Indoor ultraviolet disinfection unmanned aerial vehicle control system

Abstract

The invention relates to the technical field of disinfection unmanned aerial vehicle control, and discloses an indoor ultraviolet disinfection unmanned aerial vehicle control system, which comprises a trigger and control module used for triggering and controlling the working state of a disinfection unmanned aerial vehicle; the vision and movement module is used for acquiring a flight path of the unmanned aerial vehicle and controlling positioning, path, obstacle avoidance and attitude adjustment during flight of the unmanned aerial vehicle based on the flight path; the ultraviolet disinfection module is used for providing ultraviolet disinfection; the dead angle sample collection module is used for automatically collecting dead angle samples in the air; and the storage and learning module is used for acquiring the disinfection condition of the dead-corner sample and carrying out self-learning based on the equipment information of the dead-corner sample. According to the ultraviolet disinfection device, ultraviolet disinfection can cover wider areas including dead corners or high-altitude areas which are difficult to touch, and the disinfection efficiency and quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of disinfection drone control, and in particular to an indoor ultraviolet disinfection drone control system. Background Art

[0002] With the frequent occurrence of global public health events, people have put forward higher requirements for the hygiene and safety of indoor environments. When the target scene is a home environment or an indoor public place (such as a subway or train station hall), the traditional disinfection method can only be carried out by spraying the ground or the surface of objects, and it is difficult to achieve the disinfection effect on the air or dead corners; the traditional spraying or fumigation method will produce a strong odor when working, affecting normal living and public activities, and cannot meet people's growing demand for disinfection and quality of life. Physical disinfection technologies such as mechanical sterilization, high-temperature sterilization and sunlight irradiation cannot adapt well to the target scene and are difficult to meet the large-scale and high-frequency disinfection needs. In this context, automated disinfection equipment based on ultraviolet (UV) technology has gradually attracted attention, especially the indoor ultraviolet disinfection system combined with drone technology. Due to its high efficiency, flexibility and intelligence, it has become an important development direction for indoor disinfection in the future.

[0003] Ultraviolet rays are electromagnetic waves with a wavelength between 100-400 nanometers. According to the different wavelengths, ultraviolet rays are divided into UVA (320-400nm), UVB (280-320nm) and UVC (100-280nm). Among them, ultraviolet rays in the UVC band have the strongest bactericidal ability, which can destroy the DNA or RNA structure of microorganisms and make them lose their reproductive ability, thereby achieving the purpose of disinfection. Studies have shown that UVC ultraviolet rays have a significant killing effect on a variety of pathogens such as bacteria, viruses, and fungi. Ultraviolet rays have the advantages of no residue, spectral, and high efficiency. The existing drone-mounted disinfection device is equipped with a nozzle, camera, infrared detector, retractable structure, sensor component, etc., which can achieve precise navigation, posture control and obstacle avoidance, greatly improving the disinfection ability of spray disinfection. However, the penetration of ultraviolet rays is weak, and it can only disinfect the surface directly irradiated. It is difficult to handle complex structures or shielded areas. High-intensity ultraviolet rays are harmful to human skin and eyes. Therefore, special attention should be paid to safety protection when using it in an environment with human activities. Therefore, there is an urgent need for an indoor ultraviolet disinfection drone control system so that the indoor ultraviolet disinfection drone can cover a wider area and improve the disinfection efficiency and quality. Summary of the invention

[0004] The present invention is intended to provide an indoor ultraviolet disinfection drone control system so that ultraviolet disinfection can cover a wider area, including some hard-to-reach dead corners or high-altitude areas, thereby improving disinfection efficiency and quality.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] An indoor ultraviolet disinfection drone control system, comprising:

[0007] The trigger and control module is used to trigger and control the working status of the disinfection drone;

[0008] The vision and motion module is used to obtain the flight path of the UAV and control the positioning, path, obstacle avoidance and attitude adjustment of the UAV based on the flight path;

[0009] UV disinfection module, used to provide UV disinfection;

[0010] Blind spot sample collection module, used to automatically collect blind spot samples in the air;

[0011] The storage and learning module is used to obtain the disinfection status of dead-angle samples and perform self-learning based on the equipment information of the dead-angle samples.

