Nuclear species ward intelligent cleaning robot and multi-modal operation method

Abstract

This invention relates to the field of radionuclide ward cleaning technology, and more particularly to an intelligent cleaning robot for radionuclide wards and a multimodal operation method. It includes a base station and a robot body. The robot body includes a shell, a central controller, a wireless communication module, a power module, a mobility module, a cleaning module, a negative pressure adsorption module, a contaminant collection module, a radioactive contamination monitoring module, and a detection module. The wireless communication module, power module, mobility module, cleaning module, negative pressure adsorption module, contaminant collection module, radioactive contamination monitoring module, and detection module are all communicatively connected to the central controller. Using this system and method, the risk of radiation exposure to personnel can be completely eliminated, it is adapted to the special environment and equipment protection of radionuclide wards, and cleaning efficiency and accuracy are improved.

Description

Technical Field

[0001] This invention relates to the field of radionuclide ward cleaning technology, and in particular to an intelligent cleaning robot for radionuclide wards and a multimodal operation method. Background Technology

[0002] In the field of nuclear medicine, radionuclide therapy plays a crucial role in the treatment of cancer and other intractable diseases due to its precise efficacy. With the continuous popularization and development of nuclear medicine technology, the number of radionuclide therapy wards is increasing, highlighting the growing need for ward cleanliness. In radionuclide wards, patients receive radionuclide therapy, and the ward environment is inevitably contaminated by radioactive materials. These radioactive contaminants are not only diverse in type, but also, in terms of radionuclide types, include… 131 I, 177 Lu et al. found that the pollutants included radioactive aerosols, solid radioactive food residues, and radioactive urine residues, and their distribution was complex, posing a great challenge to the cleaning work in the wards.

[0003] Currently, there are two main technical solutions in the field of radionuclide ward cleaning. One relies on manual cleaning, where medical personnel wear heavy radiation protection gear and use conventional cleaning tools such as mops, rags, and vacuum cleaners to clean the wards. However, this manual cleaning method has the following drawbacks: 1. Uncontrollable radiation exposure risk for personnel: Manual cleaning requires medical personnel to enter radioactive wards. Even with protective equipment, the shielding effectiveness of the equipment has an upper limit, and long-term, high-frequency work can still lead to radiation accumulation. According to clinical data, there are frequent cases of cleaning personnel performing manual cleaning in radionuclide wards exceeding the cumulative dose limit. Furthermore, during the cleaning process, personnel need to be in close contact with contaminated areas, posing a risk of secondary contamination where radioactive materials adhere to the surface of protective equipment and are carried out of the ward. 2. Low cleaning efficiency and quality: Manual cleaning relies on the physical strength and standardized operation of personnel, and its efficiency is far lower than that of intelligent operation. At the same time, manual cleaning is easily affected by blind spots (such as the bottom of equipment and corner gaps) and operator fatigue, and the cleaning coverage cannot reach 100%. Furthermore, it is impossible to differentiate the treatment of contaminated areas. High-contamination areas may have radioactive particles remaining due to incomplete cleaning, while low-contamination areas may have wasteful over-cleaning. 3. Incompatible with the special environment of radionuclide wards: Lead-shielded walls and specialized medical equipment (such as radionuclide therapy beds, lead screens, lead waste bins, etc.) are densely packed in radionuclide wards. Manual cleaning requires frequent avoidance of the equipment, which not only increases the difficulty of the operation, but also makes it easy to damage the equipment or miss cleaning due to collisions. In addition, it is impossible for manual personnel to detect the radiation intensity of the cleaning area in real time, and it is impossible to determine whether the cleaning meets the standards. It is necessary to arrange additional professional personnel to use detection equipment for verification, which prolongs the overall cleaning process.

[0004] The second option is to use traditional cleaning robots, employing existing ordinary cleaning robots to clean the wards. However, using traditional cleaning robots has the following disadvantages: 1. Lack of radioactive contamination identification capability: Traditional cleaning robots only have basic environmental navigation and floor cleaning functions, and do not integrate radiation detection modules. They cannot identify the distribution location and concentration of radioactive contamination in radionuclide wards, and can only perform "indiscriminate cleaning". The robot will use the same cleaning force and time, resulting in incomplete cleaning of highly contaminated areas (residual radioactive particles may cause radiation levels to still exceed the standard), and over-cleaning of low-contamination areas (wasting energy and consumables). 2. Lack of a special cleaning mechanism targeting radioactive particles: Traditional cleaning robots typically have low filtration efficiency in their vacuuming systems and do not target radioactive particles (such as...). 131 I, 177 Specialized cleaning structures designed for Lu (volatile particulate matter) are ineffective at capturing such particles. For example, for 131 I. Volatile particles, which conventional vacuum systems cannot prevent from spreading with the airflow; for 177 Lu magnetic particles cannot be adsorbed by ordinary cleaning heads, which can easily cause the particles to adhere to the ground or equipment surface, causing secondary pollution.

[0005] 3. Poor adaptability to navigation and protection: The lidar of traditional cleaning robots is not optimized for the lead-shielded environment of radionuclide wards. The reflectivity of lead-shielded walls to laser signals is lower than that of ordinary walls, resulting in large deviations in robot map construction, easy path planning errors, and low cleaning coverage. At the same time, the robot has no radiation protection design, and core electronic components (such as control chips and sensors) are exposed to radioactive environments for a long time, which can easily lead to problems such as signal interference and performance degradation, and shorten their service life. Summary of the Invention

[0006] The technical solution to be solved by the present invention is to provide an intelligent cleaning robot system and multimodal operation method for radionuclide wards. By using this system and method, the risk of radiation exposure to personnel can be completely eliminated, it can be adapted to the special environment and equipment protection of radionuclide wards, and the cleaning efficiency and accuracy can be improved.

