Aerosol detection robot and control method thereof

Abstract

The application discloses an aerosol detection robot and a control method thereof, wherein the aerosol detection robot comprises a robot body, a motion mechanism, an aerosol detection module, a component analysis module and a control unit arranged in the robot body; the motion mechanism is drivingly connected with the robot body and drives the robot body to move; the aerosol detection module is used for detecting the concentration of aerosol and predicting the propagation path of the aerosol; the component analysis module is used for component analysis of the aerosol; the control unit is in communication connection with the aerosol detection module and the motion mechanism; the control unit receives the aerosol propagation path predicted by the aerosol detection module and controls the motion mechanism to move along the aerosol propagation path. The application solves the problems that the existing aerosol detection equipment cannot dynamically track the aerosol propagation path and cannot accurately reflect the air quality in the environment, and improves the accuracy and efficiency of air quality monitoring.

Description

Technical Field

[0001] This invention relates to the field of gas detection technology, and in particular to an aerosol detection robot and its control method. Background Technology

[0002] Aerosols are gaseous dispersion systems composed of solid or liquid particles suspended in a gaseous medium. Aerosols can also carry pathogens and harmful substances. Prolonged work or living in environments containing large amounts of aerosols may lead to respiratory and digestive tract infections. Furthermore, aerosols containing pathogens and harmful substances can be spread through the air via sneezing and coughing. Therefore, aerosol testing is necessary in high-traffic areas such as hospitals, offices, and public transportation.

[0003] Current aerosol detection methods primarily rely on fixed aerosol detection equipment. This equipment is stationary at specific locations to collect aerosol samples and analyze their composition to identify the presence of viruses or other harmful substances. However, this type of fixed aerosol detection equipment can only monitor from a fixed location and cannot dynamically track the aerosol's propagation path. It also cannot accurately reflect the air quality at other locations in the environment, resulting in low accuracy in air quality detection. Summary of the Invention

[0004] The main objective of this invention is to provide an aerosol detection robot, which aims to solve the problem that existing aerosol detection equipment cannot dynamically track the aerosol propagation path and cannot accurately reflect the air quality in the environment.

[0005] To achieve the above objectives, the present invention proposes an aerosol detection robot, comprising a robot body, a motion mechanism, an aerosol detection module, a component analysis module, and a control unit. The robot body includes a shell and a rotating component. The shell has an air inlet, and the rotating component is movably disposed on the outside of the shell. The motion mechanism is disposed within the shell and is drivenly connected to the rotating component, driving the rotating component to rotate, thereby moving the robot body. The aerosol detection module is disposed within the shell and is used to detect the aerosol concentration in the environment and predict the propagation path of the aerosol. The component analysis module is disposed within the shell and communicates with the outside air through the air inlet, and is used for component analysis of the aerosol. The control unit is disposed within the shell and is communicatively connected to the aerosol detection module, the motion mechanism, and the component analysis module. The control unit receives the aerosol propagation path predicted by the aerosol detection module and controls the motion mechanism to move along the aerosol propagation path.

[0006] In one embodiment of the present invention, the aerosol detection robot further includes a vision module, which is disposed inside the housing and exposed outside the housing. The vision module is communicatively connected to the control unit and is used to detect obstacles in the environment. The control unit controls the motion mechanism to avoid the obstacles based on the detection results of the vision module.

[0007] In one embodiment of the present invention, the aerosol detection module includes an optical measuring element, the housing is provided with a light outlet, and the optical measuring element measures the concentration of the aerosol in the environment through the light outlet.

[0008] In one embodiment of the present invention, the aerosol detection module further includes a prediction calculation module. The vision module is communicatively connected to the prediction calculation module. The vision module is also used to detect the coordinates, movement direction, and speed of the human body, and output the detection data to the prediction calculation module. The prediction calculation module is used to predict, simulate, and optimize the propagation path of the aerosol.

[0009] In one embodiment of the present invention, the formula for calculating the relationship between the velocity, direction, and concentration of the airflow in space is specifically as follows:

[0010]

[0011] Among them, u real Let be the axial velocity of the exhaled airflow in the Earth's reference frame, k0 be an experimentally obtained constant, α be the turbulence coefficient 0.076, and d be the axial velocity of the exhaled airflow. m U is the outlet airflow velocity, u0 is the airflow velocity around the head, s is the jet path, and j is the buoyancy caused by the temperature difference.

[0012] In one embodiment of the present invention, the component analysis module is a mass spectrometer, which is used to collect the aerosol detection sample in real time through the air inlet and automatically detect harmful substances in the aerosol detection sample.