[0012] The principles and advantages of this solution are: in actual application, the working state of the disinfection drone is controlled by the trigger and control module, and the vision and movement module controls the positioning, path, obstacle avoidance and attitude adjustment of the drone during flight based on the flight path, so as to improve the safety and accuracy of the disinfection drone during operation; the ultraviolet disinfection module is used to provide ultraviolet disinfection, and the dead corner sample collection module is used to automatically collect dead corner samples in the air; so as to facilitate the inspection and verification of the disinfection situation at the dead corner; the storage and learning module is used to obtain the disinfection situation of the dead corner samples, and self-learn based on the equipment information of the dead corner samples, so as to optimize the equipment information at the dead corner and improve the disinfection efficiency. In this application, the drone can fly freely in a complex indoor environment, reach high altitudes or dead corners that are difficult to reach manually, such as ceilings, corners, vents, etc., to achieve all-round disinfection, so that ultraviolet disinfection can cover a wider area, improving the disinfection efficiency and quality.

[0013] Preferably, as an improvement, the trigger and control module includes:

[0014] The instruction acquisition submodule is used to acquire work instructions, and the work instructions are acquired through any one of voice, control panel, and APP;

[0015] The identification and judgment submodule is used to identify work instructions and control the working status of the disinfection drone according to the work instructions.

[0016] Technical effect: convenient for disinfection according to needs.

[0017] Preferably, as an improvement, the blind spot sample collection module includes:

[0018] The telescopic adjustment submodule is used to control the sampler to telescope to the target area;

[0019] Sampling submodule for contact sampling and air sampling.

[0020] Technical effect: Through telescopic adjustment, it is convenient to sample restricted areas of the drone.

[0021] Preferably, as an improvement, the blind spot sample collection module further includes:

[0022] The preliminary processing submodule is used to perform preliminary processing on the collected samples, including filtering and separation;

[0023] The sample preservation submodule is used to preserve the samples after preliminary processing.

[0024] Technical effect: It is easy to remove impurities in samples and improve sample availability.

[0025] Preferably, as an improvement, the ultraviolet rays provided by the ultraviolet disinfection module are ultraviolet rays with a wavelength of 222 nanometers.

[0026] Technical effect: The ultraviolet rays in the UVC band have the strongest sterilization ability. The ultraviolet rays with a wavelength of 222 nanometers not only ensure the effectiveness of sterilization, but also minimize the harm to the human body.

[0027] Preferably, as an improvement, it further includes a disinfection parameter adjustment module for automatically adjusting ultraviolet irradiation parameters; the disinfection parameter adjustment module includes:

[0028] The environmental parameter acquisition submodule is used to obtain the environmental parameters of the disinfection area, which include ambient air quality, temperature and humidity, and wind speed;

[0029] The analysis and prediction submodule is used to predict the potential growth types and quantity distribution of microorganisms based on environmental parameters combined with data on environmental conditions suitable for the growth of different microorganisms;

[0030] The disinfection parameter adjustment submodule is used to automatically adjust the ultraviolet irradiation parameters based on the prediction results, and the ultraviolet irradiation parameters include ultraviolet irradiation intensity and time.

[0031] Technical effect: Since most bacteria cannot be observed directly, by analyzing and predicting the potential growth types and quantity distribution of microorganisms and then automatically adjusting the intensity and time of ultraviolet irradiation, the accuracy of disinfection can be further improved while saving resources.

[0032] Preferably, as an improvement, it also includes a power module for providing power supply to the ultraviolet lamp.

[0033] Technical effect: It is easy to ensure that the ultraviolet lamp can continue to work during the flight of the drone.

[0034] Preferably, as an improvement, the storage and learning module includes:

[0035] The data acquisition submodule is used to obtain image information, disinfection effect information and equipment information of blind spot samples, and store the data in the database;

[0036] The model building submodule takes the image information of the blind spot samples as input and the preliminary predicted device information as output to train the CNN model;

[0037] The reinforcement learning model training submodule regards drone disinfection as a reinforcement learning environment, the state is the image information of the blind spot sample, and the action is the device parameter in space, and is trained based on the policy gradient reinforcement learning algorithm.