[0007] The technical solution adopted in this invention is: an intelligent cleaning robot for radionuclide wards, comprising a base station and a robot body. The robot body includes a shell, a central controller, a wireless communication module, a power module, a mobility module, a cleaning module, a negative pressure adsorption module, a contaminant collection module, a radioactive contamination monitoring module, and a detection module. The wireless communication module, power module, mobility module, cleaning module, negative pressure adsorption module, contaminant collection module, radioactive contamination monitoring module, and detection module are all communicatively connected to the central controller. Wireless communication module, used for communicating with external servers; The power module is used to supply power to other modules; The mobility module is used to move the cleaning robot. Negative pressure adsorption module is used to adsorb radioactive aerosol pollutants in the air; The cleaning module is used to remove radioactive contaminants from the ground. The pollutant collection module is used to collect radioactive pollutants cleaned out by the negative pressure adsorption module and the cleaning module; A radioactive contamination monitoring module is used to monitor the concentration of radioactive contaminants. The detection module is used to generate a spatial map of the cleaned area; The central controller combines the concentration of radioactive contaminants detected by the radioactive contaminant monitoring module with the spatial map generated by the detection module to obtain a spatial map containing the concentration of radioactive contaminants. Then, it plans a path based on the spatial map containing the concentration of radioactive contaminants, and finally controls the moving module, negative pressure adsorption module, and cleaning module to clean up the radioactive contaminants according to the planned path.

[0008] Preferably, it also includes a wall cleaning module for cleaning radioactive contaminants on the wall. The wall cleaning module includes a multi-axis manipulator and cleaning tools placed on the housing. The gripper of the multi-axis manipulator is provided with detection structures on both sides. The detection structures are radioactive contaminant detection components and binocular vision detection components. The manipulator and the detection structures are all communicatively connected to the central controller.

[0009] Preferably, it also includes a packaging module for packaging the radioactive contaminants collected by the contaminant collection module. The packaging module includes a heat-sealing component for heat-sealing the garbage bag, a cutting component for cutting the garbage bag, and a vertical moving component for driving the heat-sealing component and the cutting component to move vertically. The heat-sealing component, the cutting component, and the vertical moving component are all communicatively connected to the central controller.

[0010] Preferably, the cleaning module includes a first cleaning head receiving groove fixed to the upper part of the housing for holding cleaning agent and a first cleaning head, and a second cleaning head receiving groove for holding clean water and a second cleaning head. The housing is provided with a cleaning head mounting position, and a cleaning motor is provided on the cleaning head mounting position for driving the cleaning head mounted on the cleaning head mounting position to rotate. When it is necessary to clean up radioactive contaminants, the robotic arm can install the first cleaning head into the cleaning head mounting position; When it is necessary to clean up ordinary contaminants, the robotic arm can install the second cleaning head into the cleaning head mounting position.

[0011] Preferably, the base station includes a wastewater collection tank, a drain outlet, a detergent refill tank, and a clean water refill head. Both the first and second cleaning head receiving slots are equipped with water inlets and outlets. When the robot body is paired with the base station for charging, the wastewater collection tank is paired with the outlet of the first cleaning head container, the detergent replenishment tank is paired with the inlet of the first cleaning head container, the drain outlet is paired with the outlet of the second cleaning head container, and the clean water replenishment head is paired with the inlet of the second cleaning head container.

[0012] Preferably, the negative pressure adsorption module includes a vacuum pump and a filter screen, and the pollutant collection module includes a dust collection hood, a control door located at the opening below the dust collection hood, and a garbage bag fitted outside the dust collection hood. The vacuum pump and the control door are both communicatively connected to the central controller. The filter screen is located at the air inlet of the vacuum pump, and the dust collection hood covers the air inlet of the vacuum pump and the filter screen. The dust collection hood is also connected to the cleaning head mounting position through a connecting pipe.

[0013] Preferably, the central controller is mounted on a control board, which has a shielding layer to protect the central controller, and the interface between the radioactive contamination monitoring module and the detection module and the control board is made of copper alloy electromagnetic shielding.

[0014] A multimodal operation method for a radionuclide-based intelligent cleaning robot in a ward includes the following steps: S1. The control and detection module constructs a spatial map. At the same time, during the construction process, the radioactive pollution monitoring module monitors the concentration of radioactive pollutants in real time and combines the monitored concentration and the coordinates of the monitored concentration into the spatial map to obtain a spatial map with the concentration of radioactive pollutants. S2. Plan the cleaning path based on the spatial map with radioactive contaminant concentration obtained in step S1. S3. Clean according to the cleaning path planned in step S2; S4. After cleaning is completed, control the cleaning robot to move to the radioactive waste placement area where the base station is located to recharge and process the waste.

[0015] As a preferred option, the planned path in step S2 is as follows: based on the concentration of radioactive contaminants, the space is divided into four levels of clean areas: clean area, low-contamination area, medium-contamination area, and high-contamination area. The planned cleaning path is from the high-contamination area to the medium-contamination area and then to the low-contamination area. In step S3, the cleaning must be carried out in the order of high-contamination area, medium-contamination area, and low-contamination area. The cleaning mainly relies on the cleaning module and the negative pressure adsorption module. After each contamination area is cleaned, it needs to be re-detected by the radioactive contamination monitoring module until the concentration of radioactive contaminants in the contamination area is lower than the set threshold. Then, the next contamination area is cleaned until all cleaning areas are cleaned.

