CN113280445B - Indoor air purification and sterilization robot and sterilization method - Google Patents
Indoor air purification and sterilization robot and sterilization method Download PDFInfo
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- CN113280445B CN113280445B CN202110658937.8A CN202110658937A CN113280445B CN 113280445 B CN113280445 B CN 113280445B CN 202110658937 A CN202110658937 A CN 202110658937A CN 113280445 B CN113280445 B CN 113280445B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F3/00—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems
- F24F3/12—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling
- F24F3/16—Air-conditioning systems in which conditioned primary air is supplied from one or more central stations to distributing units in the rooms or spaces where it may receive secondary treatment; Apparatus specially designed for such systems characterised by the treatment of the air otherwise than by heating and cooling by purification, e.g. by filtering; by sterilisation; by ozonisation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/89—Arrangement or mounting of control or safety devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
- F24F13/28—Arrangement or mounting of filters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
- F24F13/32—Supports for air-conditioning, air-humidification or ventilation units
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/50—Air quality properties
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2120/00—Control inputs relating to users or occupants
- F24F2120/10—Occupancy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
Abstract
The invention relates to an indoor air purification and sterilization robot and a sterilization method, comprising an air filtering device for filtering and purifying air; an ultraviolet sterilizing device for sterilizing the purified air; the traveling mechanism is used for driving the robot to move so that the robot can purify, sterilize and kill different indoor positions; the air filtering device is arranged below the ultraviolet sterilizing device and communicated with the ultraviolet sterilizing device, and the travelling mechanism is arranged below the air filtering device. This scheme combines air purifier and disinfection machine people effectively to be in the same place, controls the intake through adjusting mouthful size, utilizes multiple filter screen and ultraviolet ray disinfection lamp to purify and kill with disappearing to the air, under the condition that need not add any disinfectant, disappears through the ultraviolet ray and kills to the air, accomplishes the high efficiency of zero pollution and disappears, and the suitability is strong.
Description
Technical Field
The invention relates to the field of smart home and the technical field of air purification, in particular to an indoor air purification and sterilization robot and a sterilization and sterilization method, which can be used for air purification and sterilization.
Background
In recent years, with the improvement of the requirements of people on home life, the importance on the quality of home air is increased, and the indoor air treatment is an urgent need for more and more families. However, most of the existing air purifiers in the market can only purify indoor air, viruses and bacteria in the air cannot be eliminated, and the air purifiers cannot be used for carrying out operations on narrow gaps such as corners and the like, and the air purifying effect cannot meet the increasing requirements of people. Therefore, the comprehensive and omnibearing purification and disinfection of indoor air becomes a problem to be solved urgently, and the air purifier has wide market space.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an indoor air purification and sterilization robot and a sterilization method.
The invention provides the following technical scheme: an indoor air purification sterilizing robot comprises an air filtering device for filtering and purifying air; an ultraviolet sterilizing device for sterilizing the purified air; the traveling mechanism is used for driving the robot to move so that the robot can purify, sterilize and kill different indoor positions; the air filtering device is arranged below the ultraviolet sterilizing device and communicated with the ultraviolet sterilizing device, and the travelling mechanism is arranged below the air filtering device. The running gear is arranged at the lowest part, so that the whole robot can move.
The walking mechanism comprises a chassis, wherein a motor wheel with a driving motor and a universal wheel for steering are arranged below the chassis, a battery for supplying power is also arranged in the chassis, the motor wheel is used for providing power to enable the robot to move, the universal wheel can be used for adjusting the direction and adopts a front driving mode, the front wheel adopts the motor wheel, and the rear wheel adopts the universal wheel; the battery can adopt an induction charging battery, so that the charging is convenient.