[0038] Technical effect: It is convenient to optimize the selection of equipment parameters based on the reinforcement learning model and improve the disinfection efficiency.

[0039] Preferably, as an improvement, the trigger and control module further includes:

[0040] An information integration submodule, used to integrate sensor detection information and disinfection parameter information;

[0041] The report generation submodule is used to generate indoor disinfection reports based on the integrated information.

[0042] Technical effect: It is convenient to provide decision-making basis for disinfection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a structural schematic diagram of an indoor ultraviolet disinfection drone control system. DETAILED DESCRIPTION

[0044] The following is further described in detail through specific implementation methods:

[0045] The embodiment is basically as shown in the attached Figure 1 As shown:

[0046] An indoor ultraviolet disinfection drone control system, comprising:

[0047] The trigger and control module is used to trigger and control the working state of the disinfection drone. The trigger and control module includes an instruction acquisition submodule and an identification and judgment submodule. The instruction acquisition submodule is used to obtain work instructions, and the work instructions are obtained through any one of voice, control panel, and APP. The identification and judgment submodule is used to identify the work instructions and control the working state of the disinfection drone according to the work instructions.

[0048] In this embodiment, the working state of the disinfection drone includes working, charging and dormant states; triggering the disinfection drone to enter the working state also includes determining the working mode, which includes but is not limited to autonomous flight mode, manual control mode, collaborative mode, and fixed-point hovering mode. Among them, the autonomous flight mode is a pre-set flight path, and the drone automatically flies according to the predetermined route without human intervention. It is suitable for disinfection operations in large areas and regular areas, and automatically records data such as flight trajectory, disinfection time and coverage area, which is convenient for subsequent analysis and management; it is suitable for large public places (such as airports, railway stations, stadiums, etc.), agricultural fields (such as farmland, greenhouses, etc.), and industrial parks (such as factory workshops, warehouses, etc. for regular disinfection). The manual control mode is for the operator to control the flight direction and altitude of the drone in real time through a remote control. It is suitable for areas that require fine operation, and it is convenient to adjust the flight path and disinfection parameters at any time according to the on-site situation, and flexibly respond to complex environments. The fixed-point hovering mode is to hover at a designated location for long-term high-intensity ultraviolet irradiation disinfection. It is suitable for high-risk areas that require centralized treatment (such as hospital fever clinics, isolation wards, etc.). By adjusting the attitude of the drone and the ultraviolet irradiation angle, it can ensure that the irradiation dose is efficiently met. The collaborative mode is that multiple drones operate simultaneously to improve disinfection efficiency. The drones are seamlessly connected and automatically switch tasks to ensure the continuity and integrity of the disinfection process. It is suitable for ultra-large areas (such as industrial parks, logistics parks, conference centers, etc.).

[0049] The visual and mobile module is used to obtain the flight path of the drone, and control the positioning, path, obstacle avoidance and attitude adjustment of the drone during flight based on the flight path; in this embodiment, the flight path of the drone is formulated according to the upper, middle and lower spatial position areas. Specifically, the visual perception submodule identifies the scenery within the flight range of the drone and generates a three-dimensional scene map. The visual perception submodule uses a camera based on an embedded processor for image preprocessing to identify all scenery within the flight range of the drone, including but not limited to walls, furniture, instruments, plants, and power supplies. Based on the three-dimensional map, instructions are sent for the positioning, path, obstacle avoidance and attitude adjustment of the drone, so that the disinfection robot can be completed efficiently during the work process.

