CN113797373A

CN113797373A - Autonomously operating disinfection robot and disinfection method thereof

Info

Publication number: CN113797373A
Application number: CN202111157955.4A
Authority: CN
Inventors: 李金波; 戴米沙
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2021-12-17
Anticipated expiration: 2041-09-30
Also published as: CN113797373B

Abstract

The invention relates to an autonomously operating disinfection robot and a disinfection method thereof, the disinfection robot comprises: the device comprises a chassis (1), a shell (2) arranged on the chassis (1), a disinfection unit (3), an operation control unit and at least one gas pH value detector (4); the operation control unit is electrically connected with the chassis (1) and is used for controlling the autonomous operation of the disinfection robot; the disinfection unit (3) is stored with a plurality of disinfectants and a diluent used for mixing with part of the disinfectants; the operation control unit is respectively electrically connected with the disinfection unit (3) and the gas pH value detector (4), and controls the spraying of the disinfectant in the disinfection unit (3) based on the environment pH value acquired by the gas pH value detector (4). The scheme is suitable for disinfection operation in various public places, and has good safety and high autonomy and flexibility.

Description

Autonomously operating disinfection robot and disinfection method thereof

Technical Field

The invention relates to the field of robots, in particular to an autonomously operating disinfection robot and a disinfection method thereof.

Background

At present, the disinfection operation is generally realized by a manual mode, the time is wasted, the disinfection effect is not good, and for the problem, some robots for disinfection appear in the market at present, and the robots carry out disinfection in many modes, including ultraviolet ray disinfection, ozone disinfection, sterilized water spraying, medical alcohol sterilization and the like. The disinfection robot also becomes a big tool for killing new coronavirus.

However, the existing disinfection robots also have some disadvantages, mainly including the following two aspects: the application places are limited, ultraviolet rays and ozone need specific equipment to be generated, and the application places are greatly limited and are not suitable for large-scale public places to sterilize; secondly, the robots have defects, ultraviolet rays are harmful to human bodies and cannot irradiate the human bodies, ozone has pungent smell, the human bodies are damaged or die due to too high concentration, disinfection water and alcohol do not directly damage the human bodies, and the two media can generate toxic gas after being mixed in the same place and cause harm when the two media are used at the same time. For example, 84 disinfectant mainly contains NaClO which has strong oxidizing property and strong alkalinity, ethanol which is weak alkalinity, and electrolytic balance of NaClO is affected after mixing, and Cl may be generated if alkalinity is too strong₂Toxic gases. In particular, the existing sterilization robot determines whether to perform sterilization only by detecting the concentration of the sterilization agent in the air, and it mainly uses the frequency and duration of the flash of light reflected from the particles in the air flow by the light scattering technique to measure the content of the particles to determine the concentration of the sterilization agent. In the non-laboratory detection environment, the concentration of Cl ions is detected to be in error, and on the other hand, the concentration of the Cl ions can be detected to be the ion concentration in 84 disinfectant NaClO or mixed C_l2The concentration of the ions after the detection results are difficult to accurately judge, so that the toxic gas is possibly enriched, and the risk of potential safety hazard exists. Therefore, a more effective disinfection and detection scheme is urgently needed to be provided for the existing disinfection and detection mode.

Disclosure of Invention

The invention aims to provide an autonomously operating disinfection robot and a disinfection method thereof, which aim to improve the safety of the disinfection robot in the disinfection operation process.

To achieve the above object, the present invention provides an autonomously operating sterilization robot, comprising: the device comprises a chassis, a shell, a disinfection unit, an operation control unit and at least one gas pH value detector, wherein the shell is arranged on the chassis;

the operation control unit is electrically connected with the chassis and is used for controlling the autonomous operation of the disinfection robot;

the disinfection unit is stored with a plurality of disinfectants and a diluent used for mixing with part of the disinfectants;

the operation control unit is respectively electrically connected with the disinfection unit and the gas pH value detector, and controls the spraying of the disinfectant in the disinfection unit based on the environment pH value obtained by the gas pH value detector.

