CN109701060A - A kind of disinfection control and chip of portable intelligent disinfection robot - Google Patents
A kind of disinfection control and chip of portable intelligent disinfection robot Download PDFInfo
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- CN109701060A CN109701060A CN201811621682.2A CN201811621682A CN109701060A CN 109701060 A CN109701060 A CN 109701060A CN 201811621682 A CN201811621682 A CN 201811621682A CN 109701060 A CN109701060 A CN 109701060A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 221
- 230000001954 sterilising effect Effects 0.000 claims abstract description 46
- 230000001580 bacterial effect Effects 0.000 claims abstract description 28
- 230000007613 environmental effect Effects 0.000 claims abstract description 3
- 230000000249 desinfective effect Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 241000894006 Bacteria Species 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 206010053615 Thermal burn Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 230000000845 anti-microbial effect Effects 0.000 description 1
- 238000009414 blockwork Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000645 desinfectant Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 239000002574 poison Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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- Manipulator (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The present invention discloses the disinfection control and chip of a kind of portable intelligent disinfection robot, it include the following steps: (1) that the control portable intelligent disinfection robot is moved along the disinfection path planned in advance, and bacterial number is acquired in real time, obtain disinfection cycle corresponding in corresponding table；If step 2, the bacterial number acquired in real time are greater than first predetermined value, disinfection position is marked in the environmental map constructed in real time, is otherwise controlled the portable intelligent disinfection robot along the disinfection path and is acquired bacterial number；Step 3, in conjunction with the disinfection path, performed disinfection work according to disinfection cycle；Step 4, when carry out disinfection according to disinfection cycle complete when, if the bacterial number acquired in real time is greater than second predetermined value, then continue to perform disinfection work in the disinfection path according to disinfection cycle, otherwise default sterilize number by judging whether the number of sterilization operation reaches described and determine the sterilization operation of next disinfection cycle.
Description
Technical field
The present invention relates to sterilizing equipment decontaminating apparatus technical fields, especially relate to a kind of disinfection of portable intelligent disinfection robot
Control method and chip.
Background technique
The present invention belongs to the relevant technologies related to the present invention for the description of background technique, be only used for explanation and just
In understanding summary of the invention of the invention, it should not be construed as applicant and be specifically identified to or estimate applicant being considered of the invention for the first time
The prior art for the applying date filed an application.
Disinfection way needs to expend a large amount of artificial and time mainly using artificial spray disinfectant come what is carried out at present,
But the blind area and dead angle of disinfection are easily caused, sterilizing machine furthermore currently on the market is mostly fixed, close to sterilizing equipment decontaminating apparatus
The air and body surface of distance can play the role of well sterilizing, but to the Disinfection Effect of remote air and body surface
It is decreased obviously, such as other places is sterilized, it is necessary to sterilizing equipment decontaminating apparatus is manually moved to specified place and is carried out disinfection again, and
After sterilizing equipment decontaminating apparatus completes sterilization operation, needs manually to move the machine to specified position and stored, it is inconvenient for use, it influences
Disinfection Effect.
In recent years, there is the technology to solve the above problems in articles field in bed, and sterilizing machine currently on the market is mostly solid
Fixed pattern, air and body surface to sterilizing equipment decontaminating apparatus short distance can play the role of well sterilizing, but to remote air and
The Disinfection Effect of body surface is decreased obviously, and such as to be sterilized to other places, it is necessary to manually be moved to sterilizing equipment decontaminating apparatus specified
Place carry out disinfection again, and sterilizing equipment decontaminating apparatus complete sterilization operation after, need manually to move the machine to specified position into
Row storage, it is inconvenient for use, influence Disinfection Effect.
Summary of the invention
In order to overcome the above technical defects, the present invention proposes following technical scheme:
A kind of disinfection control of portable intelligent disinfection robot, comprising: step 1, the control portable intelligent disinfection
Robot is moved along the disinfection path planned in advance, and acquires the bacterial number of current preset position in real time, obtains corresponding table
In corresponding disinfection cycle；If step 2, the bacterial number acquired in real time are greater than first predetermined value, in the ring constructed in real time
It is disinfection position that current preset position is marked in the figure of condition, otherwise controls the portable intelligent disinfection robot along preparatory rule
The disinfection path drawn acquires the bacterial number of next predeterminated position；Step 3, in conjunction with the disinfection path planned in advance, control institute
It states portable intelligent disinfection robot and carries out once sterilizing operation according to disinfection cycle；Step 4 disappears when according to disinfection cycle
When poison is completed, if the bacterial number acquired in real time is greater than second predetermined value, continue according to disinfection cycle in the disinfection path
In perform disinfection work, otherwise judge whether the number of sterilization operation reaches the default disinfection number, be to terminate, otherwise press
Continue to perform disinfection work in the disinfection path according to disinfection cycle；Wherein, the corresponding table is the bacterial number and disappears
The correspondence table of malicious time；First predetermined value is greater than second predetermined value.When the technical program determines disinfection according to the bacterial number
Between, the present embodiment judges whether disinfection is abundant based on bacterial number handled by disinfecting time, as the insufficient Shi Ketong of disinfection
It crosses one default disinfection number of setting and supplements disinfection on the disinfection path, avoid and sterilize situation not in place.
