Intelligent disinfecting and killing robot for nuclide treatment ward and control method

Abstract

The invention discloses an intelligent disinfection robot for a nuclide treatment ward and a control method, the robot comprises a driving chassis, and an ultraviolet module, a mopping module, a control module and a power supply module which are arranged on the driving chassis, the ultraviolet module comprises an ultraviolet lamp and a lifting mechanism, the ultraviolet lamp is arranged on the lifting mechanism, and the mopping module is arranged on the lifting mechanism. The lifting mechanism is arranged on the driving chassis, the ultraviolet lamp comprises a plurality of ultraviolet lamp tubes and a lampshade, and the ultraviolet lamp tubes are arranged in the lampshade; the lifting mechanism comprises a lead screw motor, a lead screw and a sliding table, the ultraviolet lamp is arranged on the sliding table, the sliding table is meshed with the lead screw, and the lead screw motor drives the lead screw to rotate so as to drive the sliding table and the ultraviolet lamp to move in the axial direction of the lead screw; the driving chassis comprises a rack and a walking mechanism arranged on the rack. By combining an ultraviolet module, a lifting mechanism, a mopping module and a radiation detection sensor, radiation detection data and a robot operation path are combined while the ultraviolet disinfection coverage area is effectively increased, and it is ensured that nuclear radiation-containing substances are accurately swept.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an intelligent disinfection robot for a radionuclide treatment ward and a control method thereof. Background Art

[0002] At present, for indoor places that need regular disinfection, such as medical laboratories and hospitals, in addition to ultraviolet disinfection, there is also a requirement to use disinfectant to mop the indoor floor to ensure that there is no dead corner in the indoor countertops and floors. Especially in the radionuclide therapy ward of the nuclear medicine department, since patients are injected with iodine 131 for radionuclide therapy, there is a certain amount of radioactivity in the ward. After the patient is admitted, manual cleaning and disinfection cannot be carried out for a short period of time, and dead corners such as the bathroom may still breed bacteria or residual viruses.

[0003] The invention with application number CN113244432A provides a full-space intelligent disinfection mopping device and method with both physical and chemical disinfection functions. It includes an equipment skeleton and a disinfection device module, a cleaning device module, a power module, and an Internet of Things module arranged thereon. The disinfection device module includes an ultraviolet disinfection device and a chemical disinfectant spray device, and the output end of the chemical disinfectant spray device is a disinfection spray hole arranged on a multi-layer retractable sleeve; the cleaning device module includes a ground dust cleaning mechanism, a dust suction mechanism, and a mopping cleaning mechanism; the Internet of Things module includes a detection sensing component and an intelligent processing device for coordinating the automatic operation of each module in the equipment.

[0004] The technical solution provided by the above patent application has the problem of insufficient installation height of the ultraviolet lamp. The countertop and cabinet area that can be radiated is small, and the automatic height adjustment function of the ultraviolet lamp cannot be realized. The disinfection efficiency is low and cannot meet the current medical disinfection environment with a large range and complex disinfection needs. Summary of the invention

[0005] Based on this, it is necessary to provide an intelligent disinfection robot and control method for radionuclide therapy wards with adjustable ultraviolet lamp height to address the above problems.

[0006] The present application provides an intelligent disinfection robot for a radionuclide therapy ward, comprising a driving chassis, and an ultraviolet module, a mopping module, a control module and a power module arranged on the driving chassis.

[0007] The ultraviolet module comprises an ultraviolet lamp and a lifting mechanism, the ultraviolet lamp is arranged on the lifting mechanism, the lifting mechanism is arranged on the driving chassis, the ultraviolet lamp comprises a plurality of ultraviolet lamp tubes and a lampshade, and the plurality of ultraviolet lamp tubes are arranged in the lampshade;

[0008] The lifting mechanism comprises a screw motor, a screw and a slide, the ultraviolet lamp is arranged on the slide, the slide is engaged with the screw, and the screw motor drives the screw to rotate, so as to drive the slide and the ultraviolet lamp to move along the axial direction of the screw;

[0009] The driving chassis comprises a frame and a traveling mechanism arranged on the frame.

[0010] Optionally, the walking mechanism includes a pair of driving wheels and a pair of driving motors respectively connected to the pair of driving wheels, the driving motors are arranged in the frame, the pair of driving wheels are respectively arranged on both sides of the frame, and the walking mechanism also includes a pair of first universal wheels arranged at the front end of the frame.

[0011] Optionally, the mopping module includes a plurality of disc mops and a mop motor driving the disc mops to rotate, the disc mops are correspondingly connected to the mop motors, and the disc mops and the mop motors are arranged on a side of the driving chassis close to the ground;

[0012] The mopping module also includes a liquid supply mechanism for delivering disinfectant to the disc mop, the liquid supply mechanism includes a liquid supply box arranged on the driving chassis, a liquid supply valve and a liquid supply pipe, the liquid supply pipe connects the liquid supply box and the disc mop, the liquid supply valve is arranged at the connection between the liquid supply pipe and the liquid supply box, and is used to control the on-off of the liquid supply pipe to adjust the delivery amount of the disinfectant.

[0013] Optionally, the driving wheel and the first universal wheel are rotatably connected to two ends of the first connecting member respectively, and the middle part of the first connecting member is rotatably connected to the frame;

[0014] Under the action of external force, the driving chassis has a tendency that when the first universal wheel moves toward the frame, the driving wheel moves away from the frame, and when the driving wheel moves toward the frame, the first universal wheel moves away from the frame.