[0013] In one embodiment of the present invention, the aerosol detection robot further includes a purifier. An air pipe is provided at one end of the housing facing away from the rotating component. The purifier is disposed inside the housing and communicates with the air pipe. The purifying gas of the purifier is discharged into the outside air through the air pipe to purify the harmful substances in the aerosol.

[0014] The present invention also proposes a control method for an aerosol detection robot, wherein the aerosol detection robot is any of the aerosol detection robots described above, and the control method includes the following steps:

[0015] The control unit controls the aerosol detection module to predict the propagation path of the aerosol and receives the propagation path data of the aerosol.

[0016] The control unit controls the motion mechanism to move along the propagation path of the aerosol;

[0017] The control unit controls the component analysis module to perform component analysis of the aerosol along the propagation path of the aerosol, and transmits the analysis results to the control unit;

[0018] The control unit controls the purifier of the aerosol detection robot to purify the harmful substances in the aerosol.

[0019] In one embodiment of the present invention, in the step of the control unit controlling the aerosol detection module to predict the propagation path of the aerosol and receiving the propagation path data of the aerosol:

[0020] The vision module of the aerosol detection robot collects the human position coordinates, facial features, and mouth shape changes, and transmits the feature data to the aerosol detection module.

[0021] The prediction calculation module in the aerosol detection module receives the feature data and simulates the propagation path of exhaled aerosols by using the calculation formula of the relationship between the speed, direction and concentration of airflow in space.

[0022] The optical measuring device in the aerosol detection module measures the concentration of aerosol along the propagation path of the aerosol in real time and compares it with the concentration calculated by the calculation formula in order to correct the propagation path of the aerosol.

[0023] And / or, the vision module of the aerosol detection robot detects whether there are obstacles in the aerosol propagation path;

[0024] If so, the coordinate information of the obstacle is transmitted to the control unit to correct the movement path of the motion mechanism.

[0025] In one embodiment of the present invention, in the step where the control unit controls the purifier of the aerosol detection robot to absorb and purify the harmful substances in the aerosol:

[0026] The control unit receives the composition analysis results of the aerosol from the composition analysis module and determines whether the aerosol contains harmful substances.

[0027] If the aerosol contains harmful substances, the control unit controls the purifier to spray purifying gas to purify the harmful substances in the aerosol.

[0028] The control unit controls the component analysis module to perform component analysis on the purified aerosol again to determine whether the aerosol still contains harmful substances;

[0029] If so, the control unit controls the purifier to purify the aerosol again;

[0030] If not, the control unit drives the motion mechanism to move along the propagation path of the aerosol and controls the component analysis module to perform component analysis at other locations along the aerosol propagation path.

[0031] The aerosol detection robot proposed in this invention includes a robot body, a motion mechanism, an aerosol detection module, a component analysis module, and a control unit. The robot body comprises a shell and a rotating component located on the outside of the shell. The motion mechanism, aerosol detection module, component analysis module, and control unit are all housed within the shell, and the motion mechanism is driven by the rotating component to move the robot body. The aerosol detection module detects the concentration of aerosols in the air and predicts the aerosol propagation path using a computational model. The control unit is then communicatively connected to both the motion mechanism and the aerosol detection module. By transmitting the aerosol propagation path data predicted by the aerosol detection module to the control unit, the control unit controls the motion mechanism to drive the robot body to move along the aerosol propagation path, thereby achieving the purpose of dynamically tracking aerosol propagation. Simultaneously, the component analysis module collects aerosol samples and performs real-time detection of the aerosol samples to achieve dynamic detection and analysis of aerosol components in space and time, accurately reflecting the air quality at different locations. This application solves the problems of existing aerosol detection equipment being unable to dynamically track aerosol propagation paths and accurately reflect air quality in the environment, thereby improving the accuracy and efficiency of air quality monitoring. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the aerosol detection robot of the present invention;

[0034] Figure 2 for Figure 1 Top view of the aerosol detection robot;

[0035] Figure 3 for Figure 2 Sectional view along AA;

[0036] Figure 4This is a flowchart of an embodiment of the aerosol detection robot control method of the present invention;

[0037] Figure 5 This is a flowchart of another embodiment of the aerosol detection robot control method of the present invention;

[0038] Figure 6 This is a flowchart of another embodiment of the aerosol detection robot control method of the present invention;

[0039] Figure 7 This is a flowchart of another embodiment of the aerosol detection robot control method of the present invention.

[0040] Explanation of icon numbers:

[0041]

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Throughout the text, "and / or" and "and / or" have the same meaning, both indicating the inclusion of three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0047] This invention proposes an aerosol detection robot 1.