According to one aspect of the invention, the sterilization unit comprises: the mixing box comprises a plurality of mutually independent reservoirs, a mixing box, a supporting frame for supporting the reservoirs and the mixing box, a spraying assembly and an additive assembly which is arranged in one-to-one correspondence with the reservoirs;

a liquid level sensor is arranged on the storage device and is electrically connected with the operation control unit;

part of the storage device is communicated with the mixing box, and a control valve is arranged at the communication position;

the control valve is electrically connected with the operation control unit.

According to one aspect of the invention, the plurality of reservoirs comprises: a first reservoir for storing medical alcohol, a second reservoir for storing a chlorine-containing disinfectant, a third reservoir for storing a diluent;

the second storage tank and the third storage tank are respectively communicated with the mixing box through the control valve;

the first storage device, the second storage device and the third storage device are provided with liquid inlets, and the agent adding assembly is connected with the liquid inlets;

the first storage device and the mixing box are respectively provided with a liquid outlet, the spraying assemblies are arranged in one-to-one correspondence with the liquid outlets, and the plurality of spraying assemblies are arranged on the shell and are far away from each other.

According to one aspect of the invention, the bottom of the mixing box is provided with an openable sewage draining exit, and the bottom is provided with a slope around the sewage draining exit;

the slope is at least 2%.

According to an aspect of the present invention, the operation control unit includes: the system comprises an image acquisition device, a GPS module and a control module;

the control module is respectively connected with the image acquisition device, the GPS module, the chassis, the liquid level sensor, the control valve, the injection assembly and the gas pH value detector.

According to one aspect of the invention, the support frame comprises: the first horizontal support, the first vertical support vertically connected with the first horizontal support, the second horizontal support arranged above the first horizontal support in parallel with the first horizontal support, the second vertical support vertically connected with the second horizontal support, and the third vertical support;

one end of the second horizontal support is vertically connected with the first vertical support, and the other end of the second horizontal support is vertically connected with one end of the third vertical support;

the other end of the third vertical support is vertically connected with the first horizontal support;

the second vertical support is spaced from the first vertical support;

the first horizontal support and the first vertical support enclose a first mounting location for mounting the first reservoir;

the second horizontal support, the first vertical support and the second vertical support enclose a second mounting location for mounting the second reservoir;

the second vertical support and the second horizontal support enclose a third mounting location for mounting the third reservoir;

the first horizontal support, the first vertical support, the second horizontal support and the third vertical support enclose a mixing box mounting location for mounting the mixing box.

In order to achieve the above object, the present invention provides a sterilization method based on an autonomously operating sterilization robot, comprising:

s1, adding different types of disinfectants and diluents for mixing with part of disinfectants into a plurality of storage containers of a disinfection unit respectively;

s2, setting a disinfection area of the disinfection robot, presetting a disinfection scheme and an autonomous disinfection scheme based on the operation control unit, and calibrating an initial state of the disinfection unit based on the operation control unit;

s3, the operation control unit controls the disinfection robot to autonomously operate to the disinfection area and disinfect the disinfection area according to the preset disinfection scheme or the autonomous disinfection scheme; when the disinfection robot disinfects the disinfection area according to the preset disinfection scheme, judging whether the preset disinfection scheme is executed or not based on the pH value detection result of the gas pH value detector, and if the preset disinfection scheme is executed, disinfecting the disinfection area according to the type and concentration of a disinfectant preset in the preset disinfection scheme;

and when the disinfection robot disinfects the disinfection area according to the autonomous disinfection scheme, autonomously switching the type and concentration of the disinfectant set in the autonomous disinfection scheme based on the pH value detection result of the gas pH value detector, and disinfecting the disinfection area based on the switched type and concentration of the disinfectant.

According to an aspect of the present invention, in the step of determining whether to perform the predetermined sterilization scheme based on a ph detection result of a gas ph detector when the sterilization robot sterilizes the sterilization area in the predetermined sterilization scheme in step S3, the operation control unit may autonomously shift to the autonomous sterilization scheme for the sterilization operation if the predetermined sterilization scheme is not performed.

According to an aspect of the present invention, in the step of sterilizing the sterilization area according to the predetermined sterilization scheme or the autonomous sterilization scheme in step S3, if a concentration of the disinfectant set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be configured, the operation control unit controls the disinfectant and the diluent stored in the storage to be proportionally mixed and diluted in a mixing tank.

