CN109316612A - A kind of wheel type mobile disinfection robot that interior is touring - Google Patents
A kind of wheel type mobile disinfection robot that interior is touring Download PDFInfo
- Publication number
- CN109316612A CN109316612A CN201811294459.1A CN201811294459A CN109316612A CN 109316612 A CN109316612 A CN 109316612A CN 201811294459 A CN201811294459 A CN 201811294459A CN 109316612 A CN109316612 A CN 109316612A
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- China
- Prior art keywords
- type mobile
- wheel type
- wheel
- disinfection robot
- disinfection
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Links
- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 93
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 claims abstract description 40
- 230000000712 assembly Effects 0.000 claims description 21
- 238000000429 assembly Methods 0.000 claims description 21
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052744 lithium Inorganic materials 0.000 claims description 9
- 239000000725 suspension Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims description 3
- 229910052753 mercury Inorganic materials 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 9
- 230000002452 interceptive effect Effects 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 13
- 238000006385 ozonation reaction Methods 0.000 description 9
- 241000894006 Bacteria Species 0.000 description 6
- 230000001954 sterilising effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000009408 flooring Methods 0.000 description 5
- 239000000126 substance Substances 0.000 description 5
- MHAJPDPJQMAIIY-UHFFFAOYSA-N Hydrogen peroxide Chemical compound OO MHAJPDPJQMAIIY-UHFFFAOYSA-N 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- HEMHJVSKTPXQMS-UHFFFAOYSA-M Sodium hydroxide Chemical compound [OH-].[Na+] HEMHJVSKTPXQMS-UHFFFAOYSA-M 0.000 description 3
- ODINCKMPIJJUCX-UHFFFAOYSA-N Calcium oxide Chemical compound [Ca]=O ODINCKMPIJJUCX-UHFFFAOYSA-N 0.000 description 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 244000000010 microbial pathogen Species 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 238000000053 physical method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- ZKQDCIXGCQPQNV-UHFFFAOYSA-N Calcium hypochlorite Chemical compound [Ca+2].Cl[O-].Cl[O-] ZKQDCIXGCQPQNV-UHFFFAOYSA-N 0.000 description 1
- 102000004190 Enzymes Human genes 0.000 description 1
- 108090000790 Enzymes Proteins 0.000 description 1
- IAYPIBMASNFSPL-UHFFFAOYSA-N Ethylene oxide Chemical compound C1CO1 IAYPIBMASNFSPL-UHFFFAOYSA-N 0.000 description 1
- WQZGKKKJIJFFOK-GASJEMHNSA-N Glucose Natural products OC[C@H]1OC(O)[C@H](O)[C@@H](O)[C@@H]1O WQZGKKKJIJFFOK-GASJEMHNSA-N 0.000 description 1
- 102000004895 Lipoproteins Human genes 0.000 description 1
- 108090001030 Lipoproteins Proteins 0.000 description 1
- ISWSIDIOOBJBQZ-UHFFFAOYSA-N Phenol Chemical compound OC1=CC=CC=C1 ISWSIDIOOBJBQZ-UHFFFAOYSA-N 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000001580 bacterial effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000007844 bleaching agent Substances 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 239000000292 calcium oxide Substances 0.000 description 1
- 235000012255 calcium oxide Nutrition 0.000 description 1
- 210000004027 cell Anatomy 0.000 description 1
- 210000000170 cell membrane Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000249 desinfective effect Effects 0.000 description 1
- 239000002158 endotoxin Substances 0.000 description 1
- 235000019441 ethanol Nutrition 0.000 description 1
- 239000008103 glucose Substances 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003834 intracellular effect Effects 0.000 description 1
- 235000015110 jellies Nutrition 0.000 description 1
- 239000008274 jelly Substances 0.000 description 1
- 229920006008 lipopolysaccharide Polymers 0.000 description 1
- 210000004379 membrane Anatomy 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000003463 organelle Anatomy 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 239000012286 potassium permanganate Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/20—Gaseous substances, e.g. vapours
- A61L2/202—Ozone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/25—Rooms in buildings, passenger compartments
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The invention discloses a kind of wheel type mobile disinfection robot that interior is touring, the touring wheel type mobile disinfection robot in the interior includes mobile platform module and box module.Wherein, the setting of the ozone generating apparatus of the ultraviolet beam generating apparatus and box module of mobile platform module provides three kinds of disinfection way for disinfection robot, Disinfection Effect is made to be significantly improved；Indoor touring wheel type mobile disinfection robot sensing mounted and control assembly make disinfection robot may be implemented independently to sterilize or carry out disinfection by human-computer interactive control, and automation and intelligence degree are high, and man-machine interaction is strong.As it can be seen that a kind of touring wheel type mobile disinfection robot in interior provided by the invention has the characteristics that good Disinfection Effect, automation and intelligence degree is high and human-computer interactive control is strong.