[0048] Combination Figures 1-3 As shown, in one embodiment of the present invention, the aerosol detection robot 1 includes a robot body 10, a motion mechanism, an aerosol detection module 30, a component analysis module 40, and a control unit 50; the robot body 10 includes a shell 11 and a rotating component 12, the shell 11 having an air inlet 141, and the rotating component 12 being movably disposed outside the shell 11; the motion mechanism is disposed inside the shell 11 and is drivenly connected to the rotating component 12, the motion mechanism driving the rotating component 12 to rotate, thereby moving the robot body; the aerosol detection module 30 is disposed inside the shell 11. The aerosol detection module 30 is used to detect the concentration of aerosols in the environment and predict the propagation path of aerosols; the component analysis module 40 is located inside the housing 11 and is connected to the outside air through the air inlet 141. The component analysis module 40 is used for the component analysis of aerosols; the control unit 50 is located inside the housing 11 and is communicatively connected to the aerosol detection module 30, the motion mechanism and the component analysis module 40. The control unit 50 receives the aerosol propagation path predicted by the aerosol detection module 30 and controls the motion mechanism to move along the aerosol propagation path.

[0049] In this embodiment, the shell 11 of the robot body 10 is used to house the various components of the aerosol detection robot 1 and forms the main structure of the aerosol detection robot 1. The rotating component 12 can be a wheel, and four wheels are provided, which are respectively set on the outside of the bottom plate of the shell 11 and rotatably connected to the bottom plate, so as to support the aerosol detection robot 1 and drive the aerosol detection robot 1 to move.

[0050] The motion mechanism includes a motor, a servo motor, and a driver. The motion mechanism is housed within the housing 11, and the motor's drive shaft is connected to the drive of the rotating component 12. The motion mechanism drives the rotating component 12 to rotate, thereby moving the aerosol detection robot 1. This makes the aerosol detection robot 1 in this application a mobile aerosol detection robot, enabling aerosol detection at different locations in space and improving the efficiency of air quality monitoring.

[0051] The aerosol detection module 30 is a sensor based on nanotechnology or optical measurement technology, capable of real-time and high-precision detection of aerosol concentration in the air. For example, the aerosol detection module 30 can collect air samples, filter the air using a filter membrane to allow aerosol particles of a certain size to adhere to the membrane, and calculate the weight change before and after filtration to determine the aerosol concentration in the air. Alternatively, aerosol concentration can be measured using laser scattering. This method utilizes the laser scattering effect to illuminate suspended particles in the air, generating scattered light. The intensity of the scattered light is proportional to the particle's mass concentration; by measuring the intensity of the scattered light, the mass concentration of the particles, i.e., the concentration of aerosols in the air, can be determined. Combined with a mobile aerosol detection robot 1, the aerosol detection module 30 can achieve real-time monitoring of aerosol concentration at different locations in space, improving monitoring efficiency and accuracy.

[0052] Furthermore, the aerosol detection module 30 is equipped with an aerosol propagation path algorithm. This algorithm can simulate and analyze the changes in concentration, velocity, and time of exhaled aerosols in the air, thereby simulating the propagation path of aerosols in the air. Simultaneously, the control unit 50 in this application, based on an advanced embedded processor and real-time operating system, can efficiently process large amounts of sensor data and generate corresponding control commands. The control unit 50 receives the aerosol propagation path simulated by the aerosol detection module 30 and then outputs control commands to the motion mechanism to control the motion mechanism to move along the simulated aerosol propagation path. By combining the aerosol detection module 30, the motion mechanism, and the control unit 50, the effect of mobile tracking of aerosol propagation in the air is achieved. By moving according to the aerosol propagation path and monitoring the aerosol concentration, the efficiency of aerosol monitoring is greatly improved.

[0053] Furthermore, the component analysis module 40 housed within the casing 11 can be a mass spectrometer. A mass spectrometer is a precise, efficient, and multifunctional analytical instrument that separates molecules of different molecular weights based on their mass-to-charge ratio (m / z), determines their molecular weight, and performs component and structural analysis. By installing the component analysis module 40 within the robot body 10, the composition of aerosols can be analyzed, thereby determining whether the aerosols contain pathogens, harmful substances, etc. Through the component analysis module 40, aerosol detection module 30, motion mechanism, and control unit 50, the propagation of aerosols in the air can be dynamically tracked, and the components in the aerosols can be accurately identified to detect any potential risks. Therefore, it achieves the effect of early warning of potential risks and tracking the spread of harmful aerosols.