[0016] Preferably, in step S1, when controlling the lidar detection module and the moving module to construct a spatial map, the laser power needs to be adaptively adjusted according to the real-time reflected signal intensity.

[0017] Compared with existing technologies, the present invention has the following advantages using the above-described systematic method: (i) It greatly eliminates the radiation risk to staff. Compared with manual cleaning, this invention allows medical personnel to operate autonomously without human intervention, thus reducing the risk of radiation exposure. At the same time, the contaminant collection module automatically collects and seals radioactive contaminants, avoiding secondary pollution caused by manual handling and completely solving the safety shortcomings of manual cleaning. (ii) Improved cleaning accuracy and efficiency. Traditional robots sweep indiscriminately, resulting in excessive radiation in the area. This invention plans the cleaning path using a spatial map with radioactive pollutant concentrations. After cleaning, the radiation intensity of the entire area is stable, the compliance rate is high, and the overall cleaning effect is also high. (III) Adapting to the special environment of radionuclide wards and solving the navigation and protection problems of traditional equipment. Navigation accuracy: Traditional robots have large map deviations in lead-shielded environments. This invention can better adapt to the special environment of radionuclide wards by dynamically adjusting the laser emission power, resulting in a more accurate spatial map. Equipment lifespan: Traditional robots have a short lifespan in radioactive environments. This invention, by setting a shielding layer around the control board, makes the control board less susceptible to radiation from radioactive contaminants, thus extending the overall lifespan of the cleaning robot. (iv) It has outstanding technological innovation and fills the gap in professional cleaning equipment for radionuclide wards. This invention is the first to integrate a cleaning robot into the cleaning of radionuclide wards, forming an intelligent cleaning solution specifically for radionuclide environments, and providing core technical support for the upgrading of cleaning equipment in the field of nuclear medicine. Attached Figure Description

[0018] Figure 1 This is a connection block diagram of the cleaning robot of the present invention.

[0019] Figure 2 This is a flowchart of the method of the present invention.

[0020] Figure 3 This is a schematic diagram of the cleaning robot of the present invention.

[0021] Figure 4 This is a schematic diagram of the robot body in the cleaning robot of the present invention.

[0022] Figure 5 This is a cross-sectional view of the robot body.

[0023] Figure 6 This is a structural diagram of the packaging module.

[0024] As shown in the figure: 1. Robot body; 2. Base station; 3. Wastewater collection tank; 4. Drain outlet; 5. Detergent refill tank; 6. Clean water refill head; 7. Robotic arm; 8. Cleaning tool; 9. Detection structure; 10. Hot melt assembly; 11. Cutting assembly; 12. Vertical movement assembly; 13. First cleaning head receiving slot; 14. First cleaning head; 15. Second cleaning head receiving slot; 16. Second cleaning head; 17. Cleaning head mounting position; 18. Vacuum pump; 19. Filter screen; 20. Garbage bag; 21. Connecting pipe; 22. Shell; 23. Dust collection hood; 24. Control door; 25. Detection module; 26. Radioactive contamination monitoring module. Detailed Implementation

[0025] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0026] Example 1: A radionuclide-based intelligent cleaning robot for wards includes a robot body 1 and a base station 2, wherein: The robot body 1 includes a shell 22, a central controller, a wireless communication module, a power module, a mobility module, a cleaning module, a negative pressure adsorption module, a pollutant collection module, a radioactive contamination monitoring module 26, and a detection module 25. The wireless communication module, power module, mobility module, cleaning module, negative pressure adsorption module, pollutant collection module, radioactive contamination monitoring module 26, and detection module 25 are all communicatively connected to the central controller. The housing 22 has an overall L-shaped cross-section and includes an upper housing and a lower housing. The upper housing mainly houses the negative pressure adsorption module and the pollutant collection module. The upper end face of the upper housing has an air outlet for the negative pressure adsorption module, and the lower part of the upper housing has a notch for the garbage bag collected by the pollutant collection module to fall down and be retrieved. The lower housing mainly houses the cleaning module, the moving module, the central controller, the wireless communication module, and the power module. The cleaning head of the cleaning module can extend from the bottom of the lower housing to clean the ground. The upper housing and the lower housing are connected by a connecting pipe 21. The front of the lower housing is equipped with a radioactive pollution monitoring module 26, and the front of the upper housing is equipped with a detection module 25. The wireless communication module is installed inside the lower shell. Because there are various shielding objects in the cleaning space (such as lead walls), it can only communicate with the communication module built into the cleaning space itself, such as a Bluetooth module or a Wi-Fi module. Then, it communicates with the external host through these built-in communication modules, so that the external host can monitor and control the cleaning robot's work.

[0027] The power module, installed at the rear of the lower shell, is used to power other modules. It is similar to the power module of existing robotic vacuum cleaners, so it will not be discussed in detail here.

[0028] The moving module, installed at the bottom of the lower shell, is driven by a motor to move the rollers, similar to existing ordinary cleaning robots, so it will not be discussed in detail here.

[0029] The negative pressure adsorption module, installed inside the upper shell, includes a vacuum pump 18 and a filter screen 19. The air inlet of the vacuum pump 18 is connected to the bottom of the lower shell via a connecting pipe 21, and is connected to the cleaning head mounting position 17 at the bottom of the lower shell. Air enters through the bottom of the lower shell, and the air outlet is located on the upper surface of the upper shell, meaning that the gas filtered by the filter screen 19 is blown out from the upper surface of the upper shell. The filter screen 19 is located at the air inlet of the vacuum pump 18 and has two main stages: primary filtration (pretreatment): using a metal mesh or coarse fiber filter to remove large particulate impurities through inertial impaction; secondary filtration (fine adsorption): using a HEPA filter to remove medium and small particle aerosols through interception. The vacuum pump 18 generates negative pressure to adsorb radioactive aerosol pollutants from the outside air, which are then filtered by the filter screen 19 before being discharged.

