Air sampling method and device, robot and storage medium

Abstract

The invention relates to the technical field of robots, in particular to an air sampling method and device, a robot and a storage medium, and the method comprises the following steps: in response to a sampling instruction received by an interaction module, reading a target point in the sampling instruction, and planning an optimal path from a current starting point of the robot to the target point; wherein the sampling instruction comprises a target point and a sampling duration; a motion module is controlled to autonomously move to a target point based on the optimal path, the sampling duration in the sampling instruction is read, and an air sampler is controlled to conduct sampling according to the set sampling duration; according to the invention, the air sampling convenience can be improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an air sampling method, device, robot and storage medium. Background Art

[0002] In hospitals and other places, medical staff need to collect air quality in a designated environment. However, this may cause medical staff to work directly in dangerous working environments. In order to provide medical staff with a qualified sterile working environment, it is necessary to test, take photos, and provide voice prompts when putting on and taking off protective equipment for medical staff to remind them to take personal protection. This results in extremely labor-intensive sampling of colonies in operating rooms and laboratories, and extremely cumbersome operations. Summary of the invention

[0003] In view of this, an object of an embodiment of the present invention is to provide an air sampling method, device, robot and storage medium, which can improve the convenience of air sampling.

[0004] In one aspect, an embodiment of the present invention provides an air sampling method, the method comprising the following steps: In response to the sampling instruction received by the interaction module, the target point in the sampling instruction is read, and the optimal path from the current starting point of the robot to the target point is planned; wherein the sampling instruction includes the target point and the sampling duration; The control motion module autonomously moves to the target point based on the optimal path, reads the sampling duration in the sampling instruction, and controls the air sampler to perform sampling according to the set sampling duration.

[0005] Optionally, the controlling movement module autonomously moves to a target point based on the optimal path, comprising: The motion module is controlled to move autonomously based on the optimal path, and during the autonomous movement of the robot, obstacles detected in real time by the environment perception module are obtained; A local path is planned based on the relative position of the robot and the obstacle. After avoiding the obstacle according to the local path, the robot continues to move autonomously according to the optimal path until reaching the target point.

[0006] Optionally, after the air sampler is controlled to perform sampling according to a set sampling duration, the method further includes: If it is determined that the robot has completed sampling, the robot is controlled to move autonomously to the charging pile for charging.

[0007] Optionally, before controlling the air sampler to perform sampling according to the set sampling duration, the method further includes: Configure the interactive module's WIFI to work in wireless access point mode, configure the air sampler's WIFI to work in station mode, and set a fixed IP address for the air sampler.

[0008] Optionally, the controlling the air sampler to perform sampling according to a set sampling duration includes: Establish the communication connection between the interactive module and the air sampler, If the connection is successful, the interactive module sends a start command to the air sampler. The air sampler starts sampling after receiving the start command, and stops sampling after continuously sampling for the set sampling time.

[0009] Optionally, establishing a communication connection between the interaction module and the air sampler includes: The interactive module creates a socket connection and connects to the air sampler based on the set fixed IP address.

[0010] Optionally, the controlling the air sampler to perform sampling according to a set sampling duration further includes: If the connection times out, the interaction module releases the socket connection; If the IP address cannot be found, the interaction module stops the socket connection service.

[0011] On the other hand, an embodiment of the present invention provides an air sampling device, characterized in that the device comprises: The first module is used to respond to the sampling instruction received by the interaction module, read the target point in the sampling instruction, and plan the optimal path from the current starting point of the robot to the target point; wherein the sampling instruction includes the target point and the sampling duration; The second module is used to control the motion module to autonomously move to the target point based on the optimal path, read the sampling duration in the sampling instruction, and control the air sampler to perform sampling according to the set sampling duration.