Description
Technical field
The invention belongs to intellect service robot fields, sterilize in particular to a kind of wheel type mobile that interior is touring
Robot.
Background technique
Public place densely populated place and mobility is big provides good medium for disseminating for various etiologies.It is especially right
In medical spaces such as hospital, commune hospitals, all kinds of infectiousness pathogenies are more concentrated, if environment disinfected, which is not thorough, will cause huge society
It can endanger.Currently, flooring disinfection is typically by being accomplished manually, and it is not only time-consuming and laborious, and the timeliness sterilized is difficult to
Guarantee.The present invention solves the automation sterilization problems of flooring by means of mobile robot technology, opens up for mobile robot
One completely new application field.
Indoor sterilization method is broadly divided into physical method and chemical method two major classes.Physical method, which refers to, utilizes light, heat, jelly, spoke
The physical action penetrated etc. kills pathogenic microorganism, and main method includes: infrared ray, ultraviolet light, high temperature, frost, irradiation
Deng.Chemical method refers to the sterilization method that pathogenic microorganism is killed using chemical substance or medicament, common disinfecting substance or medicament
It include: quick lime, bleaching powder, potassium permanganate, sodium hydroxide, hydrogen peroxide, hydrogen peroxide, ethyl alcohol, phenol, ethylene oxide and ozone
Deng.Currently, wheeled most of wheel type mobile disinfection robots are only with ozonization, Disinfection Effect is general.
Compared with leg foot formula and crawler-type mobile platform, wheel moving platform is fast with movement velocity, runs smoothly, noise
Low good characteristic completes service role suitable for carrying various apparatus for work under environment indoors.The key of wheel moving platform
Technology is related to train actuation techniques and location and navigation technology.The train of wheel moving platform generally has three-wheel two to drive, four-wheel two drives,
The different configuration modes such as two drive of four-wheel four-drive and six wheels, and the drive formula configuration accounting of four-wheel two is more.The positioning of wheel moving platform
Navigation first has to establish environmental map based on the environment sensings sensor such as laser radar, structure light camera, binocular camera, then according to
Autonomous positioning is realized by modes such as environment road sign, characteristic matchings, finally by A* method, random Lu Tufa, cell decomposition, potential field
The intelligent algorithms such as method plan guidance path.
In existing disinfection robot, most of only to can be carried out ozonization, disinfection way is too single, leads to Disinfection Effect
It is undesirable, innocuousness, noresidue and the requirement without secondary pollution of flooring disinfection is not achieved.Meanwhile most sterilizing machine
The intelligence degree of device people is lower, and when work needs a large amount of manual operation to be assisted, and disinfection efficiency is low and applicable field
Scape is few.
Summary of the invention
In order to overcome disinfection way and application scenarios are single in existing disinfection robot technology and intelligence degree is low etc.
Deficiency, the present invention provides a kind of wheel type mobile disinfection robot that interior is touring, the touring wheel type mobile sterilizing machines in the interior
Device people disinfection way multiplicity, intelligent and high degree of automation and can application scenarios it is wide.