Further, the disinfection control further include: the portable intelligent disinfection robot is ultraviolet by emitting
Light gets hot spot on the surface in the region to be sterilized；When the hot spot got is close to the marginal surface position in the region to be sterilized
When, direction and the size in the disinfection path are adjusted, so that the effective area that hot spot is strafed on the surface in the region to be sterilized
It is maximum.
A kind of chip, the built-in chip type is in the portable intelligent disinfection robot, for controlling the portable intelligence
Energy disinfection robot executes the disinfection control, improves the Disinfection Effect of the portable intelligent disinfection robot.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of portable intelligent disinfection robot provided in an embodiment of the present invention.
Fig. 2 is a kind of process of the disinfection control of portable intelligent disinfection robot provided in an embodiment of the present invention
Figure.
Wherein, appended drawing reference:
101: the chassis of portable intelligent disinfection robot；102: drive module；1021: left driving wheel, 1022: right driving wheel；
103: sterilamp；104: acquisition module；105: control module；106: the air suction opening on chassis；107: dust-collecting box；1071: dust-collecting box
Input port.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of portable intelligent disinfection robot, as shown in Figure 1, the portable intelligent sterilizing machine
Device people includes: chassis 101, drive module 102, acquisition module 104, control module 105 and disinfection mould with air suction opening 106
Block.Wherein, acquisition module 104 is carried by chassis 101 and is arranged towards the surface in region to be sterilized, comes for receiving and responding
Location information from the surface in region to be sterilized, specifically, acquisition module 104 include the table for sensing the region to be sterilized
With the infrared distance sensor of obstacle distance and for preventing from falling in the marginal surface position in the region to be sterilized on face
The infrared steep cliff sensor fallen, the acquisition module 104 of Fig. 1 can be infrared steep cliff sensor, and Probe arrangement is towards wait disappear
The surface in contaminated area domain, so, acquisition module 104 is prevented at a distance from ground described portable by the measurement region to be sterilized
There is falling hazard in formula intelligent disinfecting robot.
Drive module 102 includes left driving wheel 1022 and right driving wheel 1021, is connected to the opposite side on chassis 101 and construction
Surface movement for driving portable intelligent disinfection robot in region to be sterilized, 1021 edge of left driving wheel 1022 and right driving wheel
Opposite direction is mounted on the opposite side on chassis 101 to adjust the movement of robot, and drive module 102 further includes universal wheel (in figure
It is not shown), the universal wheel is rotatably installed at the front on chassis 101, so that portable intelligent disinfection robot is expert at
It is turned to when walking to turning by universal wheel, universal wheel cooperation left driving wheel 1022 and right driving wheel 1021 support portable
Intelligent disinfecting robot, to stablize the physical location of portable intelligent disinfection robot and prevent portable intelligent disinfection robot
It overturns.
The portable intelligent disinfection robot further include: sterilization module, including sterilamp 103, sterilamp 103 are arranged the bottom of at
The top of the air suction opening 106 of disk 101, and be set between the left driving wheel 1022 of drive module 102 and right driving wheel 1021
It (is not represented in figure) at support frame；During portable intelligent disinfection robot is mobile, the light of the generation of sterilamp 103
Sterilizing can be carried out on bed body, sheet or bedding surface through air suction opening 106, the operating temperature of sterilamp 103 is at 250 degree
Between ~ 400 degree, sterilamp 103 belongs to cold light source, and heat dissipation problem is not present, and has preferable disinfection function, and work
Proper temperature, be not in temperature it is excessively high and the problem of scald user of service.Sterilamp 103 is by closed installation in the present embodiment
In metal material cover, only by several mm wides long and narrow light slit downward, execute disinfection against sheet through air suction opening 106
Task.It can be remotely operated by remote control device when specifically used, or even by machine interface, remote auto control:
Starting, is closed at disinfection, and injury can be led to the problem of to human body when closely using so as to avoid operator.