The side surface of the front part of the chassis is provided with a camera and an infrared sensor which are used for guiding the robot to walk, the camera and the infrared sensor are respectively connected with the controller, one infrared sensor is arranged, the number of the cameras is two, the infrared sensor and the two cameras are arranged in an inverted triangle, and the infrared sensor is arranged below the infrared sensor; according to the scheme, a data fusion planning route is carried out by adopting a barrier detection method of mutual fusion of a camera and an infrared laser sensor and an extended Kalman filtering method, so that the barrier detection of the robot in an unknown environment is realized, and then autonomous path planning is carried out by utilizing an A-star algorithm.
The air filtering device comprises an upper air inlet and a lower air inlet, and air inlet shielding doors for shielding the air inlets are arranged outside the upper air inlet and the lower air inlet; the air inlet is internally provided with a fan, an air filter is arranged above the fan and communicated with the ultraviolet killing device, the fan is connected with the controller, and when a wider indoor place such as a living room is killed, the upper air inlet is completely opened to obtain the maximum air inlet effect; when the bottom of the furniture is sterilized, the lower air inlet is used for sterilizing. When the indoor narrow places such as gaps between furniture and the ground seams are killed, the size of the opening is 0-25 degrees, and the killing is carried out.
Air cleaner sets gradually along the air flow direction and has oil absorption paper, non-woven fabrics filter screen, formaldehyde filter screen, active carbon filter screen, photocatalyst air filter screen, the fragrant powder layer that the interval is d, wherein sets up acoustic wave ware and air quality sensor between oil absorption paper and non-woven fabrics filter screen, sets up the LED lamp between fragrant powder layer and photocatalyst air filter screen, 2cm be less than or equal to d and be less than or equal to 4 cm. The tar and other substances in the air are filtered through the oil absorption paper. After the air passes through the oil absorption paper, the sound wave emitted by the sound wave device causes the air to vibrate, so that all molecules in the air rub with each other to generate static charges and strengthen the turbulent diffusion effect, and large-particle molecules are better attached to the gauze-free filter screen. The gauze-free filter screen, the formaldehyde filter screen and the active carbon filter screen can preliminarily filter tar, dust, pollen, peculiar smell and the like in the air. Harmful gases such as peculiar smell, carbon monoxide, nitrogen oxides and the like in the air are further removed through the photocatalyst air filter screen, and are decomposed into water and carbon dioxide. The air passes through the photocatalyst air filter screen, and the light and heat emitted by the LED lamp increase the activity of molecules of the toner layer. The filtered air is fragrant through the fragrant powder layer, and then is sterilized through ultraviolet rays through the ultraviolet lamp tube to remove harmful bacteria and viruses in the air.
The ultraviolet sterilization device comprises a spiral glass tube communicated with the air filtering device, a reflective coating and a plurality of ultraviolet sterilization lamps are arranged on the periphery of the spiral glass tube, a rotatable reflector is arranged on one side of the spiral glass tube, the ultraviolet sterilization lamps and the reflector with a rotating motor are parallel, the reflector is parallel to the axis of the spiral glass tube, and the ultraviolet sterilization lamps and the rotating motor are connected with the controller. The shell around the spiral glass tube is provided with an ultraviolet irradiation port which is not coated with a reflective coating, and an irradiation shielding door is arranged outside the ultraviolet irradiation port. Filtered air enters the spiral glass tube through the ventilation opening, is sterilized by the ultraviolet lamp tube and is discharged into the air through the air outlet at the upper end. The irradiation baffle plate can kill the outside, and can also directly kill the environment by ultraviolet in a closed mode.
The inner walls of the irradiation shielding door and the air inlet shielding door are respectively provided with a gear strip for driving the irradiation shielding door and the air inlet shielding door to be opened or closed, a driving motor for driving the gear strip is arranged in the shell, and the driving motor is connected with the controller. Therefore, the opening degree of the irradiation shielding door and the opening degree of the air inlet shielding door can be controlled, and the purification and sterilization operation is carried out. The ultraviolet sterilizing device is fixed at the upper end of the air filtering device through the connecting plate, the control signal and the power supply are transmitted through the electric signal transmitter, the electric signal transmitter comprises an ultraviolet sterilizing device contact and an air filtering device contact, a spring is arranged between the ultraviolet sterilizing device contact and the air filtering device contact, and two ends of the spring are respectively connected with the ultraviolet sterilizing device contact and the air filtering device contact through copper sheets.