Correspondingly, the interior is patrolled the embodiment of the invention provides a kind of wheel type mobile disinfection robot that interior is touring
The wheel type mobile disinfection robot returned includes mobile platform module and box module, and the box module is arranged in mobile platform mould
The surface of block；
The mobile platform module includes the knockdown inner skeleton of three layer flat plate and is arranged in the outer of inner skeleton surrounding
Side dam assemblies；
The inner skeleton includes bottom plate, intermediate plate and top plate, is provided with body chassis and ultraviolet light below the bottom plate
Generation device, the bottom plate top are provided with charging unit, industrial personal computer and driver, lithium electricity are provided with above the intermediate plate
Pond, laser radar component and laser radar baffle, the top plate top are provided with operation panel；
The outer side dam assemblies include outside baffle arrangement and be embedded in outside baffle arrangement on annular indicator light with
And sensor module；The outside baffle arrangement is enclosed by top front apron, lower part front apron, right baffle-plate, right shell body and rear baffle
Around composition；
The box module includes box assembly, the WiFi equipment being arranged in above box assembly and is arranged in box assembly
Interior ozone generating apparatus.
Optional embodiment, the body chassis include universal wheel component, universal wheel fixing seat, drive wheel assemblies and drive
Driving wheel independent suspension device；The drive wheel assemblies are driven by the way of two-wheel differential.
Optional embodiment, the charging unit are connected with the lithium battery, and the lithium battery disappears for wheel type mobile
Malicious robot provides 24V DC power supply.
Optional embodiment, the sensor module include ultrasonic sensor and dropproof sensor, the ultrasound
Wave sensor is arranged on lower part front apron and rear baffle, and the dropproof sensor is arranged under lower part front apron and rear baffle
The middle position of method, edge.
Optional embodiment, the ozone generating apparatus include air inlet shield, air pump air inlet pipe, centrifugal air pump,
Air pump discharge pipe, ozone generator and ozone exhaust pipe, the air inlet shield are arranged on box assembly, the air pump air inlet
Pipe, centrifugal air pump, air pump discharge pipe and ozone generator are sequentially connected；The ozone generator is arranged on the top plate,
Its ozone generated is discharged to the space below bottom plate by ozone exhaust pipe.
Optional embodiment, the ultraviolet beam generating apparatus generate short wave ultraviolet by low pressure mercury lamp.
Optional embodiment, the box assembly include cabinet, top cover and loudspeaker, and the loudspeaker is arranged described
On cabinet, the WiFi equipment is fastened on the lower section of the top cover.
Optional embodiment is led between the top front apron, lower part front apron, rear baffle and left baffle and right baffle
It crosses the connection of L shape connector and is fixed on bottom plate and intermediate plate.
Optional embodiment is provided with scram button, start button, stop button and disinfection mould on the operation panel
Formula knob.
Optional embodiment, the drive wheel assemblies are integrated assemblies, wheel hub, wheel shaft, direct current in drive wheel assemblies
Servo motor and the installation of photoelectric encoder integrated form are integrated.
The present invention provides a kind of wheel type mobile disinfection robot that interior is touring, the touring wheel type mobile disinfection in the interior
There are short wave ultraviolet disinfection, ozonization and short wave ultraviolet joint three kinds of disinfection way of ozonization, disinfection way in robot
It is more diversified, it carries out disinfection with the method that physics and chemistry combine, significantly improves Disinfection Effect；Meanwhile laser thunder
It feeds back up to the environmental map that can establish it by laser scanning to industrial personal computer, industrial personal computer is according to laser radar and sensor group
The feedback of part, the disinfection path of contexture by self obstacle detouring, avoidance make disinfection robot that the autonomous disinfection of unmanned manipulation may be implemented,
The basic automation and intelligence for realizing flooring disinfection, the significant labor intensity for mitigating cleanup crew；Body chassis