[0015] Optionally, the walking mechanism further comprises a pair of second universal wheels arranged at the rear end of the frame, the pair of second universal wheels are arranged at both ends of the second connecting member, and the middle portion of the second connecting member is rotatably connected to the frame;

[0016] Under the action of external force, the driving chassis has a tendency that when any one of the second universal wheels moves toward the frame, the other second universal wheel moves away from the frame.

[0017] Optionally, an elastic member is provided between the first connecting member and the frame, and between the second connecting member and the frame, and two ends of the elastic member respectively abut against the first connecting member and the frame, and abut against the second connecting member and the frame, and the elastic member is used to reset the movement tendency of the two ends of the first connecting member and the second connecting member toward or away from the frame.

[0018] Optionally, a laser radar is also included, which is arranged on the driving chassis and connected to the control module. The laser radar is used to obtain current environmental information for the control module to establish a map.

[0019] Optionally, a radiation detection sensor is further included, which is connected to the control module and is used to obtain the nuclear radiation value in the current environment.

[0020] The present application also provides a control method for a radionuclide therapy ward intelligent disinfection robot, which uses the above-mentioned radionuclide therapy ward intelligent disinfection robot and includes the following steps:

[0021] Set the delay start time x and UV irradiation time y, and set the UV lamp irradiation height h;

[0022] The driving lifting mechanism drives the ultraviolet lamp to move to the irradiation height h;

[0023] After the delay start time x is reached, the robot is controlled to start disinfection;

[0024] During the robot disinfection process, the UV lamp is controlled to turn on, and the UV irradiation time y is timed;

[0025] During the robot disinfection process, the disc mop is driven to rotate and mop, and disinfectant is sprayed onto the disc mop at the same time;

[0026] Determine whether the disinfection is completed. If not, continue to perform the movement and mopping operations;

[0027] If the disinfection is completed, turn off the mop drive motor, and turn off the UV lamp when the UV irradiation time reaches y minutes;

[0028] Control the robot to return to the charging station.

[0029] Optionally, the above control method further includes the following steps:

[0030] Obtain current environmental information, create a map based on the environmental information, and plan an operation path;

[0031] Control the robot to disinfect along the planned path;

[0032] Before obtaining the current environment information and building a map, determine whether the current time is during the weekend when no one is around or during the ward when someone is around:

[0033] If it is an unmanned period on weekends, perform UV light irradiation disinfection and mopping operations, and turn off the UV light after the route is completed;

[0034] If the ward is occupied, further determine whether it is nighttime lights-out time:

[0035] If it is nighttime lights-out time, the robot is driven to move to the bathroom to perform ultraviolet light disinfection;

[0036] If it is not nighttime lights-out time, the robot is driven to move along the planned path, the mop rotates and mops, and disinfectant is sprayed, while the nuclear radiation value at the current position is detected and the maximum value is uploaded;

[0037] After the disinfection or mopping task is completed, continue to determine whether the current time has reached noon of the next day:

[0038] If it reaches noon of the next day, the current environment information will be re-acquired, the map will be re-established and the operation path will be planned to perform a new disinfection task;

[0039] If it has not reached noon of the next day, continue to monitor the time and remain on standby.

[0040] Compared with the prior art, the technical solution provided by this application has the following beneficial effects:

[0041] The above-mentioned intelligent disinfection robot for radionuclide therapy wards realizes automatic adjustment of the irradiation height of the ultraviolet lamp through the combined design of the ultraviolet module and the lifting mechanism. Specifically, the ultraviolet lamp is installed on the slide of the lifting mechanism, the slide is engaged with the lead screw, and the lead screw is driven by the lead screw motor to rotate, thereby driving the slide and the ultraviolet lamp to move up and down along the axis of the lead screw. This design solves the problem of fixed height and limited radiation range of ultraviolet lamps in the prior art, so that ultraviolet rays can cover countertops, cabinets and areas at different heights, effectively increasing the coverage area of ​​ultraviolet disinfection and ensuring the disinfection effect in complex scenarios.

[0042] By driving the chassis equipped with UV modules and mopping modules, combined with the path planning function, autonomous movement and all-round coverage disinfection are achieved. During the disinfection process, the robot moves along the pre-planned path, the UV lamp radiates and disinfects the space, and the mopping module wet-mops the floor through the rotation of the disc mop and the disinfectant spraying device. This solution that combines UV disinfection with mopping makes up for the problem of dead corners on the ground caused by the existing technology that relies only on UV lamps or spray devices, and effectively ensures the comprehensive disinfection of ward floors, countertops, toilets and other areas.

[0043] The control method of the above-mentioned intelligent disinfection robot for radionuclide therapy wards ensures effective disinfection of different heights and areas by accurately adjusting the height of the ultraviolet lamp and accurately controlling the disinfection time, avoiding the problem of incomplete disinfection due to height discomfort or insufficient time. The delayed start, ultraviolet lamp start and stop control, coordinated operation of wet mopping and disinfectant spraying, and the automatic return to the charging position after the task is completed enable the robot to complete the disinfection task independently and efficiently without human intervention, which is particularly suitable for high-risk radionuclide therapy ward environments. Wet mopping cleaning and disinfectant spraying are carried out simultaneously, which significantly improves the floor cleaning and sterilization effects, realizes efficient, safe and accurate disinfection work in radionuclide therapy wards, and provides reliable technical support for the safe cleaning of medical environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the overall structure of an intelligent disinfection robot for a radionuclide therapy ward provided in one embodiment of the present application;

[0045] Figure 2 A schematic diagram of the structure of the ultraviolet module of the intelligent disinfection robot for the radionuclide therapy ward provided in one embodiment of the present application;

[0046] Figure 3 A schematic diagram of the structure of the lifting mechanism of the intelligent disinfection robot for the radionuclide therapy ward provided in one embodiment of the present application;

[0047] Figure 4 A schematic diagram of the structure of a mopping module of an intelligent disinfection robot for a radionuclide therapy ward provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of the structure of a driving chassis of a radionuclide therapy ward intelligent disinfection robot provided in an embodiment of the present application;

[0049] Figure 6 A flowchart of a method for controlling an intelligent disinfection robot in a radionuclide therapy ward provided in one embodiment of the present application.

