Background technique:
At present, after the key areas of hospitals, such as wards and consulting rooms, come into contact with infected patients, they must be sterilized by ultraviolet radiation. Because ultraviolet light is harmful to human eyes and skin, it usually needs to be used without people. Therefore, the hospital needs A dedicated person is responsible for turning on the UV germicidal lamp at night for disinfection. The current system usually installs UV lamps in various key areas, and then centralizes the switches of all lamps in one place for unified opening and closing, or requires the operator to push the disinfection equipment to each ward for separate disinfection. The problem caused by this is that if someone intrudes unintentionally when the UV lamp is turned on, it may cause harm to people. In addition, the UV lamp in a fixed position may not guarantee the best sterilization effect, and some shaded locations may not be exposed to UV rays. To. If an independent UV lamp equipment is used for disinfection, the user's workload is very large.
Technical realization elements:
In order to overcome the above problems in the prior art, the present invention provides a working method of an intelligent disinfection robot, which not only has high disinfection efficiency, but also reduces the labor intensity of the staff, and can effectively guarantee the personal safety of the staff.
A working method of an intelligent disinfection robot, S1. Install electronic fences at the entrance of the room that does not need to be disinfected in the hospital to prevent robots from entering; if disinfection on multiple floors is required, positioning beacons must be installed at the elevator entrance to help the robot locate the floor And elevator entrance;
S2. The robot is usually in standby mode. In standby mode, the robot is charged on the charging stand; when the robot is in fully automatic working mode, by setting the start time, the robot automatically starts and enters the working mode; when the robot is in manual start mode, it enters immediately Operating mode;
S3. After the robot enters the working mode, the positioning module starts to work and obtains the current position coordinates of the robot. At the same time, the positioning module and the mapping module build an environment map together; after the robot starts to move, each newly discovered environment map is added to the entire map. , The map will eventually cover the detectable area of the entire hospital;
S4. The control program of the robot randomly selects a direction on the map, searches for the reachable area in front, and activates the biodetector at the same time; if there is no one around, turn on the ultraviolet germicidal lamp, and stay at the current position for a set time, passing ultraviolet rays Irradiate to kill the surrounding germs. After the stay time is over, the robot will mark the circular area with the current point as the center and radius R as disinfected; if there are people around, turn off the UV lamp, wait for the set time, and give a voice prompt ；
S5. Repeat step S3, if there is no unsterilized area in the current direction, the robot changes direction and continues to search until the entire area on the map is disinfected;
S6. If the robot recognizes the positioning beacon during the working process, it will record the current floor and elevator position on the map, and then continue to work on this floor; after the robot completes the disinfection of the current floor, check whether there are other floors that have not been disinfected, if any , Then go to the elevator position and communicate with the elevator through the infrared module. After the elevator door is opened, the lidar will scan the entrance position, and the robot will enter the elevator and go to the next floor;
S7. When the entire hospital is disinfected, the robot will return to the starting point, automatically charge and enter the standby mode.
Further, the robot is equipped with a collision sensor and an anti-fall sensor to prevent the robot from colliding and falling during the working process.
Further, the establishment method of the environment map is an incremental method.
Further, the robot includes a mobile chassis, the bottom of the mobile chassis is a mobile wheel set, the mobile wheel set is any combination of two driving wheels, two universal wheels, four mecanum wheels, and four omnidirectional wheels. One by one.