[0050] Ultraviolet disinfection module, for providing ultraviolet disinfection. The ultraviolet light provided by the ultraviolet disinfection module is ultraviolet light with a wavelength of 222 nanometers. The 222nm wavelength ultraviolet light belongs to the far ultraviolet C band (UV-C). The 222 nanometer ultraviolet light cannot penetrate the stratum corneum of human skin, will not affect skin cells, and is relatively less harmful to the eyes. From the disinfection effect point of view, the 222 nanometer ultraviolet light has shown excellent sterilization ability. Compared with the traditional 253.7 nanometer ultraviolet light source, the 222 nanometer wavelength can provide the same or even stronger disinfection effect. The ultraviolet disinfection module includes an ultraviolet lamp, which is made of borosilicate glass. The borosilicate glass material is a glass melted at medium and high temperatures. It has excellent high temperature stability. In addition to the transparency and corrosion resistance of the glass material, borosilicate glass also has the characteristics of high temperature resistance, thermal shock resistance and high mechanical strength.

[0051] It also includes a power module for providing power to the UV lamp. The power module includes a small high-capacity battery and an efficient power management unit to ensure that the UV lamp can continue to work during the flight of the drone, while ensuring the battery life and the safety of the drone.

[0052] It also includes a disinfection parameter adjustment module for automatically adjusting ultraviolet irradiation parameters; the disinfection parameter adjustment module includes an environmental parameter acquisition submodule, an analysis and prediction submodule, and a disinfection parameter adjustment submodule. The environmental parameter acquisition submodule is used to obtain environmental parameters of the disinfection area, and the environmental parameters include ambient air quality, temperature and humidity, and wind speed; in this embodiment, the environmental parameters are obtained by the sensor integrated in the drone, combined with data such as environmental conditions suitable for the growth of different microorganisms, and processed and analyzed to predict the potential growth types and quantity distribution of microorganisms.

[0053] The analysis and prediction submodule is used to predict the potential growth types and quantity distribution of microorganisms based on environmental parameters combined with the environmental conditions data suitable for the growth of different microorganisms. There are many types of indoor air microorganisms, and their growth conditions are different. There are potential microbial communities in the dead corners of different scenes, which are sanitary dead corners that are easy to ignore and difficult to clean. For example, the environment in the air ducts and fans of air conditioners is suitable for the growth of bacteria and viruses such as Legionella. The ventilation and air conditioning system will directly affect the indoor air microbial pollution concentration during operation. Filters, humidifiers, fan coils, air ducts, etc. have favorable conditions for the growth of microorganisms due to moisture and dust. Therefore, it is necessary to predict the potential growth types and quantity distribution of microorganisms based on environmental parameters combined with analysis. Most fungi grow best in an environment with a temperature of 22-36°C, moderate humidity and sufficient oxygen; the optimum growth temperature for most bacteria is between 15-45°C, and the optimum temperature for pathogens is human body temperature, i.e. 37°C; the optimum temperature for the reproduction of most molds is 25-30°C. They cannot produce toxins or their toxin production is weakened when the temperature is below 0°C or above 30°C. For example, the minimum reproduction temperature range of Aspergillus flavus is 6-8°C, and the maximum reproduction temperature is 44-46°C. The optimum growth temperature is around 37°C, and the toxin production temperature is slightly lower than the optimum growth temperature. For example, the optimum toxin production temperature of Aspergillus flavus is 28-32°C.

[0054] The disinfection parameter adjustment submodule is used to automatically adjust the ultraviolet irradiation parameters based on the prediction results, and the ultraviolet irradiation parameters include ultraviolet irradiation intensity and time.

[0055] The blind spot sample collection module is used to automatically collect the blind spot samples in the air; the blind spot sample collection module includes a telescopic adjustment submodule and a sampling submodule.

[0056] The telescopic adjustment submodule is used to control the telescopic adjustment of the sampler to the target area; in this embodiment, the telescopic adjustment submodule includes an extension arm, which is composed of multiple joints, including rotation and telescopic functions. In order to maintain the stability of the fuselage, the extension arm is symmetrically arranged. When one end is extended, the other end needs to be extended to maintain the balance of the fuselage. The extension arm can flexibly adjust the angle and direction. The extension arm takes into account the integration with the drone and can be seamlessly connected to the control system of the drone without the need for an additional operating interface. The design of the extension arm takes into account the stability and accuracy of the drone when operating in the air, ensuring that the ultraviolet lamp can be accurately aimed at the disinfection target. The trigger and control module is also used to control the extension arm to extend, and adjust the position and angle of the extension arm in real time to ensure the accuracy and efficiency of the disinfection process.