[0050] Description of reference numerals:

[0051] 100-driving chassis; 110-frame; 120-traveling mechanism; 121-driving wheel; 122-driving motor; 123-first universal wheel; 124-first connecting member; 125-second universal wheel; 126-second connecting member; 127-elastic member;

[0052] 200-UV module; 210-UV lamp; 211-UV lamp tube; 212-lamp cover; 220-lifting mechanism; 221-screw motor; 222-screw; 223-slide;

[0053] 300- mopping module; 310- disc mop; 320- mop motor; 330- liquid supply tank; 340- liquid supply valve; 350- liquid supply pipe;

[0054] 400-power module;

[0055] 500 - LiDAR. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0062] See also Figures 1 to 3 An embodiment of the present invention provides an intelligent disinfection robot for a radionuclide therapy ward, comprising a driving chassis 100, and an ultraviolet module 200, a mopping module 300, a control module and a power module 400 arranged on the driving chassis 100.

[0063] The ultraviolet module 200 includes an ultraviolet lamp 210 and a lifting mechanism 220. The ultraviolet lamp 210 is arranged on the lifting mechanism 220. The lifting mechanism 220 is arranged on the driving chassis 100. The ultraviolet lamp 210 includes a plurality of ultraviolet lamp tubes 211 and a lampshade 212. The plurality of ultraviolet lamp tubes 211 are arranged in the lampshade 212.

[0064] The lifting mechanism 220 includes a screw motor 221, a screw 222 and a slide 223. The ultraviolet lamp 210 is arranged on the slide 223. The slide 223 is engaged with the screw 222. The screw motor 221 drives the screw 222 to rotate, so as to drive the slide 223 and the ultraviolet lamp 210 to move along the axial direction of the screw 222.

[0065] The driving chassis 100 includes a frame 110 and a traveling mechanism 120 disposed on the frame 110 .

[0066] In this embodiment, the automatic adjustment of the irradiation height of the ultraviolet lamp 210 is achieved through the combined design of the ultraviolet module 200 and the lifting mechanism 220. Specifically, the ultraviolet lamp 210 is installed on the slide 223 of the lifting mechanism 220, and the slide 223 is engaged with the lead screw 222. The lead screw motor 221 drives the lead screw 222 to rotate, thereby driving the slide 223 and the ultraviolet lamp 210 to move up and down along the axis of the lead screw 222. This design solves the problem of the ultraviolet lamp 210 having a fixed height and a limited radiation range in the prior art, so that the ultraviolet light can cover the countertop, the cabinet surface and areas of different heights, effectively increasing the coverage area of ​​ultraviolet disinfection and ensuring the disinfection effect in complex scenes.

[0067] Secondly, in the design of the robot chassis and the walking mechanism 120, the present invention realizes autonomous movement and all-round coverage disinfection by driving the chassis 100 to carry the ultraviolet module 200 and the mopping module 300, combined with the path planning function. During the disinfection process, the robot moves along the pre-planned path, the ultraviolet lamp 210 radiates and disinfects the space, and the mopping module 300 wet-mops the floor through the rotation of the disc mop 310 and the disinfectant spraying device. This solution combining ultraviolet disinfection with mopping cleaning makes up for the problem of dead corners on the ground caused by the prior art relying only on the ultraviolet lamp 210 or the spray device, and effectively ensures the comprehensive disinfection of the ward floor, countertops, toilets and other areas.

[0068] In addition, the present invention realizes the intelligent operation of the disinfection task through modular automatic control design. The control module is responsible for coordinating the work of the ultraviolet module 200, the mopping module 300 and the walking mechanism 120. The robot can independently perform path planning, ultraviolet lamp 210 height adjustment, wet mopping of the ground and spraying of disinfectant, etc., reducing manual intervention, and is particularly suitable for places with radioactive environments such as radionuclide treatment wards. This functional design not only ensures the safety of medical staff, but also significantly improves the efficiency and reliability of disinfection work.

[0069] See also Figure 5 The intelligent disinfection robot for the radionuclide therapy ward provided in this embodiment, the walking mechanism 120 includes a pair of driving wheels 121, and a pair of driving motors 122 respectively connected to the pair of driving wheels 121, the driving motors 122 are arranged in the frame 110, the pair of driving wheels 121 are respectively arranged on both sides of the frame 110, and the walking mechanism 120 also includes a pair of first universal wheels 123 arranged at the front end of the frame 110.

[0070] The walking mechanism 120 in this embodiment adopts a combination design of a pair of driving wheels 121 and a pair of driving motors 122. The driving motors 122 are respectively connected to the pair of driving wheels 121 and fixedly arranged in the frame 110. This design enables the driving wheels 121 to be driven independently, providing sufficient power output, and ensuring that the robot can operate stably under different ground conditions. Since the driving wheels 121 are located on both sides of the frame 110, the speed of the driving wheels 121 on both sides is controlled by differential speed, and the robot can achieve a variety of movement modes such as straight travel and turning, thereby meeting the mobility requirements in the complex space of the radionuclide therapy ward.