[0054] Furthermore, the aerosol detection robot 1 is equipped with differential drive and omnidirectional wheel drive to improve its flexibility and adapt to more complex movement paths. It also features a navigation and positioning system, using a global positioning system to provide position coordinates, thus improving the accuracy of tracking aerosol propagation. The robot is further equipped with an inertial measurement unit (IMU) and encoders. The IMU provides acceleration and angular velocity information, helping the robot understand its posture and motion in space, thereby improving the accuracy and controllability of its movement. The encoder measures wheel rotation to calculate the robot's distance and speed, feeding the results back to the control unit 50, thus improving the control unit's precision in controlling the motion mechanism and consequently enhancing the robot's accuracy in aerosol tracking. Additionally, an LED strip 13 is installed around the outer periphery of the housing 11 to serve as a warning, preventing accidental collisions between humans and the robot. A screen 15 is provided on one side of the housing 11. The screen 15 is used to display data such as the motion parameters of the aerosol detection robot 1 and the collected air composition analysis results, so that users can understand the air quality in a timely manner. A battery 80 is also provided inside the housing 11. The battery 80 is used to provide power to the control unit 50 and the motion structure 20 when they are working.

[0055] The aerosol detection robot 1 proposed in this application, by setting up a motion mechanism, an aerosol detection module 30, a component analysis module 40, and a control unit 50, realizes the function of moving according to the propagation path of aerosols in the air and detecting aerosol components in real time. This solves the problems of existing aerosol detection equipment being unable to dynamically track the aerosol propagation path and accurately reflect the air quality in the environment, thus improving the accuracy and efficiency of air quality monitoring.

[0056] Combination Figure 1 and Figure 3As shown, in one embodiment of the present invention, the aerosol detection robot 1 further includes a vision module 60, which is disposed inside the housing 11 and exposed on the housing 11. The vision module 60 is communicatively connected to the control unit 50 and is used to detect obstacles in the environment. The control unit 50 controls the motion mechanism to avoid obstacles according to the detection results of the vision module 60.

[0057] In this embodiment, the vision module 60 includes a lidar or ultrasonic sensor, a camera, and an infrared sensor. The lidar or ultrasonic sensor is used for obstacle detection and avoidance. For example, the lidar emits multiple laser beams, which are reflected after hitting the surface of the obstacle. The lidar calculates the incident time and reflection time, and uses Time of Flight (TOF) technology to form the 3D contour and position coordinates of the obstacle. This position information is then transmitted to the control unit 50. After receiving the position information, the control unit 50 corrects the movement path of the aerosol detection robot 1 to drive the motion mechanism to avoid obstacles. The camera is used for face and posture recognition. The control unit 50 stores a large amount of facial posture information, such as standing, walking, sneezing, and coughing. The camera captures images of faces and postures and compares them with the information pre-stored in the control unit 50 to determine the person's actions, thereby facilitating more accurate and timely tracking of the propagation path of exhaled aerosols. Meanwhile, the control unit 50 also has deep learning capabilities, which can update the judgment of the person's posture based on the information captured by the camera, thereby improving the aerosol detection robot 1's ability to calculate and track the aerosol propagation path. The infrared sensor is used for near-range obstacle detection. By acquiring the radiation power of the obstacle, it forms the obstacle's position information, improving the vision module 60's ability to detect and avoid near-range obstacles.

[0058] Combination Figures 1-3 As shown, in one embodiment of the present invention, the aerosol detection module 30 is provided with an optical measuring element 31, and the housing 11 is provided with a light outlet 111. The optical measuring element 31 measures the concentration of aerosols in the environment through the light outlet 111.

[0059] In this embodiment, the aerosol detection module 30 detects the aerosol concentration using optical measurement. A light outlet 111 is provided on one side of the housing 11, and the optical measuring element 31 is located at the light outlet 111. Light from the optical measuring element 31 shines through the light outlet 111 onto the location to be detected. Simultaneously, the aerosol detection module 30 also includes a light intensity detector. By detecting the light intensity after the aerosol is illuminated, the aerosol concentration value is obtained.

[0060] In one embodiment of the present invention, the aerosol detection module 30 further includes a prediction calculation module 32. The vision module 60 is communicatively connected to the prediction calculation module 32. The vision module 60 is also used to detect the coordinates, movement direction and speed of the human body, and output the detection data to the prediction calculation module 32. The prediction calculation module 32 is used to predict the propagation path of the simulated aerosol.

[0061] In this embodiment, the lidar in the vision module 60 can use laser measurement technology to obtain information such as the human body's position coordinates, facial contour information, movement direction and speed, and transmit this data to the prediction calculation module 32 as input information for prediction calculation. The prediction calculation module 32 performs calculations based on the input information and outputs aerosol propagation path data, thereby enabling the aerosol detection robot 1 to track aerosol propagation.