[0057] The sampling module is used for contact sampling and air sampling. Specifically, the small sampler in the end effector of the extension arm directly contacts the target area, and two sampling modes are set according to the detection scenario: contact sampling and air sampling.

[0058] Contact sampling is used for solid surface sampling, which is cotton swab sampling. The components of cotton swab sampling include bottom spring, cotton swab disassembly and assembly port, cotton swab, and cotton swab extension port. During operation, the spring extends from left to right in sequence, and the cotton swab connected to the spring extends out of the sampler as the spring extends. After extending from the sampler, the mechanical action of the extension arm selects an area of ​​5cm×5cm and wipes back and forth 5 times. After completion, it retracts into the sampler. After the disinfection flight is completed, the cotton swab is removed for subsequent laboratory testing. The number of sampling points is determined according to the size of the space. For example, four locations are sampled in a room of about 20 square meters.

[0059] Air sampling is completed through a gas collector, which includes a removable agar culture medium at the bottom, a reverse fan, and a side door. The side door opens to both sides during operation. The reverse fan uses power to pump air to make the bacteria-carrying particles suspended in the air hit the surface of the culture medium to complete the collection of colonies in the air. After sampling is completed at the designated location, the side door closes to the middle. After the disinfection flight is completed, the culture medium is taken out from the culture medium access port for subsequent laboratory testing. The samples obtained by the two sampling methods were experimentally cultured and the results were obtained. For example, the results show that the types of microorganisms that are widely distributed indoors, easy to collect, and can serve as better indicators for verifying the disinfection effect are mainly mycoplasma, staphylococcus, mold, and Escherichia coli, so as to facilitate the subsequent more accurate setting of disinfection-related parameters.

[0060] After sampling is completed, the sampler is irradiated with an ultraviolet lamp at the end to prevent microbial reproduction and infection, making it easier to use for the next sampling.

[0061] The blind spot sample collection module also includes a preliminary processing submodule and a sample preservation submodule. The preliminary processing submodule is used to automatically perform preliminary processing on the collected samples, including filtering and separation. In this embodiment, the preliminary processing submodule includes a high-efficiency filter and a sample separator, which can remove impurities in the sample and separate the collected microbial samples from other substances to ensure that the collected samples are representative. Air sampling uses powered suction to make the bacterial particles suspended in the air collide with the surface of the culture medium to complete the collection of colonies in the air. The sample preservation submodule is used to preserve the samples after preliminary processing for subsequent testing and analysis. The sample preservation submodule includes a refrigerator that can keep the sample in a low-temperature environment to prevent the activity of microorganisms in the sample from decreasing. In addition, the sample preservation submodule also includes a sample container that can collect the processed samples for subsequent testing and analysis.

[0062] After the drone completes the disinfection of the target area, the extension arm used for dead-angle disinfection turns off the ultraviolet light and adjusts to the sampling working mode. According to the position and angle of the drone and the working range of the extension arm, the drone hovering position that is convenient for sampling and the extension arm suitable for sampling are selected. The extension arm extended from the diagonal position of the drone itself continues to approach the area to be tested. After the fuselage flies stably again, the small sampler in the end effector of the extension arm directly contacts the target area. After the sampling is completed, the extension arm is retracted. During the process, the end effector places the sample into the sample temporary storage container.

[0063] The trigger and control module also includes: an information integration submodule for integrating sensor detection information and disinfection parameter information; a report generation submodule for generating indoor disinfection reports based on the integrated information. This facilitates providing decision-making basis for disinfection operations, and can also determine whether there is a potential source of contamination through analysis of the report, with user authorization, and automatically trigger disinfection work.