A method for purifying and killing indoor air comprises the following steps:
s1, starting the air purification and sterilization robot, extracting the characteristics of the obstacles through the camera, acquiring the electric quantity of the robot and judging the size relation with the minimum electric quantity; when the self-power is greater than the minimum power, the step S2 is performed, and when the self-power is less than the minimum power, the step S3 is performed;
s2, planning a path by using a binocular vision algorithm and an A-star algorithm, comprehensively killing the indoor space, and returning to the initial position after completion;
and S3, the robot returns to the charging area to perform contact induction charging, and after the robot is fully charged, the robot returns to the step S2 to perform path planning, comprehensively kill the indoor space, and returns to the initial position after the completion.
When purification and disinfection are carried out, the size of the opening can be adjusted according to different indoor positions so as to ensure the purification and disinfection effects, and when purification and disinfection are carried out on a wider indoor place such as a living room, the upper air inlet is completely opened so as to obtain the maximum air inlet effect; when purifying and killing indoor narrow places such as gaps and ground seams between houses, the opening size is 0-25 degrees, and purifying and killing are carried out; when the bottom of the furniture is purified and killed, the upper air inlet is closed, the lower air inlet is used for purifying and killing, the air filtering device detects the quality of sucked air by using an air quality sensor, and if the air quality exceeds a set threshold value, the power of a fan is increased, and the killing time is prolonged; if the air quality is lower than the set air quality threshold, the power of the fan is not increased, the killing time is not prolonged, and the air is normally purified and killed; whether someone exists in the detection room is detected through the infrared sensor and the camera, if someone is in the time, the ultraviolet killing device carries out closed type killing, if nobody is in the time, the ultraviolet killing device can be opened and shines and shelter from the door, carries out ultraviolet killing to the indoor environment.
When the air is purified and killed, after passing through the oil absorption paper, the air is vibrated by sound waves emitted by the sound wave device, so that the turbulent diffusion effect is enhanced, and large particle molecules are better attached to a gauze-free filter screen; primarily filtering tar, dust, pollen and peculiar smell in the air through a gauze-free filter screen, a formaldehyde filter screen and an active carbon filter screen; further removing peculiar smell, carbon monoxide and nitric oxide harmful gases in the air through a photocatalyst air filter screen; when the air passing through the photocatalyst air filter screen passes through the perfume layer, the LED lamp emits light and heat to increase the activity of molecules of the perfume layer, so that the filtered air has pleasant fragrance, and then the ultraviolet sterilization is carried out through the ultraviolet lamp tube.
Through the description, the indoor air purification killing robot and the killing method effectively combine the air purifier and the disinfection robot together, and comprise a driving device, an air inlet automatic switch device, an air filtering device, an ultraviolet killing device and an automatic guiding device. The air filtration and the ultraviolet disinfection work independently in a subarea mode, the air inlet amount is controlled by adjusting the size of an opening, air is purified and disinfected by using various filter screens and ultraviolet disinfection lamps, the contact induction type charging is adopted, and the air can be driven to a charging area for charging when the electric quantity is insufficient; the killing path can be automatically planned according to different indoor layouts, and unmanned killing work is finished, so that automation and intellectualization of the killing work are realized; the air inlet can be automatically switched according to different killing environments, so that the killing work of narrow gaps is completed; under the condition of not adding any disinfectant, the air is sterilized by ultraviolet rays, so that the high-efficiency sterilization without pollution is realized, and the applicability is strong.
Drawings
Fig. 1 is a schematic structural view of an air cleaning and sterilizing robot according to an embodiment of the present invention.
Fig. 2 is a rear view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a schematic structural view of the ultraviolet killing apparatus.
Fig. 5 is a top view of fig. 4.
Fig. 6 is a schematic structural view of an air filter device.
Fig. 7 is a schematic structural view of the air filter.