According to an aspect of the present invention, in the step of sterilizing the sterilization area according to the predetermined sterilization scheme or the autonomous sterilization scheme in step S3, if the concentration of the disinfectant set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be changed, the operation control unit controls the mixing box to discharge the original disinfectant, and then controls the disinfectant and the diluent stored in the storage to be mixed and diluted in the mixing box according to a new ratio.

According to the scheme of the invention, the scheme is suitable for disinfection operation in various public places, and has good safety and high autonomy and flexibility.

According to the scheme of the invention, whether the working environment of the disinfection robot is alkaline or not is accurately judged, so that the disinfection operation process is more accurate and effective, detection errors caused by different chloride ions are effectively solved by a mode of detecting the pH value of the gas after the gas is dissolved in a medium, the environmental safety after the disinfection operation is effectively ensured, and the disinfection robot is simple in structure, convenient and timely.

According to one scheme of the invention, storage and spraying of different types of disinfectants (such as alcohol and chlorine-containing disinfectants) are realized in different areas, and the safety of the surrounding environment is ensured by the gas detector, so that the risk of gas or liquid crossing is avoided, the alcohol disinfection requirement can be met under the appropriate condition of the surrounding environment, and the aim of disinfecting public places by using the chlorine-containing disinfectants can be fulfilled.

According to the scheme, the disinfectant with the proportion needing to be changed can be flexibly prepared according to different disinfection levels of the environment, and the disinfection requirements of different occasions can be flexibly met.

According to one scheme of the invention, the liquid or gas which is not suitable for mixing is separated by arranging the separated liquid storage device, so that the generation of toxic gas due to chemical combination is avoided, and the safety and reliability of stock solution storage are effectively ensured.

According to the scheme of the invention, the concentration of the liquid or gas in the mixing box is effectively adjusted through the linkage matching of the detection device and the control device, and the use requirement is effectively met.

According to one scheme of the invention, the autonomous robot has the capability of identifying the environment, can autonomously select a disinfection mode according to the acid-base strength in the environment, and uses alcohol or a chlorine-containing disinfectant, so that the disinfection efficiency of the scheme is effectively improved.

Drawings

Fig. 1 is a perspective view schematically showing a sterilizing robot according to an embodiment of the present invention;

FIG. 2 is a view schematically showing the arrangement of a chassis and a sterilizing unit according to an embodiment of the present invention;

FIG. 3 is a block diagram schematically illustrating a housing according to an embodiment of the present invention;

FIG. 4 is a diagram schematically illustrating the arrangement of a storage and a mixing box according to an embodiment of the present invention;

FIG. 5 is a diagram schematically illustrating a connection structure of a memory and a control unit according to an embodiment of the present invention;

FIG. 6 is a block diagram schematically illustrating a mixing box according to an embodiment of the present invention;

fig. 7 is a view schematically showing a coupling structure of a support frame and a chassis according to an embodiment of the present invention.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is based on the orientation or positional relationship shown in the associated drawings, which is for convenience and simplicity of description only, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above-described terms should not be construed as limiting the present invention.

The present invention is described in detail below with reference to the drawings and the specific embodiments, which are not repeated herein, but the embodiments of the present invention are not limited to the following embodiments.

Referring to fig. 1, 2 and 3, according to an embodiment of the present invention, an autonomously operating sterilization robot includes: the device comprises a chassis 1, a shell 2 arranged on the chassis 1, a disinfection unit 3, an operation control unit B and at least one gas pH value detector 4. In the present embodiment, the sterilization robot of the present invention is a self-propelled robot, and the chassis 1 thereof is a carrier of the entire robot, wherein the housing 2, the sterilization unit 3, the operation control unit B, the gas ph detector 4, and other components are all carried on the chassis 1.

In the present embodiment, the operation control unit B is electrically connected to the chassis 1 for controlling the autonomous operation of the sterilizing robot;

in the present embodiment, the sterilizing unit 3 stores therein a plurality of kinds of sterilizing agents, and a diluent for mixing with a part of the sterilizing agents; in this embodiment, disinfection unit 3 directly bears on chassis 1 to cover it through casing 2, and then realize the setting of disinfection unit in the robot is inside, reasonable utilization the inside vacant space of robot, it is useful to the small size that realizes disinfection robot. .