[0062] In one embodiment of the present invention, the prediction calculation module 32 predicts and calculates the propagation path of aerosols based on a calculation formula relating the velocity, direction, and concentration of airflow in space. The specific calculation formula is as follows:

[0063]

[0064] Among them, u real Let be the axial velocity of the exhaled airflow in the Earth's reference frame, k0 be an experimentally obtained constant, α be the turbulence coefficient 0.076, and d be the axial velocity of the exhaled airflow. m U is the outlet airflow velocity (related to exhalation volume), u0 is the airflow velocity around the head, s is the jet path, and j is the buoyancy caused by the temperature difference.

[0065] In this embodiment, u0,j are input values, u real This is the output value. When predicting the path, the human body is first scanned by the lidar in the vision module 60 to obtain the human body coordinates. Then, based on the ambient wind speed u0, the axial velocity of the exhaled airflow relative to the Earth reference frame is calculated, thereby obtaining the aerosol propagation trajectory.

[0066] To facilitate understanding by those skilled in the art, this application discloses the derivation of the calculation formula: Since the process of exhaled air being released through the mouth is similar to the process of an air jet submerged in a circular cross-section, its displacement after release is influenced by the environmental airflow near the head. In this process, the movement of the aerosol can be considered as the result of the interaction of two airflows, namely, the coupling result of the circular cross-section air jet caused by respiration and the flow around the human head caused by the environmental airflow (hereinafter referred to as flow around the head). In this process, we simplify the human head as a spherical object, and the Reynolds number is calculated according to the following formula 1:

[0067]

[0068] With an ambient airflow velocity of 0.2 m / s, which is the upper limit of the indoor design velocity for the air conditioning system, the calculated Reynolds number is 2580. It is generally believed that the airflow is laminar when the Reynolds number is between 0 and 3000. In this case, the flow around the head caused by the ambient airflow is simplified to Stokes flow, and the analytical solution equation of Stokes flow is used to calculate the airflow around the head. At the same time, the results calculated by the equation under higher ambient airflow conditions (0.4 to 0.6 m / s) are compared with the results of computational fluid dynamics simulation, proving that the equation is also applicable to the flow around the head under non-laminar conditions.

[0069] From the empirical equation for a circular jet, we know that:

[0070]

[0071]

[0072] In the formula, α is the turbulence coefficient (0.076), which is related to the outlet cross-section and outlet velocity; d0 is the outlet cross-section diameter (20 mm); d m The current jet diameter is s, the jet path is s, and the outlet airflow velocity is u0 (related to the expiratory volume). m The velocity is the velocity of the jet axis.

[0073] As can be seen from the flow around a Stokes sphere:

[0074]

[0075] In the formula, U is the free-flow velocity, α is the diameter of the sphere (200 mm for the human head in this study), and (r, θ) are the position coordinates in the polar coordinate system. Since it is difficult to consider the interaction between the environmental airflow and the jet in the geodetic reference system, the coordinate system is transformed to convert the geodetic reference system into a moving reference system that moves in the opposite direction with the velocity equal to the environmental flow velocity.

[0076] The relationship between exhaled airflow, actual airflow, and surrounding airflow is shown in the formula:

[0077] u m =u real -u0(Formula 5)

[0078] In the formula: u m Let u be the velocity of the exhaled jet axis in the moving reference frame. real U0 is the axial velocity of the exhaled airflow in the Earth's reference frame, and u0 is the airflow velocity around the head.

[0079] Differentiating Equation 2, we obtain the following equation:

[0080]

[0081] The negative sign indicates that the axial velocity changes in a decaying direction, meaning that the axial velocity should decrease as the jet path increases. m0 This represents the initial velocity of the jet. Differentiating Equation 5 and substituting it into Equation 6, we now define the jet velocity per unit time as the initial jet velocity starting at the current position, i.e., u. m =u m0 d m =d0, resulting in the following formula:

[0082]

[0083] In the formula: For the total differential of the flow around the object, d m Let be the current jet diameter, k0 be a constant obtained from the experiment, and ∫ds = s be the core distance of the initial segment of the jet. n The influence of the turbulence coefficient α is considered. In this study, k0 is set to 11. When considering the upward flow of air caused by the temperature difference between the jet and the ambient temperature, the ideal gas law and the temperature difference jet formula are referenced:

[0084]

[0085] In the formula: j represents the buoyancy caused by the temperature difference. Due to the entrainment effect of airflow, the concentration of pollutants in the exhaled jet decreases; therefore, the concentration equation is expressed as:

[0086]

[0087] In the formula, C m C is the axial concentration of the respiratory jet, C0 is the initial concentration of the respiratory jet, and C env This refers to the concentration of pollutants in the environment. In this application, C0 = 40000 ppm, C... env = 440ppm. The final simplified formula is as follows:

[0088]

[0089] This formula provides a powerful theoretical tool for the aerosol detection module 30 to predict and simulate the propagation trajectory of exhaled aerosols under specific environmental conditions. When a person sneezes or coughs, this model can be used to calculate the propagation path of the exhaled aerosol in spatial and temporal variables. Combined with the control unit 50 and the motion mechanism, real-time tracking of aerosol propagation can be performed, which greatly improves the aerosol detection efficiency of the aerosol detection robot 1.