Fig. 8 is a schematic structural view of a traveling mechanism according to an embodiment of the present invention.
Fig. 9 is a schematic view of the internal structure of the chassis.
Fig. 10 is a schematic structural view of the blocking door.
Fig. 11 is a schematic view of the connection of the air filtration device and the ultraviolet disinfection device.
Fig. 12 is an enlarged view of a in fig. 11.
Fig. 13 is a schematic view of the operation of the gap at the bottom of the furniture.
Fig. 14-1 is a schematic view showing the operation mode of the gap between the furniture.
Fig. 14-2 is a schematic view of the working mode of the gap between the pieces of furniture.
FIG. 15 is a flow chart of the killing operation.
In the figure, 1 motor wheel, 2 lower air inlet, 3, 4, 8 electric door, 5 upper air inlet, 6 filter screen, 7 ultraviolet irradiation port, 9 sliding rail, 10 supporting plate, 11 camera, 12 infrared sensor, 13 universal wheel, 14 shell, 15 air outlet, 16 operation panel, 17 induction charging battery, 18 ultraviolet disinfection lamp, 19 spiral glass tube, 20 reflector, 21 reflective coating, 22 fan, 23 oil absorption paper, 24 air quality sensor, 25 non-woven fabric filter screen, 26 formaldehyde filter screen, 27 active carbon filter screen, 28 photocatalyst air filter screen, 29 perfume layer, 30 sound wave device, 31LED lamp, 32 controller, 33 driver, 34 chassis, 35 ultraviolet disinfection device, 36 air filter device, 37 electric signal transmitter, 38 ultraviolet disinfection device contact, 39 air filter device contact, 40 spring, 41 copper sheet, 42 electric door, 43 rack, the transmission shaft 44 is connected with the connecting plate 45.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only one embodiment of the present invention, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from the detailed description of the invention without inventive step are within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
As can be seen from the drawings, the indoor air purifying and sterilizing robot of the present invention includes an air filtering device 36 for filtering and purifying air; an ultraviolet sterilizing device 35 for sterilizing the purified air; the traveling mechanism is used for driving the robot to move so that the robot can purify, sterilize and kill different indoor positions; the air filtering device 36 is arranged below the ultraviolet sterilizing device 35 and is communicated with the ultraviolet sterilizing device, and the air outlet 15 of the whole robot is arranged at the top of the robot; the running gear is arranged below the air filter.
The running mechanism comprises a chassis 34, a motor wheel 1 with a driving motor, namely a driver 33, and a universal wheel 13 are arranged below the chassis 34, and a battery for supplying power is also arranged in the chassis 34, wherein in the embodiment, the battery adopts an induction charging battery 17. Set up camera 11 and the infrared sensor 12 that is used for guiding the robot walking in the anterior side of chassis 34, camera 11 and infrared sensor 12 are connected with controller 32 respectively, and infrared sensor 12 wherein is one, and camera 11 is two, and infrared sensor 12 and two cameras 11 are the inverted triangle and arrange, equilateral triangle, and wherein infrared sensor 12 sets up in the below, and the panel setting of controlling of robot sets up operating panel 16 and response rechargeable battery 17 at the back.
The air filtering device comprises an upper air inlet 5 and a lower air inlet 2, wherein the upper air inlet 5 is a main air inlet, and air inlet shielding doors for shielding the air inlets are arranged outside the upper air inlet and the lower air inlet; the blower 22 is arranged in the air inlet, an air filter is arranged at the position above the blower 22, which is communicated with the ultraviolet killing device, and the blower 22 is connected with the controller 32. The air filter is sequentially provided with an oil absorption paper 23, a non-woven fabric filter screen 25, a formaldehyde filter screen 26, an activated carbon filter screen 27, a photocatalyst air filter screen 28 and a incense powder layer 29 at intervals of d along the air flowing direction, wherein an acoustic wave device 30 and an air quality sensor 24 are arranged between the oil absorption paper 23 and the non-woven fabric filter screen 25, an LED lamp 31 is arranged between the incense powder layer 29 and the photocatalyst air filter screen 28, and d is more than or equal to 2cm and less than or equal to 4 cm.