Using wheel moving platform, compared with leg foot formula and crawler-type mobile platform, have that movement velocity is fast, run smoothly, noise is low
Equal good characteristics are more suitable for carrying various apparatus for work completion service roles under environment indoors；Particularly, work as disinfection robot
When encountering failure or special circumstances, annular indicator light and loudspeaker on disinfection robot prompt user by way of sensual pleasure,
Information can be transmitted on mobile device APP by WiFi equipment at the same time, user can be logical according to the information of disinfection robot
It crosses operation panel or mobile device APP carries out manual control adjustment, man-machine interaction is strong and can realize long-range control.As it can be seen that this
Invent the touring wheel type mobile disinfection robot in a kind of interior provided have Disinfection Effect is good, automate and intelligence degree height with
And the feature that human-computer interactive control is strong.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the three-dimensional structure view of indoor touring wheel type mobile disinfection robot in the embodiment of the present invention；
Fig. 2 is the three-dimensional structure of indoor touring wheel type mobile disinfection robot mobile platform module in the embodiment of the present invention
View；
Fig. 3 is the indoor touring positive three-dimensional structure of wheel type mobile disinfection robot inner skeleton in the embodiment of the present invention
View；
Fig. 4 is the three-dimensional structure of indoor touring wheel type mobile disinfection robot inner skeleton bottom in the embodiment of the present invention
View；
The three-dimensional structure view of the indoor outer side baffle of touring wheel type mobile disinfection robot in Fig. 5 embodiment of the present invention；
Fig. 6 is indoor touring wheel type mobile disinfection robot box module half sectional view in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the three-dimensional structure view of indoor touring wheel type mobile disinfection robot in the embodiment of the present invention, the present invention
Embodiment provides a kind of wheel type mobile disinfection robot that interior is touring, the touring wheel type mobile disinfection robot packet in the interior
Mobile platform module 1 and box module 2 are included, the box module 2 is fastened on the top of mobile platform module 1.
Fig. 2 is the three-dimensional structure of indoor touring wheel type mobile disinfection robot mobile platform module in the embodiment of the present invention
View, Fig. 3 are the indoor positive three-dimensional structure views of touring wheel type mobile disinfection robot inner skeleton in the embodiment of the present invention
Figure, Fig. 4 are the three-dimensional structure views of indoor touring wheel type mobile disinfection robot inner skeleton bottom in the embodiment of the present invention,
The three-dimensional structure view of the indoor outer side baffle of touring wheel type mobile disinfection robot in Fig. 5 embodiment of the present invention.
The mobile platform module 1 includes inner skeleton 3 and outer side dam assemblies 4, and the outer setting of side dam assemblies 4 exists
The surrounding of inner skeleton 3 plays protective effect to inner skeleton 3.
Wherein, the inner skeleton 3 is three layer flat plate fabricated structure, including bottom plate 31, intermediate plate 32 and top plate 33,
The bottom plate 31 and intermediate plate 32 are connected and fixed by four short support columns, and the intermediate plate 32 and top plate 33 pass through four root long branch
Dagger is connected and fixed.
Specifically, the lower section of bottom plate 31 is provided with body chassis 5 and two sets of ultraviolet beam generating apparatus 311；The chassis machine
Structure 5 includes that four drive wheel assemblies 53 of universal wheel fixing seat 52, two of universal wheel component 51, four and two sets of driving wheels independently hang
Hang device 54；Specifically, four universal wheel components 51 are connect by bolt arrangement with four universal wheel fixing seats 52 respectively
Fixed, four universal wheel fixing seats 52 are fastened on the lower section of bottom plate 31 by bolt arrangement two front, two rearly；Specifically
, the drive wheel assemblies 53 are integrated assemblies, wheel hub, wheel shaft, DC servo motor and photoelectric coding in drive wheel assemblies