[0064] It also includes a storage and learning module, which is used to obtain the disinfection status of dead-angle samples and perform self-learning based on the equipment information of dead-angle samples. The storage and learning module includes: a data acquisition submodule, which is used to obtain the image information, disinfection effect information and equipment information of dead-angle samples, and store the data in a database; the image information includes images under different angles, lighting conditions, surface materials, etc., and the images come from the camera of the drone or ground shooting equipment. Equipment information: includes the equipment parameters used in each disinfection operation, such as the power of the ultraviolet lamp, the irradiation time, the flight altitude, angle, posture, etc. of the drone; the disinfection effect includes the disinfection effect recorded after each disinfection operation, such as changes in the number of surface bacteria, virus inactivation rate, etc.

[0065] Image enhancement technology is used to preprocess the image, and the equipment information is standardized to ensure the consistency of the dimensions between different parameters. The disinfection effect is used as a label for the training of the supervised learning model, and the disinfection effect is quantified into a numerical value (such as a score between 0 and 1) to indicate the effectiveness of the disinfection. The model construction submodule takes the image information of the dead corner sample as input and the preliminary predicted equipment information as output to train the CNN model. The reinforcement learning model training submodule regards the drone disinfection as a reinforcement learning environment, the state is the image information of the dead corner sample, and the action is the equipment parameter in space. The reinforcement learning algorithm based on the policy gradient is used for training. The CNN model is used as the front end of the policy network to extract image features, and the back end uses a fully connected layer to output the equipment parameters. Based on the equipment parameters, it is convenient to optimize and adjust the drone equipment parameters when disinfecting the dead corner.

[0066] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An indoor ultraviolet disinfection drone control system, characterized in that: include: The trigger and control module is used to trigger and control the working status of the disinfection drone; The vision and motion module is used to obtain the flight path of the UAV and control the positioning, path, obstacle avoidance and attitude adjustment of the UAV based on the flight path; UV disinfection module, used to provide UV disinfection; Blind spot sample collection module, used to automatically collect blind spot samples in the air; The storage and learning module is used to obtain the disinfection status of dead-angle samples and perform self-learning based on the equipment information of the dead-angle samples.

2. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: The trigger and control module comprises: The instruction acquisition submodule is used to acquire work instructions, and the work instructions are acquired through any one of voice, control panel, and APP; The identification and judgment submodule is used to identify work instructions and control the working status of the disinfection drone according to the work instructions.

3. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: The blind spot sample collection module comprises: The telescopic adjustment submodule is used to control the sampler to telescope to the target area; Sampling submodule for contact sampling and air sampling.

4. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: The dead angle sample collection module also includes: The preliminary processing submodule is used to perform preliminary processing on the collected samples, including filtering and separation; The sample preservation submodule is used to preserve the samples after preliminary processing.

5. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: The ultraviolet rays provided by the ultraviolet disinfection module are ultraviolet rays with a wavelength of 222 nanometers.

6. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: It also includes a disinfection parameter adjustment module for automatically adjusting ultraviolet irradiation parameters; the disinfection parameter adjustment module includes: The environmental parameter acquisition submodule is used to obtain the environmental parameters of the disinfection area, which include ambient air quality, temperature and humidity, and wind speed; The analysis and prediction submodule is used to predict the potential growth types and quantity distribution of microorganisms based on environmental parameters combined with data on environmental conditions suitable for the growth of different microorganisms; The disinfection parameter adjustment submodule is used to automatically adjust the ultraviolet irradiation parameters based on the prediction results, and the ultraviolet irradiation parameters include ultraviolet irradiation intensity and time.

7. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: A power module is also included for providing power supply to the UV lamp.

8. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: The storage and learning module includes: The data acquisition submodule is used to obtain image information, disinfection effect information and equipment information of blind spot samples, and store the data in the database; The model building submodule takes the image information of the blind spot samples as input and the preliminary predicted device information as output to train the CNN model; The reinforcement learning model training submodule regards drone disinfection as a reinforcement learning environment, the state is the image information of the blind spot sample, and the action is the device parameter in space, and is trained based on the policy gradient reinforcement learning algorithm.

9. An indoor ultraviolet disinfection drone control system according to claim 1, characterized in that: The trigger and control module also includes: An information integration submodule, used to integrate sensor detection information and disinfection parameter information; The report generation submodule is used to generate indoor disinfection reports based on the integrated information.

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