The ultraviolet sterilization device comprises a spiral glass tube 19 communicated with the air filtering device, a reflective coating 21 and a plurality of ultraviolet sterilization lamps 18 are arranged around the spiral glass tube 19, a rotatable reflector 20 is arranged on one side of the spiral glass tube 19, the ultraviolet sterilization lamps 18 and the reflector 20 with a rotating motor are parallel, the reflector 20 is parallel to the axis of the spiral glass tube 19, and the ultraviolet sterilization lamps 18 and the rotating motor are connected with a controller 32. An ultraviolet irradiation port 7 which is not coated with a reflective coating is arranged on the shell around the spiral glass tube 19, and an irradiation blocking door is arranged outside the ultraviolet irradiation port 7. The ultraviolet killing device 35 is fixed at the upper end of the air filtering device 36 through a connecting plate 45, a control signal and a power supply are transmitted through an electric signal transmitter 37, the electric signal transmitter 37 comprises an ultraviolet killing device contact 38 and an air filtering device contact 39, a spring 40 is arranged between the ultraviolet killing device contact 38 and the air filtering device contact 39, and two ends of the spring 40 are respectively connected with the ultraviolet killing device contact 38 and the air filtering device contact 39 through copper sheets 41.
Shine and hide the shutter door, the air inlet hides and all sets up on the inner wall of shutter door and is used for the drive to shine and hide the shutter door, the air inlet hides the shutter door and opens or closed rack and pinion, set up the driving motor who drives the rack and pinion in the shell, driving motor is connected with the controller, shine in this embodiment and hide the shutter door, the air inlet hides and all calls as the dodge gate, 3 in the drawing promptly, 4, 8, wherein 3 is the air inlet of air intake down and hides the shutter door, 4 is the air inlet of last air intake and hides the shutter door, 8 hides the shutter door for shining, dodge gate 3 includes the motor, rack 43, transmission shaft 44 with the gear, a slide rail, a door plant. The rack is fixed in the door plant lower extreme, and the door plant upper end inlays in the slide rail, and the slide rail is fixed on the robot housing. The motor drives the transmission shaft to rotate, and the door plate is closed or the opening degree of the door plate is adjusted through the meshing of the gear and the rack.
An indoor air purification and disinfection method based on the robot comprises the following steps:
s1, starting the air purification and sterilization robot, extracting the characteristics of the obstacles through the camera, acquiring the electric quantity of the robot and judging the size relation with the minimum electric quantity; when the self-power is greater than the minimum power, the step S2 is performed, and when the self-power is less than the minimum power, the step S3 is performed;
s2, planning a path by using a binocular vision algorithm and an A-star algorithm, comprehensively killing the indoor space, and returning to the initial position after completion;
and S3, the robot returns to the charging area to perform contact induction charging, and after the robot is fully charged, the robot returns to the step S2 to perform path planning, comprehensively kill the indoor space, and returns to the initial position after the completion.
When purification and disinfection are carried out, the size of the opening can be adjusted according to different indoor positions so as to ensure the purification and disinfection effects, and when purification and disinfection are carried out on a wider indoor place such as a living room, the upper air inlet is completely opened so as to obtain the maximum air inlet effect; when purifying and killing indoor narrow places such as gaps and ground seams between houses, the opening size is 0-25 degrees, and purifying and killing are carried out; when the bottom of the furniture is purified and killed, the upper air inlet is closed, the lower air inlet is used for purifying and killing, the air filtering device detects the quality of sucked air by using an air quality sensor, and if the air quality exceeds a set threshold value, the power of a fan is increased, and the killing time is prolonged; if the air quality is lower than the set air quality threshold, the power of the fan is not increased, the killing time is not prolonged, and the air is normally purified and killed; whether someone exists in the detection room is detected through the infrared sensor and the camera, if someone is in the time, the ultraviolet killing device carries out closed type killing, if nobody is in the time, the ultraviolet killing device can be opened and shines and shelter from the door, carries out ultraviolet killing to the indoor environment.
