Unmanned disinfection vehicle in disinfection and supply center scene

Abstract

The invention designs an unmanned disinfection vehicle in a disinfection and supply center scene. The unmanned disinfection vehicle comprises an unmanned disinfection vehicle body; the control system, the movement system, the sensing system, the disinfection system and the liquid storage tank are all mounted on the unmanned disinfection vehicle body; moving systems are mounted at four corners of a chassis of the unmanned disinfection vehicle body and matched with Mecanum wheels; and a battery is fixedly connected to one side in the unmanned disinfection vehicle body. According to the unmanned disinfection vehicle, autonomous inspection and disinfection can be realized in the scene of a power supply elimination center, the unmanned disinfection vehicle is provided with a depth camera and a laser radar, and environment information can be sensed in real time, so that obstacle avoidance and path planning functions in a working area of the power supply elimination center are realized; in the navigation process, the unmanned disinfection vehicle obtains obstacle information in real time through the depth camera and the laser radar, and then adjusts and plans a path in real time through the depth information, so that intelligent disinfection of a disinfection supply center is realized, the disinfection working efficiency is improved, and the risk that epidemic prevention personnel are infected is effectively reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical sterilization and disinfection devices, and particularly relates to a unmanned disinfection vehicle in the scenario of a disinfection and supply center. Background Art

[0002] The disinfection and supply center plays a crucial role in the modern medical system. It undertakes the cleaning, disinfection, sterilization of all reusable diagnostic instruments, utensils, and items in the hospital, as well as the supply of sterile items. It is a key department for preventing and controlling hospital infections. During medical treatment, various medical devices are in close contact with patients' tissues, body fluids, etc. If the working area of the disinfection and supply center is not disinfected and sterilized, it is extremely easy to become a medium for the spread of pathogens, causing cross-infection among medical staff and resulting in a reduction in the medical staff.

[0003] The problems existing in the current technology are as follows: Most of the disinfection devices put into use in the current hospital disinfection and supply center have poor mobility and cannot achieve functions such as complete autonomous navigation and automatic obstacle avoidance. Moreover, the existing unmanned disinfection vehicles do not involve the use scenarios of the disinfection and supply center.

[0004] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure. Therefore, it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] Aiming at the problems existing in the prior art, the present invention aims to provide a unmanned disinfection vehicle in the scenario of a disinfection and supply center to solve the above problems existing in the prior art.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A unmanned disinfection vehicle in the scenario of a disinfection and supply center of the present invention includes: a unmanned disinfection vehicle body; a control system, a motion system, a sensing system, a disinfection and killing system, and a liquid storage tank, all of which are installed on the unmanned disinfection vehicle body; the motion system is installed at the four corners of the chassis of the unmanned disinfection vehicle body and is equipped with Mecanum wheels; a battery is fixedly connected to one side inside the unmanned disinfection vehicle body, connected to the STM control board above the upper cover and supplying power to it. A Jetson Nano development board is fixedly installed in the middle inside the unmanned disinfection vehicle body and is powered by the STM control board above the upper cover; a depth camera is fixedly installed at the front end of the upper cover and is connected to the Jetson Nano development board inside the unmanned disinfection vehicle body. The STM control board is installed in the middle of the upper cover and is powered by the battery, connected to the chassis motion system. A radar is fixedly installed above the STM control board and is connected to the Jetson Nano development board inside the unmanned disinfection vehicle body. The disinfection and killing system and the liquid storage tank are fixedly installed at the rear side of the upper cover and are connected to the Jetson Nano development board inside the unmanned disinfection vehicle body. The liquid storage tank is fixedly installed at the rear side of the upper cover.

[0008] The chassis is divided into a front part and a rear part, which are connected by a pendulum suspension. Two Mecanum wheels are respectively arranged on the front part and the rear part and are connected to the corresponding motors. The upper cover is connected to the chassis through iron support columns. A development board is fixedly connected to one side inside the vehicle and is connected to the control board on the upper part of the upper cover. The other side is fixedly connected to the battery. A depth camera is fixedly installed at the front end of the upper cover, a control board and a lidar are installed in the middle, and a liquid storage tank and an ultrasonic atomization sheet are fixedly installed at the rear.

[0009] In a preferred embodiment, the control system includes: an STM32 control board and a Jetson Nano development board. The STM32 control board supplies power to the Jetson Nano development board, and data transmission is achieved through a data cable.

[0010] In a preferred embodiment, the motion system includes: a chassis, four coded motors at the four corners of the chassis and supporting Mecanum wheels. Taking the STM32 control board as the control source, the Mecanum wheels are controlled to move at any angle.