[0012] On the other hand, an embodiment of the present invention provides a robot, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0013] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0014] The embodiments of the present invention include the following beneficial effects: In this embodiment, the sampling instruction received by the interactive module is used to plan the optimal path from the current starting point of the robot to the target point by reading the target point in the sampling instruction; the robot's autonomous navigation is achieved by controlling the motion module to autonomously move to the target point based on the optimal path. By reading the sampling duration in the sampling instruction, the air sampler is controlled to sample according to the set sampling duration, and the sampling task is completed autonomously by the air sampler, thereby improving the sampling efficiency and accuracy. The embodiment provided by the present invention combines autonomous navigation and autonomous sampling to achieve intelligent control of the air sampling process by the robot. The robot can intelligently complete the air sampling task, improve the sampling efficiency, and reduce the cost of manual intervention. The present invention can improve the convenience of air sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a schematic diagram of the steps of an air sampling method provided by an embodiment of the present invention; Figure 2 is a communication diagram of an interactive module and an air sampler in an embodiment of the present invention; Figure 3 is a schematic diagram of an autonomous moving path of a robot in an embodiment of the present invention; Figure 4 is a structural block diagram of an air sampling device provided by an embodiment of the present invention; Figure 5 It is a structural block diagram of a robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present invention. They are only examples of devices and methods consistent with some aspects of the embodiments of the present invention as detailed in the attached claims.

[0018] It is understood that the terms "first", "second", etc. used in the present invention may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0019] The terms "at least one", "multiple", "each", "any", etc. used in the present invention, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0021] like Figure 1 As shown, an embodiment of the present invention provides an air sampling method, the method comprising the following steps: S100, in response to a sampling instruction received by the interaction module, reading a target point in the sampling instruction, and planning an optimal path from the current starting point of the robot to the target point; wherein the sampling instruction includes the target point and the sampling duration; S200, controlling the motion module to autonomously move to the target point based on the optimal path, reading the sampling duration in the sampling instruction, and controlling the air sampler to perform sampling according to the set sampling duration.

[0022] It should be noted that the robot used for air sampling includes an environmental perception module, a motion module, a control module, an interaction module, and an air sampler; the interaction module is mounted on the robot's head, and the air sampler is mounted on the robot's cabin. The air sampler is mounted on the mobile robot, and the operator only needs to control the robot to the designated location for sampling from other locations or in the background, and then return it to the designated location after the sampling is completed.

[0023] Interaction module: A resistive device that uses display screens, touch screens, voice interaction modules, etc. to realize text, image, and voice interaction functions.

[0024] Air sampler: includes a rubber plug, an air inlet pipe, and a portable bioaerosol sampler, wherein the air inlet is isolated and sealed from the cabin to prevent the air from being secondary contaminated by exhaust gas.

[0025] The portable bioaerosol sampler is a liquid impact sampling sampler. The airflow enters the collection tube through the sampling head to form a cyclone. The particles in the cyclone tangentially hit the collection liquid cyclone during the rotation process and are captured by the collection liquid. This product can be used in combination with cryopreservation tubes to collect particles in the air directly into the liquid. It can be combined with bacterial culture, PCR, LAMP and other testing methods to quickly detect bacteria, fungi, viruses, etc. in the collected samples. It is widely used in air microbial sampling in environments such as disease prevention and control, environmental protection, pharmaceuticals, fermentation industry, food industry, biological cleanliness and public places.

[0026] Environmental perception module: includes one or more of 3D obstacle avoidance cameras, ultrasonic ranging sensors, lidar for obstacle avoidance and map building, and infrared sensors.

[0027] Motion module: includes servo drive, driving wheel and driven wheel, used to drive the robot to move autonomously.

[0028] Control module: includes navigation module and power module. The navigation module contains multiple software function modules, such as SLAM mapping module, positioning module, navigation module, multi-sensor fusion obstacle avoidance module, and emergency stop module. The control module is used for path planning.

[0029] In some embodiments, the controlling movement module autonomously moves to the target point based on the optimal path, including: The motion module is controlled to move autonomously based on the optimal path, and during the autonomous movement of the robot, obstacles detected in real time by the environment perception module are obtained; A local path is planned based on the relative position of the robot and the obstacle. After avoiding the obstacle according to the local path, the robot continues to move autonomously according to the optimal path until reaching the target point.