[0030] The cleaning module includes a cleaning head mounted on the cleaning head mounting position 17 on the lower shell and a motor that drives the cleaning head to work. The cleaning head can extend out of the bottom of the lower shell to clean pollutants on the ground. The cleaning head mounting position 17 is also connected to the dust collection hood 23 through the connecting pipe 21. In this way, when the vacuum pump 18 in the negative pressure adsorption module is working, the pollutants on the ground will be sucked into the dust collection hood 23 through the connecting pipe 21 under the negative pressure adsorption.

[0031] The pollutant collection module mainly consists of a dust collection hood 23, which is installed inside the upper shell. The dust collection hood 23 covers the filter screen 19, so that pollutants that cannot pass through the filter screen 19 will fall into the dust collection hood 23 and be collected by it. The dust collection hood 23 is funnel-shaped, which can better collect pollutants adsorbed by negative pressure. A garbage bag 20 is placed under the dust collection hood 23. The bottom of the dust collection hood 23 is equipped with a control door 24 to close the dust collection hood 23. When the vacuum pump 18 is working, the control door 24 is closed. At this time, the pollutants adsorbed by the negative pressure adsorption module will be collected in the dust collection hood 23. The control door 24 will only be opened when the vacuum pump 18 is turned off, at which time the pollutants collected in the dust collection hood 23 will fall into the garbage bag 20.

[0032] The radioactive contamination monitoring module 26, installed at the front of the lower shell, includes a gamma-ray detector and a beta surface contamination monitor. A shielding layer 6 is installed outside the portion of the gamma-ray detector and beta surface contamination monitor located inside the robot body 1. This shielding layer not only isolates the gamma-ray detector and beta surface contamination monitor from external devices but also isolates the gamma-ray detector and beta surface contamination monitor themselves. Specifically: the gamma-ray detector is located at the front end to reduce interference from ambient light on the scintillation signal; the rear end connects to a photomultiplier tube to convert the scintillation light signal into an electrical signal. This electrical signal is processed by a preamplifier and a main amplifier before being input to the analog-to-digital converter of the central control module. Data correction: a built-in temperature compensation algorithm is used because the detection efficiency of the NaI scintillator is affected by temperature. The detector temperature is collected by a thermistor, and the detection data is corrected in real time to ensure normal operation in the radionuclide ward. The beta surface contamination monitor features a replaceable design: a modular structure, with the probe connected to the main unit via a waterproof aviation plug, allowing for plug-and-play operation without recalibration during replacement. Anti-interference design: the probe shell is made of brass to shield against ambient gamma rays. The interference of gamma rays on beta detection; and both gamma ray detectors and beta surface contamination monitors are conventional products of existing technology, so they are generally similar to existing products.

[0033] The detection module 25 is installed at the front of the upper shell and is mainly a lidar. It is the same as the lidar used in existing floor cleaning robots, except that the software algorithm has been optimized. According to the real-time reflected signal intensity, the laser power is adaptively adjusted to ensure that the lead wall can be detected while avoiding overexposure or energy consumption waste to other objects caused by excessive power. The main methods include: 1. Initializing the power reference value: By default, a low power (such as 5mW) is used to scan the ordinary environment to reduce energy consumption and heat generation; 2. Real-time light intensity monitoring: When the detector scans each frame, the reflected light intensity data is synchronously output and transmitted to the core control chip; 3. Hierarchical power adjustment: Multiple non-continuous adjustment gears are adopted (to avoid sudden power changes from damaging the laser diode). For example, 3 power gears are set: 5mW (conventional) → 10mW (medium strong) → 15mW (strong gear). And when the light intensity I < I0, it is first increased to 10mW; if the threshold is still not reached, it is then increased to 15mW; 4. When a high reflectivity target is scanned, the power is automatically reduced to the low power to prevent ranging errors caused by overexposure of the light spot; and a power upper limit protection also needs to be set: A safety power threshold (such as ≤20mW) is set to control the heat generation of the lidar. And there are adjustable power lidars available for sale in the existing technology market. Therefore, this application only applies this kind of lidar to the cleaning robot of this application.

[0034] The central controller, as the core connecting hardware and software, has the capabilities of high-speed data processing and multi-module collaborative control. It is also a conventional control chip in the existing technology and is installed on the control board. And a shielding layer is provided outside the control board, which can effectively prevent the control chip from being affected by the radiation of radioactive pollutants.

[0035] The base station 2 is set in the radioactive waste placement area and is mainly used for the robot body 1 to plug in for charging and process waste.