The installation of device integrated form is integrated, and described two drive wheel assemblies 53 are mounted on bottom by respective driving wheel independent suspension device 54
The lower section of plate 31；Specifically, two sets of driving wheel independent suspension devices, 54 mirror image two sides below bottom plate 31, institute are set
Stating driving wheel independent suspension device 54 includes oscillating bar assembly 55, pin shaft (not shown), swing rod support 541 and damper assembly
56.Wherein, oscillating bar assembly 55 includes driving wheel fixing seat 551 and swing rod 552, and the wheel shaft of the drive wheel assemblies 53 passes through driving
The two is simultaneously connected and fixed by locking nut by the through-hole of 551 lower section of wheel fixing seat, and the top of the driving wheel fixing seat 551 is logical
The one end for crossing bolt arrangement and the swing rod 552 is connected and fixed；The other end of the swing rod 522 is provided with through-hole, the pin shaft
It is articulated on the swing rod support 541 across its both ends after the through-hole；The swing rod support 541 is connected solid by bolt arrangement
It is scheduled on the lower section of bottom plate 31；Wherein, the damper assembly 56 includes spring oil pressure damper 561, upper fixed seat 562 and lower solid
Reservation 563, fixed seat 562 are fastened on the lower section of the intermediate plate 32, the lower fixed seat by bolt arrangement
563 are connected by screw to the middle position for being fixed on swing rod 552, and the spring oil pressure damper 561 is passed through and reserved on bottom plate 32
Through-hole and its both ends it is hinged with upper fixed seat 562 and lower fixed seat 563 respectively；Particularly, when ground has it is uneven when, subtract
Vibration device assembly 56 is stretched or compresses and play the role of vibration damping；Specifically, the ultraviolet beam generating apparatus 311 passes through spiral shell
Nail is fastened on the lower section of bottom plate 32, goes out short wave ultraviolet direct irradiation by the mercury lamp emission of ultraviolet beam generating apparatus 311
Neighbouring ground carries out disinfection.It should be noted that short wave ultraviolet refers to that wavelength is the ultraviolet light of 200~275nm, short wavelength UV
Line can destroy DNA of bacteria structure, be allowed to lose the function of breeding and self-replacation to achieve the purpose that sterilizing.
Specifically, the top of bottom plate 31 is provided with charging unit 312, industrial personal computer 313 and driver 314；The charging dress
312 rears that bottom plate 31 is set are set, the charging unit 312 is that the lithium battery 321 on intermediate plate 32 provides charging interface,
Charging interface passes through the fluting on rear baffle and exposes；The middle position of bottom plate 31, the industrial personal computer is arranged in the industrial personal computer 313
313 be the maincenter of robot various information processing；The front of bottom plate 31 is arranged in the driver 314, is responsible for driving wheel group
The DC servo motor of part 53 sends control instruction.
Specifically, the top of intermediate plate 32 is provided with lithium battery 321, laser radar component 34, laser radar baffle 322；
The middle position of intermediate plate 32 is arranged in the lithium battery 321, and predominantly robot provides the DC power supply of 24V；The laser
The front of intermediate plate 32 is arranged in radar component 34, and laser radar component 34 includes that laser radar 341 and laser radar are fixed
Plate 342, the laser radar 341, which is connected by screw to, to be fixed in laser radar fixed plate 342, the laser radar fixed plate
342 are fastened on the lower section of intermediate plate 32 by bolt arrangement, and the sweep test of the laser radar 341 is from intermediate plate 32
It passes through and exposes in round hole, laser radar component 34 establishes environmental map by way of laser scanning；The laser thunder
It is fastened on intermediate plate 32 up to baffle 322 by bolt arrangement, the laser radar baffle 322 is for preventing laser radar
The space of internal body is arrived in the scanning of component 34.
Specifically, the top of top plate 33 is provided with operation panel 331, the operation panel 331 is connected by screw to fixation
At the rear of top plate 33, the operation panel 331 provides the button and knob of robot manipulation for user, including scram button,
Start button, stop button and disinfection mode knob.
