentration correction step is specifically as follows: after the concentration sampling inspection step, the standard concentration correction module records the spraying amount of each nozzle unit 11 and corrects the corresponding standard concentration value. The spraying amount reflects the volume of the atomized disinfectant actually sprayed by each nozzle unit 11 under the second movement path. The standard concentration value is negatively correlated with the spraying amount.

[0048] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A robot atomization disinfection dosage control system, characterized in that: It includes a nozzle control module (1), the nozzle control module (1) includes a number of nozzle units (11), a number of concentration detection units (12) and a nozzle control unit (13), the concentration detection units (12) correspond to the nozzle units (11) one by one, each of the nozzle units (11) has a preset spraying range, and the nozzle control module (1) is configured with a first control strategy and a second control strategy, When in the first control strategy, the nozzle control module (1) controls each nozzle unit (11) to spray atomized disinfectant with a preset first flow rate, When in the second control strategy, the concentration detection unit (12) detects the disinfectant concentration in real time and compares it with the standard concentration value to generate a concentration deviation value. The nozzle control unit (13) obtains the concentration deviation value and adjusts the spraying amount of the corresponding nozzle unit (11). The spraying amount is positively correlated with the concentration deviation value. If the concentration deviation value is less than the preset value, the nozzle control unit (13) controls to close the corresponding nozzle unit (11); a path planning module (2), the path planning module (2) scans the space to be disinfected to divide the environmental items and the environmental space, and formulates a first movement path and a second movement path. The first movement path enables the spraying range to cover the environmental items, and the second movement path enables the spraying range of the nozzle to cover the environmental space. The first movement path corresponds to the first control strategy, and the second movement path corresponds to the second control strategy; a driving module (3), the driving module (3) controls the disinfection robot to move according to the first movement path and the second movement path; a concentration configuration module (4), the concentration configuration module (4) configures the disinfectant with a preset first concentration and a second concentration. The first concentration corresponds to the first movement path, the second concentration corresponds to the second movement path, and the second concentration is less than the first concentration.

2. The robot atomization disinfection dosage control system according to claim 1, characterized in that: It further includes a pedestrian flow acquisition module (5), the pedestrian flow acquisition module (5) is set at the entrance and exit and collects pedestrian flow data. The pedestrian flow data reflects the number of people entering and leaving the space to be disinfected during the interval between two disinfections. The concentration configuration module (4) obtains the pedestrian flow data and corrects the first concentration. The first concentration is positively correlated with the pedestrian flow data.

3. The robot atomization disinfection dosage control system according to claim 1, characterized in that: The atomization disinfection dosage control system includes a flow rate control module (6). The flow rate control module (6) changes the spraying range of each nozzle element by adjusting the air volume. The flow rate control module (6) includes a positioning unit, and the positioning unit obtains the current position of the disinfection robot. The path planning module (2) is configured with a map database. The path planning module (2) scans and records the positions of points on the first moving path and the normal lengths in the map database. The normal length reflects the length of the environmental object in the normal direction of the first moving path. The flow rate control module (6) searches for the corresponding normal length in the map database with the current position as the index to define the spraying distance, and outputs the corresponding air volume according to the spraying distance so that the atomized disinfectant can cover the environmental object.

4. A robot atomized disinfection dose control system according to claim 1, characterized in that: It further includes a standard concentration correction module. The standard concentration correction module records the spraying amounts of the respective nozzle units (11) and corrects the corresponding standard concentration values. The spraying amount reflects the volume of the atomized disinfectant actually ejected by each nozzle unit (11) under the second moving path. The standard concentration value is negatively correlated with the spraying amount.

5. A robot atomized disinfection dose control system according to claim 1, characterized in that: It further includes a sampling inspection module (8). After the disinfection is completed, the sampling inspection module (8) randomly selects a preset number of detection points in the environmental space, and calculates the pass rate of the disinfectant concentration values between multiple detection points. If the pass rate is less than the qualified threshold, a preset increment is added to the standard concentration value of each nozzle unit (11), and the newly obtained standard concentration value is used as the standard concentration value for the next complete atomized disinfection. And the unqualified detection points are atomized and disinfected again, and the detection points are randomly selected and the pass rate is calculated repeatedly until the pass rate meets the qualified threshold.

6. A robot atomized disinfection dose control system according to claim 1, characterized in that: The second moving path is spirally and rotationally arranged from the periphery to the center along the shape of the environmental space.

7. A robot atomized disinfection dose control method, provided A robot atomized disinfection dose control system as claimed in claim 1, characterized in that it comprises the following steps: A path planning step, wherein the path planning module (2) scans the space to be disinfected to divide the environmental objects and the environmental space, and formulates a first moving path and a second moving path. The first moving path enables the spraying range of the nozzle to cover each environmental object, and the second moving path enables the spraying range of the nozzle to cover the environmental space; A first disinfection step, wherein the driving module (3) drives the disinfection robot to move along the first moving path, and the nozzle control module (1) controls each nozzle unit (11) to spray atomized disinfectant with a first concentration on the environmental object; Second disinfection step: The driving module (3) drives the disinfection robot to move along the second moving path, and the nozzle control module (1) controls each nozzle unit (11) to spray atomized disinfectant with a second concentration on environmental items. The second concentration is less than the first concentration. Each concentration detection unit (12) detects the disinfectant concentration in real time and compares it with the standard concentration value to generate a concentration deviation value. The nozzle control unit (13) obtains the concentration deviation value and adjusts the spraying amount of the corresponding nozzle unit (11). The spraying amount is positively correlated with the concentration deviation value. If the concentration deviation value is less than the preset value, the nozzle control unit (13) controls to close the corresponding nozzle unit (11).

8. A method for controlling the atomized disinfection dose of a robot according to claim 7, characterized in that: The robot atomized disinfection dose control system further includes a sampling inspection module (8), The method for controlling the atomized disinfection dose of the robot further includes a concentration sampling inspection step. The concentration sampling inspection step is specifically as follows: After the second disinfection step, the sampling inspection module (8) randomly selects a preset number of detection points in the environmental space and calculates the qualification rate of the disinfectant concentration values between multiple detection points. If the qualification rate is less than the qualified threshold, a preset increment is added to the standard concentration value of each nozzle unit (11), and the newly obtained standard concentration value is used as the standard concentration value for the next complete atomized disinfection. And the unqualified detection points are atomized and disinfected again, and the detection points are randomly selected and the qualification rate is calculated repeatedly until the qualification rate meets the qualified threshold.

9. A method for controlling the atomized disinfection dose of a robot according to claim 8, characterized in that: The robot atomized disinfection dose control system further includes a standard concentration correction module, The method for controlling the atomized disinfection dose of the robot further includes a standard concentration correction step. The standard concentration correction step is specifically as follows: After the concentration sampling inspection step, the standard concentration correction module records the spraying amount of each nozzle unit (11) and corrects the corresponding standard concentration value. The spraying amount reflects the volume of the atomized disinfectant actually sprayed by each nozzle unit (11) under the second moving path. The standard concentration value is negatively correlated with the spraying amount.

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