When the air is purified and killed, after passing through the oil absorption paper, the air is vibrated by sound waves emitted by the sound wave device, so that all molecules in the air are rubbed with each other to generate static charges, the turbulent diffusion effect is enhanced, and large-particle molecules are better attached to a gauze-free filter screen; primarily filtering tar, dust, pollen and peculiar smell in the air through a gauze-free filter screen, a formaldehyde filter screen and an active carbon filter screen; further removing peculiar smell, carbon monoxide and nitric oxide harmful gases in the air through a photocatalyst air filter screen; when the air passing through the photocatalyst air filter screen passes through the perfume layer, the LED lamp emits light and heat to increase the activity of molecules of the perfume layer, so that the filtered air has pleasant fragrance, and then the ultraviolet sterilization is carried out through the ultraviolet lamp tube.
Although particular embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these particular embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides an indoor air purification robot that kills, characterized by includes:
comprises an air filtering device for filtering and purifying air; the ultraviolet sterilization device is used for sterilizing the filtered and purified air; the traveling mechanism is used for driving the robot to move so that the robot can purify, sterilize and kill different indoor positions; the air filtering device is arranged below the ultraviolet sterilizing device, the air filtering device is communicated with the ultraviolet sterilizing device, and the travelling mechanism is arranged below the air filtering device;
the walking mechanism comprises a chassis, universal wheels and motor wheels with driving motors are arranged below the chassis, and a battery for supplying power is also arranged in the chassis; a camera and an infrared sensor for guiding the robot to walk are arranged on the side face of the front part of the chassis, and the camera and the infrared sensor are respectively connected with the controller;
the air filtering device comprises an upper air inlet and a lower air inlet, and air inlet shielding doors for shielding the air inlets are arranged outside the upper air inlet and the lower air inlet; a fan is arranged in the air inlet, an air filter is arranged at the position above the fan, which is communicated with the ultraviolet killing device, and the fan is connected with the controller; the air filter is sequentially provided with an oil absorption paper, a non-woven fabric filter screen, an active carbon filter screen, a photocatalyst air filter screen and a perfume powder layer at intervals of d along the air flowing direction, wherein an acoustic wave device and an air quality sensor are arranged between the oil absorption paper and the non-woven fabric filter screen, an LED lamp is arranged between the perfume powder layer and the photocatalyst air filter screen, and d is more than or equal to 2cm and less than or equal to 4 cm;
the ultraviolet sterilization device comprises a spiral glass tube communicated with the air filtering device, a reflective coating and a plurality of ultraviolet sterilization lamps are arranged on the periphery of the spiral glass tube, a rotatable reflector is arranged on one side of the spiral glass tube, the ultraviolet sterilization lamps and the reflector with a rotating motor are parallel, the reflector is parallel to the axis of the spiral glass tube, and the ultraviolet sterilization lamps and the rotating motor are connected with the controller;
an ultraviolet irradiation port which is not coated with a reflective coating is arranged on the shell around the spiral glass tube, and an irradiation blocking door is arranged outside the ultraviolet irradiation port; gear bars for driving the irradiation shielding door and the air inlet shielding door to be opened or closed are respectively arranged on the inner walls of the irradiation shielding door and the air inlet shielding door, a driving motor for driving the gear bars is arranged in the shell, and the driving motor is connected with the controller;
the killing robot comprises the following steps:
s1, starting the air purification and sterilization robot, extracting the characteristics of the obstacles through the camera, acquiring the electric quantity of the robot and judging the size relation with the minimum electric quantity; when the self-power is greater than the minimum power, the step S2 is performed, and when the self-power is less than the minimum power, the step S3 is performed;