[0030] refer to Figure 2 , the key elements in the autonomous mobility process are as follows: Path planning: During autonomous movement, the navigation algorithm is responsible for generating the path for the robot to move to the target point. The navigation algorithm uses a strategy that dynamically combines global planning and local planning to move to the target point.

[0031] Dynamics of global planning: For example, if there are three reachable paths from the starting point to the target point, and the robot starts to move along the optimal path, if it can no longer move forward, the navigation algorithm will switch back to one of the other two paths to continue moving.

[0032] Local planning: Before the robot moves, it will first plan the global path ( Figure 3During the movement, if there are obstacles that affect the robot's movement along the original path, it will locally plan a path A, then reach the waypoint, and then continue to move along the path C.

[0033] Obstacle detection: During the movement process, the obstacles that appear during the movement are measured through lidar, 3D sensors, and ultrasound, and the measured distance data is output to the navigation algorithm. The navigation algorithm decides which distance data to use or to fuse them and then slow down and bypass them in time.

[0034] In some embodiments, after the air sampler is controlled to perform sampling according to the set sampling time, the method further includes: If it is determined that the robot has completed sampling, the robot is controlled to move autonomously to the charging pile for charging.

[0035] It should be noted that the charging pile is used to charge the robot. When the robot needs to be charged, it will autonomously navigate to the location of the charging pile, find the charging pile through the lidar, and then shake hands and communicate with the infrared module of the chassis and the infrared module of the charging pile to realize charging by the pile.

[0036] In this embodiment, the robot also has an autonomous charging function, which ensures the continuity and stability of the robot during long-term operation. This design not only optimizes the air sampling process, but also provides strong support for environmental monitoring and public health safety.

[0037] In some embodiments, before controlling the air sampler to perform sampling according to the set sampling duration, the method further includes: Configure the interactive module's WIFI to work in wireless access point mode, configure the air sampler's WIFI to work in station mode, and set a fixed IP address for the air sampler.

[0038] It should be noted that before air sampling, the interaction module and the air sampler need to be configured for communication respectively; Figure 3 This is a block diagram of the interactive module (Android system) controlling the portable aerosol sampler through WIFI, where the Android system's WIFI works in wireless access point mode (AP mode) and the air sampler's WIFI works in station mode. Station mode means that the device acts as a client node in a wireless network, that is, an ordinary wireless terminal device. When the air sampler's WIFI is connected to the Android system's WIFI, the Android system's WIFI sends control commands to control the air sampler.

[0039] It should be noted that the default working mode of the air sampler is that when connected to the WIFI of the Android system AP mode, the IP address of the air sampler changes dynamically, which is not convenient for the control software of the Android system to control the air sampler. Therefore, it is necessary to design the air sampler with a fixed IP address and provide a management platform for the robot operator to configure a fixed IP address.

[0040] In some embodiments, the controlling the air sampler to perform sampling according to a set sampling duration includes: Establish the communication connection between the interactive module and the air sampler, If the connection is successful, the interactive module sends a start command to the air sampler. The air sampler starts sampling after receiving the start command, and stops sampling after continuously sampling for the set sampling time.

[0041] Specifically, the interactive module's WIFI sends a control command to control the air sampler to perform sampling. During the sampling process, the interactive module monitors the sampling status in real time to ensure stable data transmission.

[0042] In some embodiments, establishing a communication connection between the interaction module and the air sampler includes: The interactive module creates a socket connection and connects to the air sampler based on the set fixed IP address.

[0043] It should be noted that by using a fixed IP address to create a socket connection, stable communication between the interactive module and the air sampler is facilitated.

[0044] In some embodiments, the communication configuration of the interaction module and the air sampler respectively further includes: If the connection times out, the interaction module releases the socket connection; If the IP address cannot be found, the interaction module stops the socket connection service.

[0045] It should be noted that the main steps of the air sampling process are as follows: According to the set fixed IP address, create a socket connection and connect the interactive module and the air sampler; If the connection is successful, a start command is sent to the air sampler. The air sampler starts sampling after receiving the start command. When the sampling time is up, the air sampling is stopped.