[0090] Meanwhile, the vision module 60 can continuously capture and recognize human movements, such as movement direction, speed, changes in face and posture, and transmit the collected information to the aerosol detection module 30 so that the aerosol detection module 30 can update the aerosol propagation path more timely and accurately, thereby improving the accuracy of aerosol propagation path calculation.

[0091] Combination Figure 3 As shown, in one embodiment of the present invention, the component analysis module 40 is a mass spectrometer, which is used to collect aerosol detection samples in real time through the air inlet 141 and automatically detect harmful substances in the aerosol detection samples.

[0092] In this embodiment, a mass spectrometer is used to analyze the composition of aerosols to confirm whether they contain pathogens or harmful substances. An air inlet 141 located at one end of the housing 11 connects the internal cavity of the housing 11 to the outside environment. The aerosol detection robot 1 samples external air through the air inlet 141. The air sample is then analyzed within the mass spectrometer, enabling the robot 1 to perform real-time automatic aerosol detection. Simultaneously, the mass spectrometer can also perform deep learning in conjunction with algorithms in the control unit 50, allowing it to automatically identify and classify harmful substances and pathogens in aerosols, thereby improving the accuracy and efficiency of the component analysis module 40 in detecting aerosol samples. Furthermore, the sample composition information analyzed by the mass spectrometer is stored in the control unit 50. This sample information can provide valuable data for medical research, contributing to disease prevention and control.

[0093] Combination Figure 3 As shown, in one embodiment of the present invention, the aerosol detection robot 1 further includes a purifier 70. An air pipe 14 is provided at one end of the housing 11 facing away from the rotating member 12. The purifier 70 is disposed inside the housing 11 and is connected to the air pipe 14. The purified gas of the purifier 70 is discharged into the outside air through the air pipe 14 to purify the harmful substances in the aerosol.

[0094] In this embodiment, the purifier 70 contains a purification liquid, which can be a disinfectant, used to purify and disinfect pathogens and harmful substances in the aerosol. The purifier 70 is connected to the air pipe 14. When the component analysis module 40 detects pathogens or harmful substances in the aerosol, the purifier 70 starts working, vaporizing the purification liquid and spraying it into the outside air through the air pipe 14 to sterilize and disinfect the aerosol, thereby improving air quality.

[0095] This invention also proposes a control method for an aerosol detection robot 1, wherein the aerosol detection robot 1 is the aerosol detection robot 1 mentioned in any of the above embodiments. Since this control method for the aerosol detection robot 1 adopts all the technical solutions of all the above embodiments of the aerosol detection robot 1, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here. In particular, combined with... Figure 4 As shown, in one embodiment of the present invention, the control method includes the following steps:

[0096] S1: The control unit 50 controls the aerosol detection module 30 to predict the propagation path of the aerosol and receives the propagation path data of the aerosol.

[0097] S2: Control unit 50 controls the motion mechanism to move along the propagation path of the aerosol;

[0098] S3: The control unit 50 controls the component analysis module 40 to perform aerosol component analysis along the aerosol propagation path and transmits the analysis results to the control unit 50;

[0099] S4: Control unit 50 controls the purifier 70 of aerosol detection robot 1 to purify harmful substances in aerosols.

[0100] In this embodiment, after receiving the aerosol propagation path data output by the aerosol detection module 30, the control unit 50, in conjunction with the navigation and positioning system inside the aerosol robot, forms a dynamic moving coordinate point and drives the motion mechanism to move towards the coordinate point. During the aerosol detection robot 1's tracking of aerosol propagation, the component analysis module 40 samples and analyzes the aerosols along the path in real time to confirm whether the aerosols contain harmful substances, thereby confirming air quality. Furthermore, air purification is used to eliminate harmful substances in the aerosols, thus playing a role in early prevention and disease risk warning. Simultaneously, through mobile tracking of aerosols and aerosol component analysis, information such as the transmission methods, transmission speed, and causes of different diseases can be obtained, which plays a crucial role in disease prevention and control.