In the present embodiment, the operation control unit B is electrically connected to the sterilization unit 3 and the gas ph detector 4, respectively, and the operation control unit B controls the spraying of the sterilization agent in the sterilization unit 3 based on the environmental ph obtained by the gas ph detector 4. In the present embodiment, the operation control unit B serves as a control center of the sterilization robot of the present invention, and realizes automatic control of a sterilization path, a target area (i.e., a sterilization area), a sterilization work mode, and the like of the robot. Of course, in the preparation stage before the operation of the disinfection robot of the present invention, the operation control unit B may be set in a manual setting manner to perform its autonomous operation.

Referring to fig. 1, 2 and 3, according to an embodiment of the present invention, the chassis 1 is a wheeled chassis with a truss structure, and includes a load-bearing platform 11 and a driving wheel set 12. In this embodiment, the carrying platform 11 is provided with a carrying portion for supporting the housing 2 and the sterilizing unit 3, for detachably mounting the housing 2 and the sterilizing unit 3. In this embodiment, the bearing platform 11 may be a truss structure made of channel steel, i-steel, alloy frame, or the like.

As shown in fig. 2, 4 and 5, according to one embodiment of the present invention, the sterilizing unit 3 includes: a plurality of reservoirs 31, a mixing box 32, a support frame 33 for supporting the reservoirs 31 and the mixing box 32, a spray assembly 34, and an additive assembly 35 provided in one-to-one correspondence with the reservoirs 31. In this embodiment, the support frame 33 is mounted on the carrying portion of the carrying platform 11 by means of a connecting member (e.g., a screw connection), and the plurality of reservoirs 31 and the mixing boxes 32 are independently mounted on the corresponding portions of the support frame 33. Whereas the spraying assembly 34 and dosing assembly 35 need to be located outside the disinfection robot for the addition and spraying of material to be carried out in order to fulfil normal working requirements. In the present embodiment, the injection assembly 34 and the dosing assembly 35 are both mounted on the outside of the housing 2, which are connected to the respective reservoir 31 or mixing box 32 by means of a line.

According to the invention, through a plurality of independent and separately arranged storage devices, the disinfectants of different types are effectively separated, the mixing or pollution among the disinfectants is avoided, and the use safety of the disinfection process is further ensured.

In this embodiment, the storage 31 and the mixing box 32 may be made of epoxy resin or hard plastic, which has light weight, high strength and corrosion resistance, and is beneficial to long-term stable installation in the disinfection robot, and the storage 31 and the mixing box 32 made of the above materials have insulation properties, thereby effectively ensuring the safety between the disinfection unit and the chassis.

In the present embodiment, the reservoir 31 is provided with a liquid level sensor 36, and the liquid level sensor 36 is electrically connected to the operation control unit B.

Through setting up the liquid level height that liquid level sensor can be effectual in the detection accumulator to realize the collection of robot to inside disinfection unit state, can remind the user to add the liquid under the lower condition of liquid level. Meanwhile, aiming at the disinfectant needing to be diluted, the control on the configuration proportion of the disinfectant can be effectively ensured through the liquid level sensor, the automatic dilution of the disinfectant is realized, the efficiency is high, and the configuration concentration is accurate.

In the present embodiment, a part of the reservoir 31 communicates with the mixing box 32, and a control valve 37 is provided at the communication position; the control valve 37 is electrically connected to the operation control unit B.

The mixing box is used for mixing the disinfectant required by dilution, so that the disinfectant stock solution is effectively separated from the diluted disinfectant, and the accurate control and the safe operation of the preparation process are ensured. In addition, automation of the disinfectant configuration process can be achieved by arranging the control valve 37 at the communication position and the liquid level detection unit of the storage, and safety risks caused by manual participation at a speed per hour are effectively eliminated.

Referring to fig. 1, 2 and 3, according to one embodiment of the present invention, the plurality of reservoirs 31 includes: a first reservoir 311 for storing medical alcohol, a second reservoir 312 for storing a chlorine-containing disinfectant, and a third reservoir 313 for storing a diluent. In the present embodiment, the second reservoir 312 and the third reservoir 313 communicate with the mixing box 32 through the control valves 37, respectively.

In the present embodiment, the first reservoir 311, the second reservoir 312, and the third reservoir 313 are provided with a liquid inlet 31a, and the additive adding assembly 35 is connected to the liquid inlet 31 a.