[0046] If the connection is not successful, the socket connection exception will be judged. For exceptions such as socket connection timeout, the socket connection should be released; if the socket connection address does not exist, the socket connection service should be stopped.

[0047] See also Figure 4 , an embodiment of the present invention provides an air sampling device, the device comprising: The first module is used to respond to the sampling instruction received by the interaction module, read the target point in the sampling instruction, and plan the optimal path from the current starting point of the robot to the target point; wherein the sampling instruction includes the target point and the sampling duration; The second module is used to control the motion module to autonomously move to the target point based on the optimal path, read the sampling duration in the sampling instruction, and control the air sampler to perform sampling according to the set sampling duration.

[0048] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0049] refer to Figure 5 An embodiment of the present invention further provides a robot, the robot comprising a memory and a processor, the memory storing a computer program, and the processor implementing the method in the above embodiment when executing the computer program.

[0050] It can be understood that the contents of the above method embodiments are all applicable to this embodiment, the functions specifically implemented by this embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0051] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above method is implemented.

[0052] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0053] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0054] The embodiments described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. Those skilled in the art can appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0055] Those skilled in the art will appreciate that the technical solutions shown in the figures do not limit the embodiments of the present invention and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0056] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0057] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0058] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] It should be understood that in the present invention, "at least one (item)" refers to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can represent: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0060] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0061] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0062] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0063] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random-Access-Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0064] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the embodiments of the present invention is not limited thereby. Any modification, equivalent substitution and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present invention shall be within the scope of the rights of the embodiments of the present invention.

Claims

1. An air sampling method, characterized in that: The method comprises the following steps: In response to the sampling instruction received by the interaction module, the target point in the sampling instruction is read, and the optimal path from the current starting point of the robot to the target point is planned; wherein the sampling instruction includes the target point and the sampling duration; The control motion module autonomously moves to the target point based on the optimal path, reads the sampling duration in the sampling instruction, and controls the air sampler to perform sampling according to the set sampling duration.

2. The method according to claim 1, characterized in that The control motion module autonomously moves to the target point based on the optimal path, comprising: The motion module is controlled to move autonomously based on the optimal path, and during the autonomous movement of the robot, obstacles detected in real time by the environment perception module are obtained; A local path is planned based on the relative position of the robot and the obstacle. After avoiding the obstacle according to the local path, the robot continues to move autonomously according to the optimal path until reaching the target point.

3. The method according to claim 1, characterized in that After the air sampler is controlled to perform sampling according to the set sampling time, the method further includes: If it is determined that the robot has completed sampling, the robot is controlled to move autonomously to the charging pile for charging.

4. The method according to claim 1, characterized in that: Before the air sampler is controlled to perform sampling according to the set sampling duration, the method further includes: Configure the interactive module's WIFI to work in wireless access point mode, configure the air sampler's WIFI to work in station mode, and set a fixed IP address for the air sampler.

5. The method according to claim 4, characterized in that The control air sampler performs sampling according to the set sampling time, including: Establish the communication connection between the interactive module and the air sampler, If the connection is successful, the interactive module sends a start command to the air sampler. The air sampler starts sampling after receiving the start command, and stops sampling after continuously sampling for the set sampling time.

6. The method according to claim 5, characterized in that The step of establishing a communication connection between the interaction module and the air sampler includes: The interactive module creates a socket connection and connects to the air sampler based on the set fixed IP address.

7. The method according to claim 6, characterized in that The controlling air sampler to perform sampling according to the set sampling duration also includes: If the connection times out, the interaction module releases the socket connection; If the IP address cannot be found, the interaction module stops the socket connection service.

8. An air sampling device, characterized in that: The device comprises: The first module is used to respond to the sampling instruction received by the interaction module, read the target point in the sampling instruction, and plan the optimal path from the current starting point of the robot to the target point; wherein the sampling instruction includes the target point and the sampling duration; The second module is used to control the motion module to autonomously move to the target point based on the optimal path, read the sampling duration in the sampling instruction, and control the air sampler to perform sampling according to the set sampling duration.

9. A robot, characterized in that: The robot comprises: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 7 when executed by the processor.

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