[0011] In a preferred embodiment, the chassis includes: a front part of the chassis and a rear part of the chassis. The front and rear parts are connected by a pendulum suspension to achieve the effect of buffering and shock absorption, so as to ensure the stability of the images collected by the depth camera during the driving of the disinfection vehicle.

[0012] In a preferred embodiment, the perception system includes: a lidar and a depth camera, which are connected to the Jetson Nano development board through a serial communication line, and collect the visual distance information of the depth camera and the radar scanning distance information for obstacle avoidance and path planning.

[0013] In a preferred embodiment, the disinfection system includes: a liquid storage tank, a control board, and an ultrasonic atomization sheet. There are three equally spaced round holes on one side of the liquid storage tank for fixing the water guiding cotton strip of the ultrasonic atomization sheet to achieve uniform spraying of the disinfectant. There is a conical water injection hole on the other side for convenient liquid replenishment. The STM32 control board is connected to three ultrasonic atomization sheets and is connected to the water guiding cotton strip to atomize the disinfectant, thereby realizing the spraying of the disinfectant.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects:

[0015] The unmanned disinfection vehicle of the present invention can be used in the disinfection and supply center scenario, record the positions of different working areas in the disinfection and supply center, and then autonomously traverse each workshop. During autonomous navigation, a depth camera and a lidar are used for obstacle avoidance, automatically avoiding personnel and obstacles; that is, this autonomous sterilization and disinfection device can realize functions such as fully autonomous navigation and disinfection and automatic obstacle avoidance in the disinfection and supply center, and has strong mobility, solving the problems mentioned in the background art. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 Schematic diagram of the overall structure of the unmanned disinfection vehicle provided by the present invention;

[0018] Figure 2 Schematic diagram of the liquid storage tank structure of the unmanned disinfection vehicle provided by the present invention;

[0019] Figure 3 Schematic diagram of the chassis structure of the unmanned disinfection vehicle described in the present invention;

[0020] Figure 4 Schematic diagram of the control system of the unmanned disinfection vehicle described in the present invention;

[0021] Figure 5 Schematic diagram of the operation process of the unmanned disinfection vehicle described in the present invention;

[0022] Explanation of reference numerals: 1. Unmanned disinfection vehicle body; 2. STM32 control board; 3. Jetson Nano development board; 4. Mecanum wheel; 5. Depth camera; 6. Lidar; 7. STM32 control board; 8. Liquid storage tank; 9. Ultrasonic atomization sheet and water guiding cotton strip; 10. Battery; 11. Water outlet; 12. Water injection hole; 13. Encoder motor; 14. Chassis; 15. Swing suspension. Specific embodiments

[0023] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0024] Embodiment 1

[0025] Refer to the attached drawings of the specification Figure 1, A disinfection vehicle without a driver in the scenario of a disinfection and supply center of the present invention includes: a disinfection vehicle body 1; a control system, a motion system, a sensing system, a disinfection and killing system, and a liquid storage tank 8, all of which are installed on the disinfection vehicle body 1; the motion system is installed at the four corners of the chassis of the disinfection vehicle body 1 and is equipped with Mecanum wheels 4; a battery 10 is fixedly connected to one side inside the disinfection vehicle body 1, connected to the STM32 control board 2 above the upper cover and supplying power to it, a Jetson Nano development board 3 is fixedly installed in the middle inside the disinfection vehicle body 1, and is powered by the STM32 control board 2 above the upper cover; a depth camera 5 is fixedly installed at the front end of the upper cover, connected to the Jetson Nano development board 3 inside the disinfection vehicle body 1, the STM32 control board 2 is installed in the middle of the upper cover, powered by the battery 10, connected to the chassis motion system, a radar 6 is fixedly installed above the STM32 control board 2, connected to the Jetson Nano development board 3 inside the disinfection vehicle body 1, a disinfection and killing system 5 and a liquid storage tank 8 are fixedly installed at the rear side of the upper cover, connected to the Jetson Nano development board 3 inside the disinfection vehicle body 1, and a liquid storage tank 8 is fixedly installed at the rear side of the upper cover. The chassis is divided into a front part and a rear part, connected by a pendulum suspension, two Mecanum wheels are respectively arranged on the front part and the rear part, connected to the corresponding motors; the upper cover is connected to the chassis through an iron support column, a development board is fixedly connected to one side inside the vehicle and connected to the control board on the upper part of the upper cover, and a battery is fixedly connected to the other side; a depth camera is fixedly installed at the front end of the upper cover, a control board and a lidar are installed in the middle, and a liquid storage tank and an ultrasonic atomization sheet are fixedly installed at the rear.