The portable intelligent disinfection robot further includes dust-collecting box 107, the input port 1071 of the dust-collecting box 107 and dust suction
There are an air ducts (not to represent in Fig. 1) between hole 106, which disappears in the radiation scope of sterilamp 103
Malicious lamp 103 can carry out disinfection to the gas of air duct sterilization；Dust-collecting box is equipped in the portable intelligent disinfection robot
107, blower (not shown) and filter device are equipped at dust-collecting box 107, dust absorption fan is for guiding input port 1071
Air to be sterilized, filter device then carry out gas filtration.Dust-collecting box 107 can be discharged under the action of blower disinfected
Aseptic gas.While sterilizing, bed body, the hair of sheet or bedding surface and dust etc. can also be adsorbed to storage dirt
In box 107, cleaning can be unloaded down after the storage of dust-collecting box 107 is full, is being reinstalled after cleaning.The technical solution is in sterilizing
While realize dust suction, to realize comprehensive disinfection.
Preferably, dust-collecting box 107 and 106 surface of air suction opening are equipped with antimicrobial coating, which is lamination layer structure, can
It is sputtered and is formed by reflecting material, ultraviolet light can sufficiently reflected, make full use of it in sterilizing, advantageously account for sterilizing
Not comprehensively, there is the problem of disinfection dead angle.
Control module 105 exists with acquisition module 104, drive module 102 and sterilization module and is electrically connected, control module
105, which issue driving instruction, controls drive module 102, so that Xie Shi intelligent disinfecting robot is transported according to the disinfection path of planning
It is dynamic；Meanwhile control module 105 issues disinfection instruction according to the input data of acquisition module 104, control sterilization module emits light
Execute disinfection task.Control module 105 is used to determine drive module 102 and disinfection mould according to the location information of acquisition module 104
The disinfection position that block works at the same time, and the disinfection path of portable intelligent disinfection robot is adjusted in response to acquisition module 104, with
Prevent portable intelligent disinfection robot from falling in the marginal surface position in region to be sterilized.Compared with the existing technology, the technology
Scheme realizes autonomous determining movement routine, disinfection position under the premise of being not provided with guide rail, according to location information, can control
Portable intelligent disinfection robot processed is performed disinfection work according to determining mobile route and disinfection position, can both have been carried out sufficiently
Disinfection, and avoid sterilizing the problems such as not in place, Disinfection Effect is improved, and the artificial bed body of portable intelligent sterilization machine is outer
Portion's portable component, without being transformed to bed body, manufacturing cost is lower, is convenient for carrying and uses, more convenient.
In an alternative embodiment of the invention, the location information on the surface in the region to be sterilized includes floor area, barrier
Hinder the marginal surface position of object location information and the region to be sterilized.The present embodiment is by obtaining the region to be sterilized
The marginal surface position of floor area, obstacle position information and the region to be sterilized is conducive to reasonably determine disinfection
Position to realize the adequate disinfection to the region to be sterilized, or can carry out disinfection according to reasonable movement routine, or
Movement routine combines etc. with disinfection position carries out adequate disinfection to the region to be sterilized.In the present embodiment, room can be passed through
Interior location technology (UWB etc.) obtains spatial information.In the present embodiment, relevant information is obtained by indoor positioning technologies, without height
Hold complicated equipment.The present embodiment, with reference to the distribution of barrier, can be determined more preferably when formulating mobile route and disinfection position
Sterilize path and disinfection position.
As an embodiment of the present invention, the location information of above-mentioned portable intelligent disinfection robot sensing further includes thin
Bacterium number amount can determine disinfecting time according to bacterial number, and if other conditions are the same, the quantity of bacterium can subtract less
Few disinfecting time, bacterial number mostly can be with lengthening disinfection times.The present embodiment can be performed disinfection work more accurately, Ji Nengchong
Divide disinfection, and avoids excessively.And obstacle position information can more preferably determine disinfection path and disinfection position.Certainly, environment is believed
Breath includes the information such as bacterial number, obstacle position information, floor area and spatial altitude, preferably can precisely be disappeared
Malicious operation.