[0036] The multi-modal operation method of the above-mentioned intelligent cleaning robot for nuclear medicine wards includes the following steps: S1. The central controller transmits a control signal to the external server through the wireless communication module to turn off the ventilation equipment in the cleaning space; S2. Construction of the space map: S21. Sensor self-check and calibration. After the cleaning robot is powered on, the core sensors need to be self-checked. The lidar completes the rotation turret calibration, the IMU (inertial measurement unit) completes the zero bias correction, and the wheel encoder completes the counting reference calibration to ensure the accuracy of the data of each sensor; S22. Coordinate system establishment. Taking the position where the robot is powered on as the origin of the global coordinate system, and at the same time establishing its own local coordinate system to provide a reference for subsequent positioning and point cloud coordinate transformation; S23. Map building mode selection, supporting automatic map building (covering the whole house) or manual map building (designated area). Automatic map building is enabled by default, and the initial scanning path is planned (usually along the wall first to determine the room boundaries). S24. The lidar rotates at high speed (300 - 600 rpm), emits laser pulses, calculates the distance to obstacles through triangulation ranging, and during the ranging process, the laser power needs to be adaptively adjusted according to the real-time reflected signal intensity. Specifically: S241. Initialize the power reference value: By default, a low power (such as 5 mW) is used to scan the ordinary environment to reduce energy consumption and heat generation. S242. Real-time light intensity monitoring: When the detector scans each frame, the reflected light intensity data is synchronously output and transmitted to the core control chip. S243. Hierarchical power adjustment: Multiple non - continuous adjustment gears are adopted (to avoid power mutation damaging the laser diode). For example, 3 power levels are set: 5 mW (conventional) → 10 mW (medium - strong) → 15 mW (strong). And when the light intensity I < I0, it is first increased to 10 mW; if the threshold is still not reached, it is then increased to 15 mW. S244. When a high - reflectivity target is scanned, the power is automatically reduced back to the low power to prevent ranging errors caused by over - exposure of the light spot. S25. Combining the rotation angle of the radar, the polar coordinates (distance, angle) of each laser point are converted into Cartesian coordinates in the global coordinate system to form a grid point cloud. S26. When the robot moves, it continuously collects point clouds at different positions, aligns all point clouds to the same global coordinate system, eliminates the position offset caused by movement, forms a complete point cloud data covering the whole house, and then obtains a space map. S27. During the movement of the robot, the radioactive pollution monitoring module 26 continuously monitors the concentration of radioactive pollutants, and combines the coordinates of the monitored concentration onto the space map to obtain a space map with the concentration of radioactive pollutants. S3. Plan the cleaning path according to the space map with the concentration of radioactive pollutants obtained in step S2: S31. According to the concentration of radioactive pollutants, the space is divided into four levels of cleaning areas: clean area, low - pollution area, medium - pollution area, and high - pollution area. And the cleaning path is planned to be from the high - pollution area to the medium - pollution area and then to the low - pollution area. S4. Clean according to the cleaning path planned in step S3, that is, control the robot to clean in the order of the high - pollution area, medium - pollution area, and low - pollution area. The cleaning mainly relies on the cleaning module and the negative pressure adsorption module. After each pollution area is cleaned, it needs to be re - detected by the radioactive pollution monitoring module 26 until the concentration of radioactive pollutants in this pollution area after cleaning is lower than the set threshold, and then move to the next pollution area for cleaning. S5. After all contaminated areas have been cleaned, the central controller transmits control signals to the external server via the wireless communication module to turn on the ventilation equipment in the cleaned space for ventilation. At the same time, it controls the cleaning robot to move to the radioactive waste placement area. The radioactive waste placement area is equipped with base station 2 for charging and placing waste, thus completing the cleaning.

[0037] Example 2: The difference from Embodiment 1 is that Embodiment 2 also includes a packaging module. The packaging module includes a frame, a heat-melting assembly 10, a cutting assembly 11, and a vertical moving assembly 12 for driving the heat-melting assembly 10 and the cutting assembly 11 to move vertically. The frame is fixed inside the upper shell, and a circular hole is provided in the middle of the frame for the garbage bag 20 to pass through. The vertical moving assembly 12 includes brackets on both sides of the frame, a lifting motor mounted on the brackets, and a belt connected to the output shaft of the lifting motor. Both the heat-melting assembly 10 and the cutting assembly 11 are connected to the belt. Thus, the lifting motor can drive the belt to move vertically, thereby driving the heat-melting assembly 10 connected to the belt. The 0 and the cutting component 11 move vertically. The hot-melt component 10 includes a hot-melt head and a hot-melt moving component that drives the hot-melt head to move horizontally and clamps the garbage bag 20 to hot-melt seal. The hot-melt moving component includes a first transverse lead screw and a first transverse motor. The cutting component 11 includes a cutting head and a cutting moving component that drives the cutting head to move horizontally and cuts the garbage bag 20. The cutting moving component includes a second transverse lead screw and a second transverse motor. That is, the garbage bag 20 is mainly sealed by hot-melt component 10, and then the sealed garbage bag 20 is cut off and dropped by cutting component 11. Then the dropped garbage bag 20 is put into the garbage bin of base station 2.

[0038] Furthermore, after step S5 controls the robot body 1 to move to base station 2, there is a step S6 to automatically pack the garbage bag 20, which specifically includes the following steps: S61. Control the first transverse motor to drive the hot melt head to clamp the garbage bag 20, and at the same time start the hot melt head to seal the garbage bag 20; S62. Control the lifting motor to drive the hot melt component 10 that clamps the garbage bag 20 to move downwards and pull the garbage bag 20 to the set position; S63. Control the first transverse motor to drive the hot melt head to release the garbage bag 20, and control the lifting motor to reset; S64. Control the first transverse motor to drive the hot melt head to clamp the garbage bag 20, and at the same time start the hot melt head to seal the garbage bag 20; S65. Control the second transverse motor to drive the cutting head to cut off the garbage bag 20. At this time, the sealed garbage bag 20 will fall off automatically, and then the garbage bag 20 can be collected conveniently.

[0039] Example 3: The difference from Embodiment 2 is that the packaging module in Embodiment 3 also includes a thermal printer, which is connected to the central controller. Before the cutting component 11 cuts the garbage bag 20, the thermal printer needs to print basic information on the heat-sealed garbage bag 20, including cleaning time, ward number, radiation value, etc., and upload this information to the external host to complete the cleaning.