[0026] In this example, the specific working process is as follows:

[0027] Refer to the attached Figure 2 of the specification, add the disinfectant to the liquid storage tank through the water injection port, turn on the switch of the STM32 control board of the disinfection system, at this time the disinfection vehicle without a driver starts the disinfection work, and realizes the uniform spraying of the disinfectant through the ultrasonic atomization sheet and the water guiding cotton strip.

[0028] Refer to the attached Figure 4 of the specification, during the work, the depth camera reads the environmental information in front of the vehicle, transmits the image information to the control system, at the same time the radar scans the environmental information, transmits the real-time generated two-dimensional radar map to the control system, and the Jetson Nano development board completes the identification of obstacles and the path planning from the current point to the target point.

[0029] Refer to the attached Figure 5 of the specification, when using the vehicle in a new scenario for the first time, it is necessary to control the disinfection vehicle without a driver to turn on the radar and cruise once in the working area of the disinfection and supply center, complete the drawing of the two-dimensional radar map of the environment of the disinfection and supply center and mark each working workshop in the map, and the serial numbers are 1, 2, 3,... in sequence.

[0030] Refer to the attachedFigure 5 Turn on the power of the unmanned disinfection vehicle. The vehicle starts from the starting point and automatically plans a route to the workshop numbered 1 according to the constructed radar map. After arriving, it successively plans routes to the workshops after the numbered one and navigates there.

[0031] During the navigation of the unmanned disinfection vehicle, if a person suddenly appears on the planned driving path, the disinfection vehicle activates the autonomous obstacle avoidance function. The vehicle retreats a certain distance, re-analyzes the depth camera visual distance information and radar scan information, plans the path again, bypasses the person, and continues to complete the operation.

[0032] After arriving at the last marked workshop and completing the disinfection work, the unmanned disinfection vehicle automatically plans the path to return to the starting point from the current position. At this time, the process of one cruise disinfection work ends.

[0033] The above is only the preferred implementation mode of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the concept described herein through the above teachings or the technology or knowledge in the relevant field. And any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. An unmanned disinfection vehicle in a disinfection supply center scenario, characterized in that: include: An unmanned disinfection vehicle body (1); a control system, a motion system, a sensing system, a disinfection system and a liquid storage tank (8), all of which are installed on the unmanned disinfection vehicle body (1); the motion system is installed at the four corners of the chassis of the unmanned disinfection vehicle body (1) and is equipped with Mecanum wheels (4); a battery (10) is fixedly connected to one side of the interior of the unmanned disinfection vehicle body (1), connected to the STM32 control board (2) above the upper cover and supplies power to it; a Jetson Nano development board (3) is fixed in the middle of the interior of the unmanned disinfection vehicle body (1), and is powered by the STM32 control board (2) above the upper cover; A depth camera (5) is fixedly installed at the front end of the upper cover and connected to the Jetson Nano development board (3) inside the unmanned disinfection vehicle body (1); an STM32 control board (2) is installed in the middle of the upper cover and powered by a battery (10) and connected to the chassis motion system; a radar (6) is fixedly installed above the STM32 control board (2) and connected to the Jetson Nano development board (3) inside the unmanned disinfection vehicle body (1); a disinfection system (5) and a liquid storage tank (8) are fixedly installed on the rear side of the upper cover and connected to the Jetson Nano development board (3) inside the unmanned disinfection vehicle body (1); and the liquid storage tank (8) is fixedly installed on the rear side of the upper cover.

2. The unmanned disinfection vehicle for a disinfection supply center according to claim 1 is characterized in that: The control system comprises an STM32 control board (2) and a Jetson Nano development board (3).

3. The unmanned disinfection vehicle for a disinfection center according to claim 1 is characterized in that: The motion system comprises a chassis (14), four encoder motors (13) at the four corners of the chassis and matching Mecanum wheels (4), and uses an STM32 control board (2) as a control source.

4. The unmanned disinfection vehicle for a disinfection center according to claim 1 is characterized in that: The perception system comprises a depth camera (5) and a laser radar (6), and transmits data to a Jetson Nano development board (3) via a serial communication line.

5. The unmanned disinfection vehicle for a disinfection center according to claim 1 is characterized in that: The disinfection system comprises a control panel, a liquid storage box (8) and an ultrasonic atomizing sheet (9); one side of the liquid storage box (8) is provided with three equidistant circular holes (11) for fixing the ultrasonic atomizing sheet (9) and the water-conducting cotton strip, and the other side is provided with a conical water injection hole (12) for replenishing liquid.

6. The unmanned disinfection vehicle for a disinfection center according to claim 3 is characterized in that: The chassis (14) comprises a front part and a rear part, which are connected via a pendulum suspension (15).

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