Based on above-mentioned portable intelligent disinfection robot, the present invention provides a kind of disinfection control, the disinfection controlling party
Method is implemented in the region to be sterilized at least one open edge, as shown in Figure 2, comprising the following steps:
Step S301, it is current pre- to control portable intelligent disinfection robot acquisition in real time on the disinfection path planned in advance
If the bacterial number of position, disinfection cycle corresponding in corresponding table is obtained, subsequently into step S302；As the present invention one
Alternative embodiment, according to bacterial number, institute is to corresponding time, as disinfecting time in the corresponding table of acquisition；Wherein, corresponding table is
The correspondence table of bacterial number and time.Disinfecting time, and the disinfecting time can quickly be determined by corresponding table in the present embodiment
As the disinfection cycle, it is divided into current disinfection cycle and next disinfection cycle, specific numerical value is equal.
Correspondence table in the embodiment of the present invention can be by empirically determined.The correspondence table can also be by existing disinfection
Time and bacterium situation are analyzed to obtain.Certainly, the number that the particular content of corresponding table can also be collected according to each sterilization operation
According to being adjusted.Since general disinfection is both for specific region, according to the data collected to specific region sterilization operation
Corresponding table can targetedly be adjusted, more be met with actual conditions.
Step S302, whether the bacterial number that judgement acquires in real time is greater than first predetermined value, is to enter step S303, no
Then enter step S304.First predetermined value is in the region to be sterilized be more than hygienic warning line primitive bacteria number, be
The empirical value that the bacterial number of specific region is done can be used as the condition of starting disinfection.
Step S303, it is disinfection position that current preset position is marked in the environmental map constructed in real time, thus described
Determining in region to be sterilized needs the position sterilized subsequently into step S305.
Step S304, it controls the portable intelligent disinfection robot and acquires next default position along the disinfection path
The bacterial number set, then return step S302 continues the bacterial number for judging to acquire in real time, continually looks for what judgement need to sterilize
Position, to maintain the portable intelligent disinfection robot real-time perfoming detection operation.
Step S305, in conjunction with the disinfection path cooked up, the portable intelligent disinfection robot is controlled according to institute
It states disinfection cycle and carries out once sterilizing operation, control the portable intelligent disinfection robot and disappear along the disinfection path
Malicious operation, the disinfecting time of setting are a disinfection cycle, when a disinfection cycle is completed, that is, are completed current
The sterilization operation of disinfection cycle, some the described disinfection position of the portable intelligent disinfection robot in the disinfection path
It sets and stops autonomously operation, subsequently into step S306.
Step S306, when completing the sterilization operation of current disinfection cycle, judge whether the bacterial number acquired in real time is big
It in second predetermined value, is to enter step S307, otherwise enter step S308.Second predetermined value can be measured in a disinfection cycle
Disinfection and sterilization quality, the Disinfection Effect of disinfection control is directly affected, when the bacterium that acquires in real time in the disinfection path
When quantity is less than second predetermined value, show that the portable intelligent disinfection robot has completed traversal in current disinfection cycle
The sterilization operation work in path is sterilized, but in order to improve the overall disinfection bactericidal effect in the region to be sterilized, it is also necessary to it reaches
To the sterilization operation repeatedly of the default disinfection number, avoids sterilizing the problems such as not in place, improve Disinfection Effect.Wherein,
One predetermined value is greater than second predetermined value.
Step S307, continue to perform disinfection work in the disinfection path according to the disinfection cycle, subsequently into step
Rapid S308.Enter next disinfection cycle from current disinfection cycle and carry out operation, so that the portable intelligent sterilization machine
A mobile disinfection cycle may also be repeated on the disinfection path.
Step S308, judge whether the number of sterilization operation reaches the default disinfection number, be to terminate, otherwise return
Step S307.
The present embodiment determines disinfecting time according to the bacterial number, and the present embodiment is based on bacterium handled by disinfecting time
Whether quantity is abundant to judge disinfection, can be by one default disinfection number of setting in the disinfection when sterilizing insufficient
Disinfection is supplemented on path, is avoided and is sterilized situation not in place.
Preferably, the disinfection control further include: the portable intelligent disinfection robot opens sterilamp 103
Afterwards, the UV light permeability air suction opening 106 that sterilamp 103 emits, gets hot spot on the surface in the region to be sterilized；When what is got
When hot spot is close to the marginal surface position in the region to be sterilized, direction and the size in the disinfection path are adjusted, to control
Hot spot strafes the marginal surface position that range deviates the region to be sterilized on the surface in the region to be sterilized, it is ensured that hot spot is swept
The effective area penetrated is maximum.Specifically, in the sterilization module, depth is opened by controlling the sterilization switch of sterilamp 103
Ultraviolet-sterilization.In the present embodiment, sterilamp 103 is performed disinfection work using deep ultraviolet LED, and the facula area got can be true
Surely area, method of determination are sterilized are as follows: the drive module 102 keeps hot spot mobile by the mobile sterilization module, then hot spot is swept
The area penetrated is to sterilize area.