[0040] Example 4: The difference from Embodiment 3 is that Embodiment 4 also includes a wall cleaning module, which is connected to the central controller. The wall cleaning module includes a multi-axis robotic arm 7 and a cleaning tool 8 placed on the top of the upper shell. Detection structures 9 are installed on both sides of the gripper of the multi-axis robotic arm 7, mainly radioactive contaminant detection components and binocular vision detection components. The radioactive contaminant detection components are used to detect the location of contaminants on the wall, and the binocular vision detection components mainly help the robotic arm 7 to better clean the contaminants on the wall. Both the radioactive contaminant detection components and the binocular vision detection components are conventional detection components in the prior art, so they are not described in detail here. Then, the robotic arm 7 grasps the cleaning tool 8, such as a rag or a small mop, and cleans it according to the location of the contaminants detected by the detection structure 9. After cleaning, the detection structure 9 is used for inspection. If the inspection passes, it means that the wall has been cleaned. If the inspection fails, cleaning needs to continue until the inspection passes. If the inspection fails multiple times, a notification signal is issued to notify the user that the wall needs to be cleaned manually.

[0041] After all contaminated areas have been cleaned in step S5, the detection structure 9 on the multi-axis robotic arm 7 is used to detect whether there are radioactive contaminants on the walls. If they are detected, the robotic arm 7 will grab the cleaning tool and clean it. After cleaning, the detection structure 9 will be used for inspection. If the inspection is successful, it means that the wall has been cleaned. If the inspection fails, the cleaning will continue until the inspection is successful. If the inspection fails multiple times, a notification signal will be issued to notify the user that the wall needs to be cleaned manually, until all walls have been detected by the detection structure 9.

[0042] Example 5: The difference from Embodiment 4 is that in Embodiment 5, a cleaning head mounting position 17 is provided on the lower shell, and cleaning head receiving slots are respectively provided on both sides of the air outlet at the top of the upper shell, namely a first cleaning head receiving slot 13 and a second cleaning head receiving slot 15. The first cleaning head receiving slot 13 contains a special cleaning agent for cleaning radioactive contaminants, and the second cleaning head receiving slot 15 contains clean water. Each cleaning head receiving slot contains a cleaning head, and both cleaning head receiving slots have a water outlet at the bottom for releasing the cleaning agent or clean water inside. This allows different cleaning heads to be selected for cleaning according to the type of ground contaminants. The cleaning head in the cleaning head receiving slot can be installed into the cleaning head receiving slot by the robotic arm 7. The cleaning head is attached to the head mounting position 17. When it needs to be replaced, the cleaning head can be unlocked and removed from the cleaning head mounting position 17 by the robotic arm 7. At the same time, the motor on the cleaning head mounting position 17 can drive the cleaning head to rotate for cleaning. The motor on the cleaning head mounting position 17 is connected to the central controller, which can control the operation of the motor on the cleaning head mounting position 17. The cleaning head mounting position 17 is also connected to the dust collection hood 23 through the connecting pipe 21. When the vacuum pump 18 in the negative pressure adsorption module is working, the pollutants swept up by the cleaning head will enter the dust collection hood 23 through the connecting pipe 21 under the negative pressure adsorption.

[0043] Base station 2 also includes a wastewater collection tank 3, a drain outlet 4, a cleaning agent replenishment tank 5, and a clean water replenishment head 6. The wastewater collection tank 3 is used to collect the sewage in the first cleaning head 14 receiving tank 13. The drain outlet 4 is used to allow the sewage in the second cleaning head 16 receiving tank 15 to flow out. The cleaning agent replenishment tank 5 is used to replenish the first cleaning head 14 receiving tank 13 with water containing cleaning agent. The clean water replenishment head 6 is used to replenish the second cleaning head 16 receiving tank 15 with clean water.

[0044] The main change in the method is to step S4. When it is necessary to clean a contaminated area with radioactive contaminants, the cleaning head placed in the cleaning head container with special cleaning agent needs to be replaced by the robotic arm 7. When cleaning contaminants in ordinary areas, the cleaning head placed in the cleaning head container with clean water needs to be replaced by the robotic arm 7.

[0045] After the garbage bag 20 is packed in step S6, it needs to be picked up by the robotic arm 7 and placed into the garbage compartment of the base station 2. When the robot body 1 is docked with the base station 2 for charging, the wastewater collection tank 3 matches the outlet of the first cleaning head container 13, the detergent replenishment tank 5 matches the inlet of the first cleaning head container 13, the drain 4 matches the outlet of the second cleaning head container 15, and the clean water replenishment head 6 matches the inlet of the second cleaning head container 15. The base station 2 will perform detergent and clean water replacement operations for the two cleaning head containers.