[0071] Secondly, the walking mechanism 120 is also provided with a pair of first universal wheels 123 at the front end of the frame 110. The design of the universal wheels enhances the support stability of the robot and provides an auxiliary guiding function during movement, ensuring that the robot maintains stable movement when performing mopping and UV disinfection tasks, and avoiding the influence of tilting or shaking on the disinfection effect. In addition, the flexible steering characteristics of the universal wheels enable the robot to easily cope with complex spatial scenes such as narrow aisles and bathroom corners, further improving the flexibility and coverage of the operation.

[0072] This embodiment optimizes the structural design of the walking mechanism 120 so that the intelligent disinfection robot in the radionuclide therapy ward has good stability and flexibility when performing disinfection tasks, ensuring the robot's efficient movement and precise operation under different ground conditions and complex scenarios, and further improving the effect of all-round and no-dead-angle disinfection.

[0073] See also Figure 4 The intelligent disinfection robot for the radionuclide therapy ward provided in this embodiment, the mopping module 300 includes a plurality of disc mops 310 and a mop motor 320 for driving the disc mops 310 to rotate, the disc mops 310 and the mop motor 320 are connected correspondingly, and the disc mops 310 and the mop motor 320 are arranged on a side of the driving chassis 100 close to the ground;

[0074] The mopping module 300 also includes a liquid supply mechanism for delivering disinfectant to the disc mop 310. The liquid supply mechanism includes a liquid supply box 330 arranged on the driving chassis 100, as well as a liquid supply valve 340 and a liquid supply pipe 350. The liquid supply pipe 350 connects the liquid supply box 330 and the disc mop 310. The liquid supply valve 340 is arranged at the connection between the liquid supply pipe 350 and the liquid supply box 330, and is used to control the on-off of the liquid supply pipe 350 to adjust the delivery amount of the disinfectant.

[0075] In this embodiment, the mopping module 300 adopts a design combining a disc mop 310 and a drive motor 122. Through the corresponding connection of a number of disc mops 310 and a mop motor 320, the disc mop 310 can achieve rotational motion. This structural design enables the mop to generate a stable rotational force in the process of contacting the ground, thereby enhancing the friction and cleaning effect of mopping. Compared with the traditional mop mopping in a single direction, the rotation of the disc mop 310 can achieve multi-angle and repeated cleaning of floor stains, thereby effectively removing pollutants, bacteria or residual viruses that may exist on the floor of the radionuclide therapy ward, meeting high standards of hygiene and cleaning requirements.

[0076] Secondly, the mopping module 300 is equipped with a liquid supply mechanism to achieve accurate delivery of disinfectant. The liquid supply mechanism includes a liquid supply box 330, a liquid supply pipe 350 and a liquid supply valve 340 arranged on the driving chassis 100. The liquid supply box 330 serves as a storage device for the disinfectant, and delivers the disinfectant to the disc mop 310 through the liquid supply pipe 350. The liquid supply valve 340 controls the connection between the liquid supply pipe 350 and the liquid supply box 330, and can accurately adjust the delivery amount of the disinfectant. This design solves the problem of uneven spraying or waste of disinfectant in traditional mopping equipment, ensuring that the mop always maintains an appropriate amount of disinfectant supply during the wet mopping process, thereby achieving an efficient and economical disinfection effect.

[0077] In summary, this embodiment realizes the dual functions of efficient wet mopping cleaning and disinfection through the design of the disc mop 310 rotating for cleaning and the liquid supply mechanism accurately delivering the disinfectant. This design not only improves the cleaning effect of the floor, but also ensures the rational use of the disinfectant, meets the needs of the radionuclide therapy ward for high-standard, no-dead-angle floor disinfection, and further improves the efficiency and reliability of the entire disinfection operation.

[0078] See also Figure 5 In the present embodiment, the intelligent disinfection robot for the radionuclide therapy ward is provided, the driving wheel 121 and the first universal wheel 123 are rotatably connected to the two ends of the first connecting member 124, and the middle part of the first connecting member 124 is rotatably connected to the frame 110;

[0079] Under the action of external force, the driving chassis 100 has a tendency that when the first universal wheel 123 moves toward the frame 110 , the driving wheel 121 moves away from the frame 110 , and when the driving wheel 121 moves toward the frame 110 , the first universal wheel 123 moves away from the frame 110 .

[0080] The driving wheel 121 and the first universal wheel 123 are respectively rotatably connected to the two ends of the first connecting member 124, and the middle part of the first connecting member 124 is rotatably connected to the frame 110, forming an adjustable support structure. This design enables the driving wheel 121 and the first universal wheel 123 to generate dynamic displacement relative to the frame 110 when encountering external force or uneven ground, thereby realizing dynamic adaptive adjustment of the driving wheel 121 and the first universal wheel 123, so that the robot can flexibly respond to external force interference or uneven ground. Specifically, during the robot's driving process, when the ground is undulating or an external force is applied, if the first universal wheel 123 moves toward the frame 110 (for example, when encountering a ground bulge or pressure concentrated at the front end), the first connecting member 124 will pivot, driving the driving wheel 121 to move away from the frame 110, so that the driving wheel 121 can contact the ground and maintain a stable driving force output. This structure enables the driving wheel 121 to maintain contact with the ground when it is suspended in the middle of the chassis, thus avoiding interruption of driving force due to loss of friction. If the driving wheel 121 moves toward the frame 110 (for example, encounters a step, a threshold, or a raised ground), the first connecting member 124 rotates in the opposite direction, causing the first universal wheel 123 to move away from the frame 110. The universal wheel contacts the ground through dynamic adjustment, providing additional support and stability. This design forms a dynamic support structure for the front and rear wheel groups when the front part of the driving chassis 100 is suspended, thus maintaining the stable operation of the chassis.