A kind of chip, the built-in chip type is in the portable intelligent disinfection robot, for controlling the portable intelligence
Energy disinfection robot executes the disinfection control, improves the Disinfection Effect of the portable intelligent disinfection robot.
In embodiment provided herein, it should be understood that disclosed systems, devices and methods can pass through
Other modes are realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.The unit as illustrated by the separation member can be or can also
Not to be physically separated, component shown as a unit may or may not be physical unit, it can be located at
One place, or may be distributed over multiple network units.Can select according to the actual needs part therein or
Whole units achieve the purpose of the solution of this embodiment.
Claims (3)
1. a kind of disinfection control of portable intelligent disinfection robot characterized by comprising
Step 1, the control portable intelligent disinfection robot are moved along the disinfection path planned in advance, and acquisition is worked as in real time
The bacterial number of preceding predeterminated position obtains disinfection cycle corresponding in corresponding table；
If step 2, the bacterial number acquired in real time are greater than first predetermined value, marked in the environmental map constructed in real time current
Predeterminated position is disinfection position, otherwise controls the portable intelligent disinfection robot and acquires along the disinfection path planned in advance
The bacterial number of next predeterminated position；
Step 3, in conjunction with the disinfection path planned in advance, control the portable intelligent disinfection robot and carried out according to disinfection cycle
Once sterilizing operation；
Step 4, when carry out disinfection according to disinfection cycle complete when, if the bacterial number acquired in real time be greater than second predetermined value,
Continue to perform disinfection work in the disinfection path according to disinfection cycle, otherwise judges whether the number of sterilization operation reaches institute
Default disinfection number is stated, is to terminate, otherwise continues to perform disinfection work in the disinfection path according to disinfection cycle；
Wherein, the corresponding table is the correspondence table of the bacterial number and disinfecting time；First predetermined value is greater than second predetermined value.
2. disinfection control according to claim 1, which is characterized in that the disinfection control further include:
The portable intelligent disinfection robot gets hot spot on the surface in the region to be sterilized by emitting ultraviolet light；
When marginal surface position of the hot spot got close to the region to be sterilized, the direction in the disinfection path and big is adjusted
It is small, so that hot spot is maximum in the effective area that the surface in the region to be sterilized is strafed.
3. a kind of chip, which is characterized in that the built-in chip type is described for controlling in the portable intelligent disinfection robot
Portable intelligent disinfection robot perform claim requires any one of 1 to 2 disinfection control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811621682.2A CN109701060B (en) | 2018-12-28 | 2018-12-28 | Disinfection control method and chip of portable intelligent disinfection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811621682.2A CN109701060B (en) | 2018-12-28 | 2018-12-28 | Disinfection control method and chip of portable intelligent disinfection robot |
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| Publication Number | Publication Date |
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| CN109701060A true CN109701060A (en) | 2019-05-03 |
| CN109701060B CN109701060B (en) | 2020-12-29 |
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| CN201811621682.2A Active CN109701060B (en) | 2018-12-28 | 2018-12-28 | Disinfection control method and chip of portable intelligent disinfection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114081977A (en) * | 2021-11-17 | 2022-02-25 | 深圳市第三人民医院(深圳市肝病研究所) | Cleaning method, system and storage medium |
| TWI834876B (en) * | 2020-05-14 | 2024-03-11 | 微星科技股份有限公司 | Field disinfection mobile robot and control method thereof |
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| CN107890577A (en) * | 2017-10-23 | 2018-04-10 | 南方科技大学 | Sterilization robot system |
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| KR101742489B1 (en) * | 2016-02-11 | 2017-06-02 | 전자부품연구원 | Mobile robot apparatus and system for UV disinfection |
| CN106362173A (en) * | 2016-09-28 | 2017-02-01 | 西安四腾环境科技有限公司 | Intelligent comprehensive sterilization robot |
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| TWI834876B (en) * | 2020-05-14 | 2024-03-11 | 微星科技股份有限公司 | Field disinfection mobile robot and control method thereof |
| CN114081977A (en) * | 2021-11-17 | 2022-02-25 | 深圳市第三人民医院(深圳市肝病研究所) | Cleaning method, system and storage medium |
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| Publication number | Publication date |
|---|---|
| CN109701060B (en) | 2020-12-29 |
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