[0046] The existing cleaning solutions for radionuclide wards consist of two main approaches: optimized manual cleaning (equipped with high-performance lead aprons and specialized cleaning tools, operated by professionally trained personnel) and high-end traditional cleaning robot solutions (possessing autonomous navigation and efficient dust extraction capabilities, such as commercial medical-grade cleaning robots). This embodiment surpasses both approaches in terms of safety, cleaning efficiency, environmental adaptability, intelligence, and cost-effectiveness. Specific advantages are as follows: I. Safety: Completely eliminates the risk of radiation to personnel and avoids secondary pollution. 1. Compare the "optimized manual cleaning solution" This embodiment completely avoids human radiation exposure through unmanned autonomous operation and automatic sealing: the robot does not require human intervention throughout the process, and medical personnel only need to monitor it from outside the ward through an external host; after cleaning, the cleaning robot will move to the radioactive waste placement area, and then seal it on the base station 2 with lead film waste bags 20. The sealing rate of contaminated consumables is high, the risk of secondary pollution is low, and the radiation safety factor is significantly improved compared with the optimized manual solution. 2. Comparison with "High-End Traditional Cleaning Robot Solutions" High-end traditional robots lack radiation protection design, and their core electronic components are exposed to a radioactive environment for extended periods, making them prone to signal interference, performance degradation, and short lifespan. They also lack the ability to detect radioactive contaminants and have no dedicated contamination consumables disposal mechanism. This poses a risk of inappropriate cleaning mechanisms for different types of radioactive contamination, potentially leading to the spread of radiation pollution. Furthermore, the used filters are directly exposed and discarded, posing a risk of environmental diffusion. The dynamic radiation protection system in this embodiment extends the lifespan of core components; at the same time, by sealing and packaging to avoid exposure of consumables, its safety is significantly better than that of traditional robots. II. Cleaning Efficiency: Accurately identifies contaminants and thoroughly removes radioactive particles. 1. Compare the "optimized manual cleaning solution" Optimizing manual procedures relies on personnel's visual judgment and experience, which cannot accurately identify the distribution of radioactive contamination. Highly contaminated areas are easily not thoroughly cleaned, and even after cleaning, the levels may still exceed the standards. The removal efficiency is low and cannot meet the cleaning standards for radionuclide wards. This embodiment achieves "precise identification and targeted processing" through multi-sensor fusion perception and a hierarchical cleaning mechanism: Spatial maps showing the concentration of radioactive contaminants can accurately locate highly contaminated areas and avoid omissions; negative pressure adsorption system for 131 I. The clearance rate is significantly improved; After cleaning, the radiation level in the entire area remained stable, and the thoroughness of cleaning was significantly improved compared to the optimized manual cleaning method. 2. Comparison with "High-End Traditional Cleaning Robot Solutions" High-end traditional robots only have indiscriminate vacuuming and mopping functions, cannot identify pollution levels, cannot process in zones, over-clean highly polluted areas and waste resources in low-pollution areas, and have no special cleaning design for radioactive particles.

[0047] The graded cleaning strategy in this embodiment can be customized for different types and levels of pollution, significantly improving the cleaning compliance rate, significantly improving the efficiency of radioactive particle removal compared to traditional robots, and reducing resource waste. III. Environmental Adaptability: Perfectly adapted to the special layout of the radionuclide ward 1. Compare the "optimized manual cleaning solution" In optimizing the manual work plan, personnel need to move between lead-shielded walls and dense medical equipment, which may lead to collisions with equipment or omissions in cleaning blind spots (such as the bottom of equipment and corner gaps). The LiDAR algorithm optimized in this embodiment can accurately avoid interference from lead-shielded walls, with small map construction deviations and significantly improved coverage integrity compared to manual methods.

[0048] 2. Comparison with "High-End Traditional Cleaning Robot Solutions" The lidar of high-end traditional robots is prone to "missed detection" in lead-shielded environments, resulting in large map construction deviations, low cleaning coverage, and inability to adapt to the dense layout of radionuclide ward equipment, leading to a high risk of collision. The navigation adaptability of this embodiment can effectively solve the problems of lead shielding and dense equipment. Its coverage and safety far exceed those of traditional robots, and the collision failure rate is significantly reduced. IV. Intelligentization: Closed-loop control throughout the entire process, remote monitoring and management 1. Compare the "optimized manual cleaning solution" Optimizing manual solutions relies on on-site personnel operation, lacks automated processes, requires manual recording of cleaning progress and results, and makes data traceability difficult; moreover, in emergency situations (such as sudden high-pollution leaks), personnel response time is long (requiring the wearing of protective equipment), which can easily delay the opportunity to deal with the situation. This embodiment can achieve full automation of the control process because it can communicate with an external host via a wireless communication module: From initialization, mapping, cleaning to verification, no human intervention is required; The external host can monitor cleaning progress and radiation data in real time, automatically store the data, and make data traceability convenient. The response time to emergencies is fast, significantly improving the response speed compared to manual solutions. 2. Comparison with "High-End Traditional Cleaning Robot Solutions" High-end traditional robots only support basic autonomous navigation, lack radiation data collection and cleaning effect verification functions, requiring manual follow-up inspection; and they lack remote monitoring interfaces, making it impossible to achieve multi-robot collaborative management, resulting in low intelligence. This embodiment supports remote monitoring, data interaction, and multi-machine collaboration. Its level of intelligence meets the needs of refined management in radionuclide wards and is more suitable for modern medical scenarios than traditional robots. V. Economic Efficiency: Lower long-term operating costs and higher overall cost-effectiveness. 1. Compare the "optimized manual cleaning solution" Optimizing the manpower plan requires paying the salaries of professional cleaners, the cost of replacing protective equipment, and the cost of subsequent radiation health monitoring.

[0049] 2. Comparison with "High-End Traditional Cleaning Robot Solutions" Although the unit price of this embodiment is slightly higher, its service life is longer, resulting in a higher overall cost-performance ratio. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0050] For those skilled in the art, various changes and modifications will undoubtedly be apparent after reading the above description. Therefore, the appended claims should be construed as covering all changes and modifications that encompass the true intent and scope of the invention. Any and all equivalent scope and content within the scope of the claims should be considered to remain within the intent and scope of the invention.