[0081] The advantage of this design is that the mutual compensation and coordination between the wheel groups enable the robot to flexibly cope with the height difference of the ground, avoid the driving wheel 121 or the universal wheel from being suspended alone, and thus maintain the continuous output of the driving force and the overall stability. This is of great significance for thresholds, slippery floors or slightly uneven areas that may exist in the radionuclide therapy ward, and can effectively improve the robot's passing performance and operation stability in complex scenes.

[0082] See also Figure 5 The intelligent disinfection robot for the radionuclide therapy ward provided in this embodiment, the walking mechanism 120 also includes a pair of second universal wheels 125 arranged at the rear end of the frame 110, the pair of second universal wheels 125 are arranged at both ends of the second connecting member 126, and the middle part of the second connecting member 126 is rotatably connected to the frame 110; under the action of external force, the driving chassis 100 has a tendency that when any second universal wheel 125 moves toward the frame 110, the other second universal wheel 125 moves away from the frame 110.

[0083] Specifically in this embodiment, the second connecting member 126 is arranged vertically with the first connecting member 124, and the direction of the rotating shaft is also vertical. The second universal wheel 125 is rotatably connected to the frame 110 through the second connecting member 126, forming an adjustable lateral support structure. The middle part of the second connecting member 126 is pivotally connected to the frame 110, and a pair of second universal wheels 125 are connected to both ends. This structure enables the robot to achieve dynamic adjustment when it is affected by external force or ground undulations in the lateral direction. When the driving chassis 100 tilts toward one side, the second universal wheel 125 on the tilted side is pressed to move toward the frame 110, and the second connecting member 126 pivots accordingly, so that the second universal wheel 125 on the other side moves away from the frame 110. This dynamic response of reverse displacement enables the robot to always keep the wheel group in full contact with the ground, effectively disperse the impact of external forces, prevent the wheel group on one side from being suspended, and ensure the stability of the chassis.

[0084] The vertical arrangement of the second connecting member 126 and the first connecting member 124 forms a two-way support adjustment system, which enables the robot to achieve dynamic balance in both the front and rear directions and the lateral directions. In the longitudinal direction, the first connecting member 124 ensures that the robot can maintain stable operation when passing through thresholds, protrusions or ground undulations through dynamic adjustment of the driving wheel 121 and the first universal wheel 123. In the lateral direction, the second connecting member 126 solves the overturning problem caused by lateral tilt or lateral force of the ground through dynamic adjustment of the second universal wheel 125. This two-way support design enables the robot to have a stronger ability to adapt to complex ground environments, and can flexibly cope with scenes such as slippery floors, slightly inclined areas and local obstacles in the radionuclide therapy ward.

[0085] See also Figure 5 In the intelligent disinfection robot for the radionuclide therapy ward provided in this embodiment, an elastic member 127 is provided between the first connecting member 124 and the frame 110, and between the second connecting member 126 and the frame 110. The two ends of the elastic member 127 respectively abut the first connecting member 124 and the frame 110, and abut the second connecting member 126 and the frame 110. The elastic member 127 is used to reset the movement tendency of the two ends of the first connecting member 124 and the second connecting member 126 toward or away from the frame 110.

[0086] In this embodiment, the elastic member 127 is disposed between the first connecting member 124 and the frame 110, and between the second connecting member 126 and the frame 110, further enhancing the stability and reset capability of the robot during dynamic adjustment, and effectively solving the problem that the wheel set is difficult to reset after being offset due to uneven ground and external force impact. The elastic member 127 provides elastic restoring force to ensure that the first connecting member 124 and the second connecting member 126 return to their initial positions after the external force disappears, thereby maintaining the balance and stability of the driving chassis 100.

[0087] The cooperation between the elastic member 127 and the first connecting member 124 is that when the robot travels on an uneven ground or encounters a longitudinal obstacle such as a threshold or a protrusion, the first connecting member 124 rotates, and the driving wheel 121 and the first universal wheel 123 produce dynamic displacement relative to the frame 110 under the action of an external force. For example, when the first universal wheel 123 is pressed to move toward the frame 110, and the driving wheel 121 moves away from the frame 110, the elastic member 127 produces compression deformation between the first connecting member 124 and the frame 110. At this time, the elastic member 127 applies a reaction force to the first connecting member 124 through the elastic restoring force, pushing the first universal wheel 123 and the driving wheel 121 back to the initial position, ensuring that the wheel set returns to a balanced state after the external force is released. The cooperation between the elastic member 127 and the second connecting member 126 during the lateral adjustment of the robot, when the robot is subjected to a lateral external force (such as a tilted ground or a lateral collision), the second universal wheel 125 on the tilted side is pressed to move toward the frame 110, and the second universal wheel 125 on the other side moves away from the frame 110 driven by the second connecting member 126. In this process, the elastic member 127 also undergoes elastic deformation to provide reset support for the second connecting member 126. When the external force is released, the restoring force of the elastic member 127 pushes the second connecting member 126 back to the neutral position, driving the second universal wheels 125 on both sides to restore balance, ensuring the stable lateral grounding of the robot. This design effectively prevents the wheel set of the robot from being suspended or offset when it is tilted laterally, and further improves the stability of the lateral support.

[0088] The elastic member 127 also plays an important role in dynamic buffering and external force absorption. During the rotation adjustment process between the first connecting member 124 and the second connecting member 126, the elastic member 127 provides flexible buffering through compression and release, effectively absorbing the vibration caused by ground fluctuations or external force impact. This function reduces the impact of the impact force on the robot frame 110 and the walking mechanism 120, protects the internal components from damage, and improves the stability and durability of the robot operation.