Wherein, the outer side dam assemblies 4 include by top front apron 41, lower part front apron 42, right baffle-plate 43, right shell body
44, rear baffle 45 is around the outside baffle arrangement formed and the annular indicator light 46 being embedded on the baffle arrangement of outside and sensing
Device assembly 47.Specifically, the top front baffle board 41, lower part front apron 42 and rear baffle 44 by multiple L shape connectors 48 with
Right baffle-plate 43 and right shell body 44 connect, and are fixed by screw, to form the outside baffle arrangement of an entirety；It is described
The top of L shape connector 48 is connected and fixed with intermediate plate 32 and top plate 33 respectively by screw；Specifically, 43 He of right baffle-plate
The middle position of right shell body 44 is equipped with the circular groove for installing annular indicator light 46, and the annular indicator light 46 is embedded in described
It is fixed in circular groove and by screw, annular indicator light 46 can be indicated locating for robot by different lighting effects
Working condition allows user to intuitively understand the operating condition of robot；Specifically, the sensor module 47 includes six ultrasounds
Wave sensor 471 and two dropproof sensors 472.Six ultrasonic sensors 471 are used for before and after sniffing robot
Barrier, wherein three are arranged on lower part front apron 41, the top of rear baffle 45 is arranged in the other three；It is described two to prevent falling
Sensor 472 is fallen for detecting the situation of landform, is separately fixed at the centre of 45 lower edge of lower part front apron 41 and rear baffle
Position.
Fig. 6 is indoor touring wheel type mobile disinfection robot box module half sectional view in the embodiment of the present invention, described
Box module 2 includes WiFi equipment 21, box assembly 22 and ozone generating apparatus 23, and the WiFi equipment 21 is arranged in cabinet group
The inside of box assembly 22 is arranged in the top of part 22, the ozone generating apparatus 23.Specifically, box assembly 22 includes cabinet
221, top cover 222 and loudspeaker 223, the cabinet 221 are fastened on the top plate 33 by bolt arrangement, the top cover
222 are fastened on the cabinet 221 by bolt arrangement, and the loudspeaker 223 is arranged in the reserved hole location of cabinet 221
And fixed by bolt arrangement, the loudspeaker is used to play voice prompting to user；Specifically, the WiFi equipment 21
Including WiFi antenna 211 and WiFi host 212, the WiFi host 212 is connected by screw to the lower section for being fixed on top cover 222,
The through-hole that the lower section of the WiFi antenna 211 passes through on the top cover 222 is connected with WiFi host, and WiFi equipment is used for and movement
Device end such as mobile phone, platform computer etc. is communicated, and user is allow to understand the operation conditions of robot by mobile phone；Specifically
, the ozone generating apparatus 23, which is connected by screw to, to be fixed on top plate 33, and ozone generating apparatus 23 includes air inlet shield
231, air pump air inlet pipe 232, centrifugal air pump 233, air pump discharge pipe 234, ozone generator 235 and ozone exhaust pipe are (in figure
It is not shown).The air inlet shield 231 is fastened on cabinet 221 by bolt arrangement, and air inlet shield 231 can prevent
The biggish object of volume is accidentally drawn into ozone generating apparatus 23；The air pump air inlet pipe 232, centrifugal air pump 233, air pump
Exhaust pipe 234 and ozone generator 235 are sequentially connected, and under the drive of 233 rotary blade of centrifugal air pump, air-flow is through air inlet
Shield 231 and air pump air inlet pipe 232 enter blade space, and under the action of inertia force, air-flow leaves impeller sky along radial direction
Between, and flowed out from air pump discharge pipe 234, subsequently into ozone generator 235；Ozone generator 235 passes through high-voltage corona discharge
Mode, decompose oxygen in air and be polymerized to ozone, ozone exhaust pipe one end and the ozone of ozone generator 235 go out
Port is connected, and the other end sequentially passes through the ozone outlet phase being equipped with after the through-hole on top plate 33 and intermediate plate 32 with bottom plate 31
Even.The ozone that ozone generator 235 generates is by carrying out neighbouring ground in the space below ozone emission by exhaust pipe to bottom plate
Ozonization.It should be noted that ozone is a kind of strong oxidizer, ozonization belongs to chemical mode disinfection, ozonization master
It to be sterilized by several modes once: first, enzyme needed for ozone energy oxygenolysis bacterium endogenous glucose keeps bacteria inactivation dead
It dies；Second, ozone directly with bacterium, virus function, destroys their organelle and DNA, RNA, make bacterium metabolism by
To destruction, lead to bacterial death；Third, ozone penetrate cell membrane tissue, and intrusion is intracellular, act on the lipoprotein of outer membrane and interior
The lipopolysaccharides in portion makes bacterium that penetrating sex distortion occur and dissolve death.