[0101] Combination Figure 5 and Figure 6 As shown, in one embodiment of the present invention, in the step of the control unit 50 controlling the aerosol detection module 30 to predict the propagation path of the aerosol and receiving the propagation path data of the aerosol:

[0102] S11: The vision module 60 of the aerosol detection robot 1 collects the human position coordinates, facial and mouth shape change features, and transmits the feature data to the aerosol detection module 30.

[0103] S12: The prediction calculation module 32 in the aerosol detection module 30 receives feature data and simulates the propagation path of exhaled aerosols by using the calculation formula of the relationship between the speed, direction and concentration of airflow in space.

[0104] S13: The optical measuring element 31 in the aerosol detection module 30 measures the concentration of aerosols along the propagation path in real time and compares it with the concentration calculated by the calculation formula in order to correct the propagation path of aerosols.

[0105] And / or, S21: The vision module 60 of the aerosol detection robot 1 detects whether there are obstacles in the aerosol propagation path;

[0106] S22: If present, the coordinate information of the obstacle is transmitted to the control unit 50 to correct the movement path of the motion mechanism.

[0107] In this embodiment, when a person sneezes or coughs, the vision module 60 captures the posture information and compares it with the control unit 50 to confirm the accuracy of the judgment on the person's exhaled aerosol action. Simultaneously, the vision module 60 transmits the captured posture and position information to the aerosol detection module 30, enabling the aerosol detection module 30 to calculate the aerosol propagation path. The control unit 50 controls the motion mechanism to move along the aerosol propagation path based on this path. During this movement, the aerosol detection module 30 measures the aerosol concentration along the propagation path in real time, compares the actual measured concentration with the calculated concentration, and corrects the calculation model to update the aerosol propagation path in real time, thereby improving the accuracy of the aerosol detection robot 1 in tracking aerosol propagation.

[0108] Whether the steps of receiving aerosol propagation path are limited or not, during the movement of the aerosol detection robot 1, the lidar, camera, and infrared sensor in the vision module 60 scan the movement path to determine whether there are obstacles on the path and to obtain the position coordinates and contour information of the obstacles. The control unit 50 avoids obstacles through differential drive in the drive system, thereby improving the intelligence and safety of the aerosol detection robot 1.

[0109] Combination Figure 7 As shown, in one embodiment of the present invention, in the step of the control unit 50 controlling the purifier 70 of the aerosol detection robot 1 to absorb and purify harmful substances in the aerosol:

[0110] S41: The control unit 50 receives the composition analysis results of the aerosol from the composition analysis module 40 and determines whether the aerosol contains harmful substances.

[0111] S42: If the aerosol contains harmful substances, the control unit 50 controls the purifier 70 to spray purifying gas to purify the harmful substances in the aerosol.

[0112] S43: The control unit 50 controls the component analysis module 40 to perform component analysis on the purified aerosol again to determine whether there are still harmful substances in the aerosol.

[0113] If S44 is present, the control unit 50 controls the purifier 70 to purify the aerosol again.

[0114] S45: If not, the control unit 50 drives the motion mechanism to move along the aerosol propagation path and controls the component analysis module 40 to perform component analysis on other locations along the aerosol propagation path.

[0115] In this embodiment, as the aerosol detection robot 1 moves along the aerosol propagation path, the component analysis module 40 automatically samples and analyzes the aerosol samples in real time to confirm air quality. By using a purification liquid in the purifier 70, the control unit 50 controls the purifier 70 to spray different purification gases for different pathogens or harmful substances, thus specifically purifying the pathogens or harmful substances in the aerosol. Simultaneously, after purification is complete, the control unit 50 combines the aerosol component analysis results from the component analysis module 40 before and after purification to confirm whether the purification conditions are met, thereby improving the purification capability of the aerosol detection robot 1 for pathogens or harmful substances in aerosols.