[0089] See also Figure 1 and Figure 4The radionuclide therapy ward intelligent disinfection robot provided in this embodiment also includes a laser radar 500. The laser radar 500 is arranged on the driving chassis 100 and connected to the control module. The laser radar 500 is used to obtain current environmental information for the control module to establish a map. The introduction of the laser radar 500 enables the robot to have high-precision environmental perception and map building capabilities. The laser radar 500 obtains spatial information in the ward in real time through laser scanning and ranging technology, including obstacle locations, wall contours, room dimensions and other data, and transmits this information to the control module. The control module uses this data to establish an indoor map and generates an optimal walking path through a path planning algorithm (such as a SLAM algorithm). Compared with traditional infrared sensors or visual sensing technologies, the laser radar 500 provides higher detection accuracy and data reliability, ensuring that the robot can autonomously navigate in the ward and cover all disinfection areas.

[0090] The control module accurately plans the path of the ward space based on the map established by the laser radar 500, so that the robot can walk in an orderly manner according to the set disinfection requirements. When performing tasks, the robot combines the functions of the ultraviolet module 200 and the mopping module 300 to perform all-round disinfection and cleaning of the ward floor, countertops, toilets and other areas. Compared with the problem of repeated or omitted disinfection paths in the prior art, the path planning of this embodiment is sensed by the laser radar 500, ensuring that each area can be effectively covered, avoiding the generation of disinfection dead corners, thereby meeting the needs of high-standard cleaning and disinfection in the radionuclide therapy ward. The combination of the laser radar 500 and the control module realizes the intelligence and automation of tasks. The robot can autonomously complete the collection of environmental information, map construction, path planning and task execution without human intervention. Especially in the special environment of the radionuclide therapy ward with radioactive risks, the robot can autonomously complete the disinfection and cleaning tasks, reducing the risk of human intervention and ensuring the safety of medical staff. In addition, the highly intelligent operation process can also improve the efficiency of task execution, shorten the disinfection cycle, and provide a safer and more reliable guarantee for the medical environment.

[0091] The intelligent disinfection robot for the radionuclide therapy ward provided in this embodiment also includes a radiation detection sensor, which is connected to the control module and is used to obtain the nuclear radiation value in the current environment. In the radionuclide therapy ward, since patients receive radionuclide therapy such as iodine-131, there may be residual radioactive substances in the ward, especially on the ground, in the bathroom and other areas. These radioactive substances will pose a potential threat to human health. The radiation detection sensor obtains the nuclear radiation value in the current environment in real time and transmits the monitoring data to the control module. By analyzing these data, the control module can determine the radiation levels in different areas of the ward, providing a basis for subsequent fixed-point disinfection and data uploading.

[0092] The radiation detection data is combined with the robot's operation path to ensure accurate cleaning of radioactive materials such as patient urine. By continuously monitoring the radiation value on the robot's walking path, the control module can locate high-radiation areas and command the robot to focus on cleaning these areas. For example, when the robot detects that the nuclear radiation value in a specific area is high, it can perform repeated wet mopping operations in that area to reduce the risk of radiation contamination and ensure the safety of the ward. At the same time, the control module stores and uploads the maximum nuclear radiation value detected, which is convenient for medical staff to conduct remote monitoring and data recording, meeting the needs of radiation safety management in the ward.

[0093] See also Figure 6 An embodiment of the present invention further provides a control method for a radionuclide therapy ward intelligent disinfection robot, using the above-mentioned radionuclide therapy ward intelligent disinfection robot, comprising the following steps:

[0094] Set the delay start time x and the ultraviolet irradiation time y, and set the irradiation height h of the ultraviolet lamp 210;

[0095] In the implementation, by setting the delayed start time x, the robot is ensured to start working only after the medical staff evacuates, avoiding the harm of ultraviolet radiation to the human body and ensuring the safety of operation. At the same time, the ultraviolet irradiation time y and the irradiation height h are set, and according to the specific disinfection requirements of the ward (such as table height, ground coverage area), the working state of the ultraviolet lamp 210 is optimized to improve the accuracy and efficiency of ultraviolet radiation disinfection.

[0096] The lifting mechanism 220 is driven to drive the ultraviolet lamp 210 to move to an irradiation height h;

[0097] In practice, the lifting mechanism can adjust the irradiation height of the ultraviolet lamp according to the set value, so that the ultraviolet lamp radiation range covers surface areas at different heights. This design effectively solves the problem of fixed ultraviolet lamp height and limited radiation range in the existing technology, realizes full coverage disinfection of the complex environment of the ward, reduces the blind spots of disinfection at high and low places, and further improves the disinfection efficiency.

[0098] After the delay start time x is reached, the robot is controlled to start disinfection;

[0099] During the robot disinfection process, the ultraviolet lamp 210 is controlled to turn on, and the ultraviolet irradiation time y is timed;

[0100] During the robot disinfection process, the disc mop 310 is driven to rotate and mop, and disinfectant is sprayed onto the disc mop 310 at the same time;

[0101] In practice, during the robot disinfection process, the mopping module 300 wet-mops the floor through the rotation of the disc mop 310, and the liquid supply mechanism accurately sprays disinfectant onto the mop. This design enables wet mopping and disinfection to be carried out simultaneously, effectively removing stains and pollutants on the floor, and ensuring the dual effects of cleaning and disinfection of the ward floor. In addition, the amount of disinfectant sprayed is controlled by the liquid supply valve 340 to avoid waste of disinfectant and improve resource utilization.