The present invention provides a kind of wheel type mobile disinfection robot that interior is touring, the touring wheel type mobile disinfection in the interior
There are short wave ultraviolet disinfection, ozonization and short wave ultraviolet joint three kinds of disinfection way of ozonization, disinfection way in robot
It is more diversified, it carries out disinfection with the method that physics and chemistry combine, significantly improves Disinfection Effect；Meanwhile laser thunder
It feeds back up to the environmental map that can establish it by laser scanning to industrial personal computer, industrial personal computer is according to laser radar and sensor group
The feedback of part, the disinfection path of contexture by self obstacle detouring, avoidance make disinfection robot that the autonomous disinfection of unmanned manipulation may be implemented,
The basic automation and intelligence for realizing flooring disinfection, the significant labor intensity for mitigating cleanup crew；Body chassis
Using wheel moving platform, compared with leg foot formula and crawler-type mobile platform, have that movement velocity is fast, run smoothly, noise is low
Equal good characteristics are more suitable for carrying various apparatus for work completion service roles under environment indoors；Particularly, work as disinfection robot
When encountering failure or special circumstances, annular indicator light and loudspeaker on disinfection robot prompt user by way of sensual pleasure,
Information can be transmitted on mobile device APP by WiFi equipment at the same time, user can be logical according to the information of disinfection robot
It crosses operation panel or mobile device APP carries out manual control adjustment, man-machine interaction is strong and can realize long-range control.As it can be seen that this
Invent the touring wheel type mobile disinfection robot in a kind of interior provided have Disinfection Effect is good, automate and intelligence degree height with
And the feature that human-computer interactive control is strong.
It is carried out in addition, being provided for the embodiments of the invention a kind of wheel type mobile disinfection robot that interior is touring above
It is discussed in detail, herein should be using a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of wheel type mobile disinfection robot that interior is touring, which is characterized in that the touring wheel type mobile disinfection in the interior
Robot includes mobile platform module and box module, and the surface of mobile platform module is arranged in the box module；
The mobile platform module includes the knockdown inner skeleton of three layer flat plate and the outer side block that inner skeleton surrounding is arranged in
Board group part；
The inner skeleton includes bottom plate, intermediate plate and top plate, and body chassis is provided with below the bottom plate and ultraviolet light generates
Device, the bottom plate top are provided with charging unit, industrial personal computer and driver, lithium battery are provided with above the intermediate plate, is swashed
Optical radar component and laser radar baffle, the top plate top are provided with operation panel；
The outer side dam assemblies include outside baffle arrangement and the annular indicator light being embedded on the baffle arrangement of outside and biography
Sensor component；The outside baffle arrangement surrounds group by top front apron, lower part front apron, right baffle-plate, right shell body and rear baffle
At；
The box module includes box assembly, the WiFi equipment being arranged in above box assembly and is arranged in box assembly
Ozone generating apparatus.
2. wheel type mobile disinfection robot according to claim 1, which is characterized in that the body chassis includes universal wheel
Component, universal wheel fixing seat, drive wheel assemblies and driving wheel independent suspension device；The drive wheel assemblies are using two-wheel differential
Mode is driven.
3. wheel type mobile disinfection robot according to claim 1, which is characterized in that the charging unit and lithium electricity
Pond is connected, and the lithium battery provides 24V DC power supply for wheel type mobile disinfection robot.
4. wheel type mobile disinfection robot according to claim 1, which is characterized in that the sensor module includes ultrasound
Wave sensor and dropproof sensor, the ultrasonic sensor is arranged on lower part front apron and rear baffle, described dropproof
The middle position of lower part front apron and rear baffle lower edge is arranged in sensor.
5. wheel type mobile disinfection robot according to claim 1, which is characterized in that the ozone generating apparatus include into
Port shield, air pump air inlet pipe, centrifugal air pump, air pump discharge pipe, ozone generator and ozone exhaust pipe, the air inlet shield
It is provide with and sets on box assembly, the air pump air inlet pipe, centrifugal air pump, air pump discharge pipe and ozone generator are sequentially connected；
The ozone generator is arranged on the top plate, and the ozone generated is discharged to the space below bottom plate by ozone exhaust pipe.