[0116] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An aerosol detection robot (1), characterized in that, include: The robot body (10) includes a shell (11) and a rotating component (12). The shell (11) has an air inlet (141), and the rotating component (12) is movably disposed on the outside of the shell (11). A motion mechanism is provided inside the housing (11) and is drivenly connected to the rotating component (12). The motion mechanism drives the rotating component (12) to rotate so that the robot body (10) moves. An aerosol detection module (30) is disposed inside the housing (11). The aerosol detection module (30) is used to detect the concentration of aerosols in the environment and predict the propagation path of the aerosols. The component analysis module (40) is located inside the housing (11) and is connected to the outside air through the air inlet (141). The component analysis module (40) is used for component analysis of the aerosol. as well as Control unit (50), the control unit (50) is located inside the housing (11) and is communicatively connected to the aerosol detection module (30), the motion mechanism and the component analysis module (40). The control unit (50) receives the aerosol propagation path predicted by the aerosol detection module (30) and controls the motion mechanism to move along the aerosol propagation path. The aerosol detection robot (1) also includes a vision module (60), which is located inside the housing (11) and exposed in the housing (11). The aerosol detection module (30) includes a prediction calculation module (32). The vision module (60) is communicatively connected to the prediction calculation module (32). The vision module (60) is used to detect the coordinates, direction of movement and speed of the human body, and outputs the detection data to the prediction calculation module (32). The prediction calculation module (32) is used to predict and simulate the propagation path of the aerosol. The prediction calculation module (32) predicts the propagation path of the aerosol based on the calculation formula relating the velocity, direction, and concentration of airflow in space. The specific calculation formula is as follows: Among them, u real Let be the axial velocity of the exhaled airflow in the Earth's reference frame, k0 be an experimentally obtained constant, α be the turbulence coefficient 0.076, and d be the axial velocity of the exhaled airflow. m U is the outlet airflow velocity, u0 is the airflow velocity around the head, s is the jet path, and j is the buoyancy caused by the temperature difference.

2. The aerosol detection robot (1) as described in claim 1, characterized in that, The vision module (60) is communicatively connected to the control unit (50) and is used to detect obstacles in the environment. The control unit (50) controls the motion mechanism to avoid the obstacles based on the detection results of the vision module (60).

3. The aerosol detection robot (1) as described in claim 2, characterized in that, The aerosol detection module (30) also includes an optical measuring element (31). The housing (11) is provided with a light outlet (111). The optical measuring element (31) measures the concentration of the aerosol in the environment through the light outlet (111).

4. The aerosol detection robot (1) as described in any one of claims 1-3, characterized in that, The component analysis module (40) is a mass spectrometer, which is used to collect the aerosol detection sample in real time through the air inlet (141) and automatically detect harmful substances in the aerosol detection sample.

5. The aerosol detection robot (1) as described in claim 4, characterized in that, The aerosol detection robot (1) also includes a purifier (70). The housing (11) is provided with an air pipe (14) at one end facing away from the rotating part (12). The purifier (70) is located inside the housing (11) and is connected to the air pipe (14). The purified gas of the purifier (70) is discharged into the outside air through the air pipe (14) to purify the harmful substances in the aerosol.

6. A control method for an aerosol detection robot (1), characterized in that, The aerosol detection robot (1) is the aerosol detection robot (1) according to any one of claims 1-5, and the control method includes the following steps: The control unit (50) controls the aerosol detection module (30) to predict the propagation path of the aerosol and receives the propagation path data of the aerosol; The control unit (50) controls the motion mechanism to move along the propagation path of the aerosol; The control unit (50) controls the component analysis module (40) to perform component analysis of the aerosol along the propagation path of the aerosol, and transmits the analysis results to the control unit (50). The control unit (50) controls the purifier (70) of the aerosol detection robot (1) to purify the harmful substances in the aerosol.

7. The control method as described in claim 6, characterized in that, In the step where the control unit (50) controls the aerosol detection module (30) to predict the propagation path of the aerosol and receives the propagation path data of the aerosol: The vision module (60) of the aerosol detection robot (1) collects the human position coordinates, facial features and mouth shape changes, and transmits the feature data to the aerosol detection module (30). The prediction calculation module (32) in the aerosol detection module (30) receives the feature data and simulates the propagation path of exhaled aerosols by using the calculation formula of the relationship between the speed, direction and concentration of airflow in space. The optical measuring element (31) in the aerosol detection module (30) measures the concentration of aerosol along the propagation path of the aerosol in real time and compares it with the concentration calculated by the calculation formula in order to correct the propagation path of the aerosol. And / or, the vision module (60) of the aerosol detection robot (1) detects whether there are obstacles in the aerosol propagation path; If so, the coordinate information of the obstacle is transmitted to the control unit (50) to correct the movement path of the motion mechanism.

8. In the control method as described in claim 6, the characteristic is that, In the step where the control unit (50) controls the purifier (70) of the aerosol detection robot (1) to absorb and purify the harmful substances in the aerosol: The control unit (50) receives the composition analysis results of the aerosol from the composition analysis module (40) and determines whether the aerosol contains harmful substances. If the aerosol contains harmful substances, the control unit (50) controls the purifier (70) to spray purifying gas to purify the harmful substances in the aerosol; The control unit (50) controls the component analysis module (40) to perform component analysis on the purified aerosol again to determine whether the aerosol still contains harmful substances; If so, the control unit (50) controls the purifier (70) to purify the aerosol again; If not, the control unit (50) drives the motion mechanism to move along the propagation path of the aerosol and controls the component analysis module (40) to perform component analysis on other locations along the propagation path of the aerosol.

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