Claims

1. A radionuclide-based intelligent cleaning robot for wards, characterized in that: It includes a base station and a robot body. The robot body includes a shell, a central controller, a wireless communication module, a power module, a mobility module, a cleaning module, a negative pressure adsorption module, a pollutant collection module, a radioactive pollution monitoring module, and a detection module. The wireless communication module, power module, mobility module, cleaning module, negative pressure adsorption module, pollutant collection module, radioactive pollution monitoring module, and detection module are all communicatively connected to the central controller. Wireless communication module, used for communicating with external servers; The power module is used to supply power to other modules; The mobility module is used to move the cleaning robot. Negative pressure adsorption module is used to adsorb radioactive aerosol pollutants in the air; The cleaning module is used to remove radioactive contaminants from the ground. The pollutant collection module is used to collect radioactive pollutants cleaned out by the negative pressure adsorption module and the cleaning module; A radioactive contamination monitoring module is used to monitor the concentration of radioactive contaminants. The detection module is used to generate a spatial map of the cleaned area; The central controller combines the concentration of radioactive contaminants detected by the radioactive contaminant monitoring module with the spatial map generated by the detection module to obtain a spatial map containing the concentration of radioactive contaminants. Then, it plans a path based on the spatial map containing the concentration of radioactive contaminants, and finally controls the moving module, negative pressure adsorption module, and cleaning module to clean up the radioactive contaminants according to the planned path. 2.The intelligent cleaning robot for a radionuclide ward of claim 1, wherein: It also includes a wall cleaning module for cleaning radioactive contaminants on walls. The wall cleaning module includes a multi-axis manipulator and cleaning tools placed on the housing. The gripper of the multi-axis manipulator is equipped with detection structures on both sides. The detection structures are radioactive contaminant detection components and binocular vision detection components. The manipulator and the detection structures are all connected to the central controller. 3.The intelligent cleaning robot for a radionuclide ward of claim 2, wherein: It also includes a packaging module for packaging radioactive contaminants collected by the contaminant collection module. The packaging module includes a heat-sealing component for heat-sealing the garbage bag, a cutting component for cutting the garbage bag, and a vertical moving component for driving the heat-sealing component and the cutting component to move vertically. The heat-sealing component, the cutting component, and the vertical moving component are all communicatively connected to the central controller.

4. The intelligent cleaning robot for a radionuclide ward according to claim 3, characterized in that: The cleaning module includes a first cleaning head receiving groove fixed to the upper part of the housing for holding cleaning agent and a first cleaning head, and a second cleaning head receiving groove for holding clean water and a second cleaning head. The housing is provided with a cleaning head mounting position, and a cleaning motor is provided on the cleaning head mounting position for driving the cleaning head mounted on the cleaning head mounting position to rotate. When it is necessary to clean up radioactive contaminants, the robotic arm can install the first cleaning head into the cleaning head mounting position; When it is necessary to clean up ordinary contaminants, the robotic arm can install the second cleaning head into the cleaning head mounting position.

5. The intelligent cleaning robot for a radionuclide ward according to claim 4, characterized in that: The base station includes a wastewater collection tank, a drain outlet, a detergent refill tank, and a clean water refill head. Both the first and second cleaning head receiving slots are equipped with water inlets and outlets. When the robot body is paired with the base station for charging, the wastewater collection tank is paired with the outlet of the first cleaning head container, the detergent replenishment tank is paired with the inlet of the first cleaning head container, the drain outlet is paired with the outlet of the second cleaning head container, and the clean water replenishment head is paired with the inlet of the second cleaning head container. 6.The intelligent cleaning robot for a radionuclide ward according to claim 4, characterized in that: The negative pressure adsorption module includes a vacuum pump and a filter screen. The pollutant collection module includes a dust collection hood, a control door located at the opening below the dust collection hood, and a garbage bag fitted outside the dust collection hood. The vacuum pump and the control door are both connected to the central controller. The filter screen is located at the air inlet of the vacuum pump, and the dust collection hood covers the air inlet of the vacuum pump and the filter screen. The dust collection hood is also connected to the cleaning head mounting position through a connecting pipe. 7.The intelligent cleaning robot for a radionuclide ward according to claim 1, characterized in that: The central controller is mounted on the control board, which is equipped with a shielding layer to protect the central controller. The interface between the radioactive contamination monitoring module and the detection module and the control board is made of copper alloy electromagnetic shielding. 8.A multi-modal operation method of a radionuclide ward intelligent cleaning robot, characterized by, It includes the following steps: S1. The control and detection module constructs a spatial map. At the same time, during the construction process, the radioactive pollution monitoring module monitors the concentration of radioactive pollutants in real time and combines the monitored concentration and the coordinates of the monitored concentration into the spatial map to obtain a spatial map with the concentration of radioactive pollutants. S2. Plan the cleaning path based on the spatial map with radioactive contaminant concentration obtained in step S1. S3. Clean according to the cleaning path planned in step S2; S4. After cleaning is completed, control the cleaning robot to move to the radioactive waste placement area where the base station is located to recharge and process the waste. 9.The multi-modal operation method of the intelligent cleaning robot for a radionuclide ward according to claim 8, wherein: The planned path in step S2 is as follows: based on the concentration of radioactive contaminants, the space is divided into four levels of clean zones: clean zone, low-contamination zone, medium-contamination zone, and high-contamination zone. The planned cleaning path is from the high-contamination zone to the medium-contamination zone and then to the low-contamination zone. In step S3, the cleaning must be carried out in the order of high-contamination zone, medium-contamination zone, and low-contamination zone. The cleaning mainly relies on the cleaning module and the negative pressure adsorption module. After each contamination zone is cleaned, it needs to be re-detected by the radioactive contamination monitoring module until the concentration of radioactive contaminants in the contamination zone is lower than the set threshold. Then, the next contamination zone is cleaned until all the cleaning zones are cleaned.

10. The multimodal operation method of the intelligent cleaning robot for radionuclide wards according to claim 1, characterized in that: In step S1, when controlling the lidar detection module and the moving module to construct a spatial map, the laser power needs to be adaptively adjusted according to the real-time reflected signal intensity.

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