[0102] Determine whether the disinfection is completed. If not, continue to perform the movement and mopping operations;

[0103] During implementation, the path monitoring function of the control module is used to determine whether the robot's current path task is completed. If not, the robot continues to perform wet mopping and disinfection operations along the planned path to ensure comprehensive coverage of ground and space disinfection, thereby improving the integrity and reliability of task completion.

[0104] If the disinfection is completed, the mop drive motor 122 is turned off, and the ultraviolet lamp 210 is turned off when the ultraviolet irradiation time reaches y minutes;

[0105] Control the robot to return to the charging station.

[0106] The control method of the intelligent disinfection robot for radionuclide therapy wards provided in this embodiment ensures effective disinfection of different heights and areas by adjusting the height of the ultraviolet lamp and accurately controlling the disinfection time, avoiding the problem of incomplete disinfection due to height discomfort or insufficient time. The delayed start, ultraviolet lamp start and stop control, coordinated operation of wet mopping and disinfectant spraying, and the automatic return to the charging position after the task is completed enable the robot to complete the disinfection task independently and efficiently without human intervention, which is particularly suitable for high-risk radionuclide therapy ward environments. Wet mopping cleaning and disinfectant spraying are carried out simultaneously, which significantly improves the floor cleaning and sterilization effects, realizes efficient, safe and accurate disinfection work in radionuclide therapy wards, and provides reliable technical support for the safe cleaning of medical environments.

[0107] The control method of the intelligent disinfection robot in the radionuclide therapy ward provided in this embodiment also includes the following steps:

[0108] Obtain current environmental information, create a map based on the environmental information, and plan an operation path;

[0109] Control the robot to disinfect along the planned path;

[0110] During implementation, the robot obtains environmental information in the ward through sensing devices such as the LiDAR 500, automatically builds an indoor map, and the control module plans the optimal operation path. This step enables the robot to plan the path according to the actual spatial layout, ensuring efficient coverage of all areas while avoiding obstacles and achieving precise navigation. In addition, the map building and path planning functions solve the problem of path duplication or omission in the complex environment of the radionuclide therapy ward, improving operational efficiency.

[0111] Before obtaining the current environment information and building a map, determine whether the current time is during the weekend when no one is around or during the ward when someone is around:

[0112] If it is an unmanned period on weekends, the ultraviolet lamp 210 is used for irradiation disinfection and mopping operations, and the ultraviolet lamp 210 is turned off after the route is completed;

[0113] If the ward is occupied, further determine whether it is nighttime lights-out time:

[0114] If it is nighttime lights-out time, the robot is driven to move to the bathroom to perform ultraviolet lamp 210 disinfection;

[0115] If it is not nighttime lights-out time, the robot will be driven to move along the planned path, the mop will rotate and mop, and disinfectant will be sprayed. At the same time, the nuclear radiation value at the current location will be detected and the maximum value will be uploaded;

[0116] After the disinfection or mopping task is completed, continue to determine whether the current time has reached noon of the next day:

[0117] If it reaches noon of the next day, the current environment information will be re-acquired, the map will be re-established and the operation path will be planned to perform a new disinfection task;

[0118] If it has not reached noon of the next day, continue to monitor the time and remain on standby.

[0119] By judging the unmanned and manned periods on weekends, we can reasonably arrange ultraviolet disinfection and wet mopping cleaning tasks to improve the pertinence and timeliness of the operations, while reducing interference with the work of medical staff. During the manned period, we further distinguish between the lights-out time at night and the daytime, focusing on bathroom disinfection at night and performing wet mopping and radiation monitoring during the day, to achieve dynamic adaptation of task scenarios and improve the integrity and coverage of disinfection work. The robot monitors the nuclear radiation value in real time during the mopping process and uploads the maximum value to provide data support for radiation safety management in the ward, realizing the dual functions of disinfection and safety monitoring. Through time judgment, the robot can automatically re-acquire environmental information and plan a new path at noon the next day to ensure that the disinfection task is performed on demand every day, realizing the automatic closed-loop and unattended operation of the task, and improving work efficiency and reliability.

[0120] In summary, this control method solves the disinfection needs of wards in different time periods through time segment scheduling, dynamic task allocation, nuclear radiation monitoring and automatic task cycle execution, ensures efficient cleaning of the environment and radiation safety management, and provides an intelligent and precise disinfection solution for radionuclide therapy wards.

[0121] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An intelligent disinfection robot for a radionuclide therapy ward, comprising a driving chassis (100), and an ultraviolet module (200), a mopping module (300), a control module and a power module (400) arranged on the driving chassis (100), characterized in that: The ultraviolet module (200) comprises an ultraviolet lamp (210) and a lifting mechanism (220), the ultraviolet lamp (210) being arranged on the lifting mechanism (220), the lifting mechanism (220) being arranged on the driving chassis (100), the ultraviolet lamp (210) comprising a plurality of ultraviolet lamp tubes (211) and a lampshade (212), the plurality of ultraviolet lamp tubes (211) being arranged in the lampshade (212); The lifting mechanism (220) comprises a lead screw motor (221), a lead screw (222) and a slide table (223); the ultraviolet lamp (210) is arranged on the slide table (223); the slide table (223) is meshed with the lead screw (222); the lead screw motor (221) drives the lead screw (222) to rotate, so as to drive the slide table (223) and the ultraviolet lamp (210) to move along the axial direction of the lead screw (222); The driving chassis (100) comprises a frame (110) and a traveling mechanism (120) arranged on the frame (110).