s2, planning a path by using a binocular vision algorithm and an A-star algorithm, comprehensively killing the indoor space, and returning to the initial position after completion;
s3, the robot returns to the charging area to perform contact induction charging, and after the robot is fully charged, the robot returns to the step S2 to perform path planning, comprehensively kill the indoor space, and returns to the initial position after completion;
when purification and disinfection are carried out, the size of the opening of the air inlet can be adjusted according to different indoor positions so as to ensure the purification and disinfection effects, and when the purification and disinfection are carried out on a wider indoor place, the upper air inlet is completely opened so as to obtain the maximum air inlet effect; when purifying and killing an indoor narrow place, adjusting the size of the opening of the air inlet to 0-25 degrees for purifying and killing; when the bottom of the furniture is purified and killed, the upper air inlet is closed, the lower air inlet is used for purifying and killing, the air filtering device detects the quality of sucked air by using an air quality sensor, and if the air quality exceeds a set threshold value, the power of a fan is increased, and the killing time is prolonged; if the air quality is lower than the set air quality threshold, the power of a fan is not increased, the killing time is not prolonged, and the air is normally purified and killed; whether someone exists in the detection room is detected through infrared sensor and camera, if someone is when, ultraviolet ray killing device carries out closed type and disappears and kills, if nobody is when, ultraviolet ray killing device can open and shine and shelter from the door, carries out ultraviolet to indoor environment and disappears and kills.
2. The indoor air-purifying and sterilizing robot as claimed in claim 1, wherein:
the infrared sensor is one, and the camera is two, and infrared sensor and two cameras are the triangle-shaped of falling and arrange, and wherein infrared sensor sets up in the below.
3. The indoor air-purifying and sterilizing robot as claimed in claim 1, wherein:
when the purification and sterilization are carried out, after air passes through the oil absorption paper, sound waves are emitted by the sound wave device to cause air vibration, so that the turbulent diffusion effect is enhanced, and large particle molecules are better attached to a non-woven fabric filter screen; primarily filtering tar, dust, pollen and peculiar smell in the air through a non-woven fabric filter screen and an active carbon filter screen; further removing peculiar smell, carbon monoxide and nitric oxide harmful gases in the air through a photocatalyst air filter screen; when the air passing through the photocatalyst air filter screen passes through the essence layer, the LED lamp emits light and heat to increase the activity of molecules of the essence layer, so that the filtered air has pleasant fragrance, and then the ultraviolet disinfection lamp is used for ultraviolet disinfection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110658937.8A CN113280445B (en) | 2021-06-15 | 2021-06-15 | Indoor air purification and sterilization robot and sterilization method |
Applications Claiming Priority (1)
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| CN105987450A (en) * | 2015-02-16 | 2016-10-05 | 青岛欣微恩净化技术有限公司 | Air purifier and application method thereof |
| CN111594952A (en) * | 2020-06-22 | 2020-08-28 | 昆山夫恩特电器有限公司 | Medical light quantum anti-virus and bacteria cross infection intelligent purification robot |
| CN111780276A (en) * | 2020-06-02 | 2020-10-16 | 老肯医疗科技股份有限公司 | Efficient photoelectric-cycle alternate-sterilization air disinfection equipment |
| CN212179098U (en) * | 2020-04-22 | 2020-12-18 | 佛山市山盟电器有限公司 | Air purifier |
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| US9254459B2 (en) * | 2013-09-17 | 2016-02-09 | Gregory R. Miller | Room air purifier with pressurization relief |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105987450A (en) * | 2015-02-16 | 2016-10-05 | 青岛欣微恩净化技术有限公司 | Air purifier and application method thereof |
| CN212179098U (en) * | 2020-04-22 | 2020-12-18 | 佛山市山盟电器有限公司 | Air purifier |
| CN111780276A (en) * | 2020-06-02 | 2020-10-16 | 老肯医疗科技股份有限公司 | Efficient photoelectric-cycle alternate-sterilization air disinfection equipment |
| CN111594952A (en) * | 2020-06-22 | 2020-08-28 | 昆山夫恩特电器有限公司 | Medical light quantum anti-virus and bacteria cross infection intelligent purification robot |
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