6. wheel type mobile disinfection robot according to claim 1, which is characterized in that the ultraviolet beam generating apparatus passes through
Low pressure mercury lamp generates short wave ultraviolet.
7. wheel type mobile disinfection robot according to claim 1, which is characterized in that the box assembly include cabinet,
The surface of the cabinet is arranged in top cover and loudspeaker, the top cover, and the side of the cabinet, institute is arranged in the loudspeaker
State the lower section that WiFi equipment is fastened on the top cover.
8. wheel type mobile disinfection robot according to claim 1, which is characterized in that before the top front apron, lower part
It is connected and is fixed on bottom plate and intermediate plate by L shape connector between baffle, rear baffle and left baffle and right baffle.
9. wheel type mobile disinfection robot according to claim 1, which is characterized in that be provided with urgency on the operation panel
Stop button, start button, stop button and disinfection mode knob.
10. wheel type mobile disinfection robot according to claim 1, which is characterized in that the drive wheel assemblies are integrated
Formula component, wheel hub, wheel shaft, DC servo motor and the installation of photoelectric encoder integrated form are integrated in drive wheel assemblies.
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| CN201811294459.1A CN109316612A (en) | 2018-11-01 | 2018-11-01 | A kind of wheel type mobile disinfection robot that interior is touring |
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| CN201811294459.1A CN109316612A (en) | 2018-11-01 | 2018-11-01 | A kind of wheel type mobile disinfection robot that interior is touring |
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| CN109316612A true CN109316612A (en) | 2019-02-12 |
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| CN111317836A (en) * | 2020-03-05 | 2020-06-23 | 上海飒智智能科技有限公司 | Multifunctional intelligent mobile disinfection robot |
| CN111714668A (en) * | 2020-05-22 | 2020-09-29 | 上海智汇电器有限公司 | Composite disinfection and purification equipment |
| CN111821480A (en) * | 2020-08-06 | 2020-10-27 | 苏州合光智控科技有限公司 | Short wave ultraviolet sterilization intelligent mobile device |
| CN112057638A (en) * | 2020-07-24 | 2020-12-11 | 深圳市峰创科技有限公司 | Control method applied to sterilization robot and related device |
| CN112274665A (en) * | 2020-09-30 | 2021-01-29 | 江苏祥祐医疗器械有限公司 | Disinfection robot based on remote communication technology and control system thereof |
| WO2021034731A1 (en) * | 2019-08-16 | 2021-02-25 | Ss Turf Technologies, Llc | Autonomous robot to remove pathogens from a target area |
| CN112874646A (en) * | 2021-01-27 | 2021-06-01 | 特斯联科技集团有限公司 | Disinfection robot chassis |
| DE102021109717A1 (en) | 2020-04-19 | 2021-10-21 | Metralabs Gmbh Neue Technologien Und Systeme | System, device and method for disinfection |
| CN114913473A (en) * | 2022-03-21 | 2022-08-16 | 中国科学院光电技术研究所 | Lightweight single-body imaging contact network safety patrol instrument |
| US11583597B2 (en) | 2019-03-15 | 2023-02-21 | Ecolab Usa Inc. | Reducing microbial growth on food preparation, storage, or processing apparatus |
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| US11985997B2 (en) | 2019-11-26 | 2024-05-21 | Ecolab Usa Inc. | Automated sanitization of robotic food equipment using antimicrobial light |
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| CN112274665A (en) * | 2020-09-30 | 2021-01-29 | 江苏祥祐医疗器械有限公司 | Disinfection robot based on remote communication technology and control system thereof |
| CN112874646A (en) * | 2021-01-27 | 2021-06-01 | 特斯联科技集团有限公司 | Disinfection robot chassis |
| CN114913473A (en) * | 2022-03-21 | 2022-08-16 | 中国科学院光电技术研究所 | Lightweight single-body imaging contact network safety patrol instrument |
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Application publication date: 20190212 |