2. The intelligent disinfection robot for radionuclide therapy ward according to claim 1 is characterized in that: The walking mechanism (120) comprises a pair of driving wheels (121) and a pair of driving motors (122) respectively connected to the pair of driving wheels (121); the driving motors (122) are arranged in the frame (110); the pair of driving wheels (121) are respectively arranged on both sides of the frame (110); and the walking mechanism (120) further comprises a pair of first universal wheels (123) arranged at the front end of the frame (110).

3. The intelligent disinfection robot for radionuclide therapy ward according to claim 1, characterized in that: The mopping module (300) comprises a plurality of disc-type mops (310) and a mopping motor (320) for driving the disc-type mops (310) to rotate, the disc-type mops (310) and the mopping motor (320) being connected correspondingly, and the disc-type mops (310) and the mopping motor (320) being arranged on a side of the driving chassis (100) close to the ground; The mopping module (300) further comprises a liquid supply mechanism for delivering disinfectant to the disc mop (310), the liquid supply mechanism comprising a liquid supply box (330) arranged on the driving chassis (100), a liquid supply valve (340) and a liquid supply pipe (350), the liquid supply pipe (350) connecting the liquid supply box (330) and the disc mop (310), the liquid supply valve (340) being arranged at the connection between the liquid supply pipe (350) and the liquid supply box (330) and being used to control the on-off of the liquid supply pipe (350) so as to adjust the delivery amount of the disinfectant.

4. The intelligent disinfection robot for radionuclide therapy ward according to claim 2, characterized in that: The driving wheel (121) and the first universal wheel (123) are rotatably connected to two ends of a first connecting member (124) respectively, and the middle part of the first connecting member (124) is rotatably connected to the frame (110); Under the action of an external force, the driving chassis (100) has a tendency that when the first universal wheel (123) moves toward the frame (110), the driving wheel (121) moves away from the frame (110), and when the driving wheel (121) moves toward the frame (110), the first universal wheel (123) moves away from the frame (110).

5. The intelligent disinfection robot for radionuclide therapy ward according to claim 4, characterized in that: The walking mechanism (120) further comprises a pair of second universal wheels (125) arranged at the rear end of the frame (110), the pair of second universal wheels (125) being arranged at both ends of a second connecting member (126), and the middle portion of the second connecting member (126) being rotatably connected to the frame (110); Under the action of external force, the driving chassis (100) has a tendency that when any one of the second universal wheels (125) moves toward the frame (110), the other second universal wheel (125) moves away from the frame (110).

6. The intelligent disinfection robot for radionuclide therapy ward according to claim 5, characterized in that: An elastic member (127) is provided between the first connecting member (124) and the frame (110), and between the second connecting member (126) and the frame (110). Two ends of the elastic member (127) respectively abut against the first connecting member (124) and the frame (110), and abut against the second connecting member (126) and the frame (110). The elastic member (127) is used to reset the movement tendency of the two ends of the first connecting member (124) and the second connecting member (126) toward or away from the frame (110).

7. The intelligent disinfection robot for radionuclide therapy ward according to claim 1, characterized in that: It also includes a laser radar (500), which is arranged on the driving chassis (100) and connected to the control module. The laser radar (500) is used to obtain current environmental information for the control module to establish a map.

8. The intelligent disinfection robot for radionuclide therapy ward according to claim 1, characterized in that: It also includes a radiation detection sensor, which is connected to the control module and is used to obtain the nuclear radiation value in the current environment.

9. A control method for a radionuclide therapy ward intelligent disinfection robot, using the radionuclide therapy ward intelligent disinfection robot according to any one of claims 1 to 8, characterized in that: The steps include: Setting the delayed start time x and the ultraviolet irradiation time y, and setting the irradiation height h of the ultraviolet lamp (210); The lifting mechanism (220) is driven to drive the ultraviolet lamp (210) to move to the irradiation height h; After the delay start time x is reached, the robot is controlled to start disinfection; During the robot disinfection process, the ultraviolet lamp (210) is controlled to turn on, and the ultraviolet irradiation time y is measured; During the robot disinfection process, the disc mop (310) is driven to rotate and mop, and disinfectant is sprayed onto the disc mop (310) at the same time; Determine whether the disinfection is completed. If not, continue to perform the movement and mopping operations; If the disinfection is completed, the mop drive motor (122) is turned off, and the ultraviolet lamp (210) is turned off when the ultraviolet irradiation time reaches y minutes; Control the robot to return to the charging station.

10. The control method of the intelligent disinfection robot in the nuclide therapy ward according to claim 9, characterized in that: The following steps are also included: Obtain current environmental information, create a map based on the environmental information, and plan an operation path; Control the robot to disinfect along the planned path; Before obtaining the current environment information and building a map, determine whether the current time is during the weekend when no one is around or during the ward when someone is around: If it is a weekend when no one is around, the UV lamp (210) is used for irradiation disinfection and mopping operations, and the UV lamp (210) is turned off after the route is completed; If the ward is occupied, further determine whether it is nighttime lights-out time: If it is nighttime and the lights are turned off, the robot is driven to move to the bathroom to perform ultraviolet light (210) disinfection; If it is not nighttime lights-out time, the robot is driven to move along the planned path, the mop rotates and mops, and disinfectant is sprayed, while the nuclear radiation value at the current position is detected and the maximum value is uploaded; After the disinfection or mopping task is completed, continue to determine whether the current time reaches 12:00 noon the next day: If it reaches 12 noon the next day, the current environment information will be re-acquired, the map will be re-established and the operation path will be planned to perform a new disinfection task; If it has not reached 12 noon of the next day, continue to monitor the time and remain on standby.

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