In this embodiment, the first storage 311 and the mixing box 32 are respectively provided with the liquid outlets 31b, the spraying assemblies 34 are arranged corresponding to the liquid outlets 31b one by one, and the plurality of spraying assemblies 34 are arranged on the housing 2 away from each other. In the present embodiment, the spray assembly 34 connected to the first reservoir 311 may be provided at one side of the front end of the housing 2, and the spray assembly 34 connected to the mixing box 32 may be provided at one side of the rear end of the housing 2.

In the present embodiment, the injection assembly 34 includes: a pressurizing means (e.g., a pressurizing pump) disposed in the liquid outlet 31b or the reservoir 31, a control valve, a connecting hose, and a spray head. In this embodiment, the connection hoses are connected to the pressurizing device and the head, respectively, and the control valve may be provided at a position where the pressurizing device is connected to the connection hose or a position where the head is connected to the connection hose.

It should be noted that the reservoir 31 may be further added as required to store other types of disinfectants, and control of communication with the mixing box 32 may be required by providing a control valve 37 if the stored disinfectants need to be diluted.

As shown in fig. 6, according to one embodiment of the present invention, the mixing box 32 is provided at the bottom thereof with an openable and closable drain 321, and the bottom has a slope around the drain 321. In this embodiment, the bottom of the mixing box 32 may be set to be pyramid-shaped, and the drain outlet 321 may be set at the lowest position of the bottom of the mixing box 32 to smoothly discharge liquid. Of course, the bottom of the mixing box 32 may also be provided in the form of a combination of conical, pyramidal and conical shapes.

In this embodiment, the slope of the bottom is at least 2%. In this embodiment, the slope of the bottom may be uniform or variable from a high position to a low position, and may be set according to the size of the drain 321, the speed of liquid discharge, and the like.

Through the arrangement, the inclined surface with the gradient is arranged at the bottom of the mixing box 32, so that the removal of the redundant disinfectant is more favorable and quicker, and the working efficiency of the invention is favorably improved.

As shown in fig. 1, 3 and 5, according to an embodiment of the present invention, the operation control unit B includes: the system comprises an image acquisition device B1, a GPS module B2 and a control module. In the embodiment, the control module is respectively connected with the image acquisition device B1, the GPS module B2, the chassis 1, the liquid level sensor 36, the control valve 37, the injection assembly 34 and the gas pH value detector 4. In the present embodiment, the operation control unit B may be mounted on the chassis, or mounted on the housing, or disposed on the chassis and the housing in a distributed manner, respectively.

As shown in fig. 2 and 7, according to an embodiment of the present invention, the supporting frame 33 includes: a first horizontal support 331, a first vertical support 332 perpendicularly connected to the first horizontal support 331, a second horizontal support 333 disposed above the first horizontal support 331 in parallel with the first horizontal support 331, a second vertical support 334 perpendicularly connected to the second horizontal support 333, and a third vertical support 335. In the present embodiment, one end of the second horizontal support 333 is vertically connected to the first vertical support 332, and the other end is vertically connected to one end of the third vertical support 335. The other end of the third vertical support 335 is vertically connected to the first horizontal support 331. The second vertical supports 334 are spaced from the first vertical supports 332.

In the present embodiment, the first horizontal support 331 and the first vertical support 332 enclose a first installation position 311a for installing the first storage 311, i.e., an L-shaped structure enclosed by a portion of the first horizontal support 331 and one side of the first vertical support 332. In the present embodiment, the first mounting position 311a is provided with a fixed connector a at a different position for mounting the first reservoir 311. In this embodiment, the fixed connecting part a may adopt a connecting piece, a sliding rail, a buckle, etc. to realize a fast and stable installation with the storage.

In the present embodiment, the second horizontal support 333, the first vertical support 332, and the second vertical support 334 enclose a "concave" type structure surrounded by the second mounting position 312a for mounting the second storage 312, i.e., a portion of the second horizontal support 333, the other side of the first vertical support 332, and one side of the second vertical support 334. In the present embodiment, the second mounting position 312a is provided with a fixed connector a at a different position for mounting the second reservoir 312. In the present embodiment, the fixed links a are respectively provided on the first and second

vertical supports

332 and 334, and are oppositely provided. In this embodiment, the fixed connecting part a may adopt a connecting piece, a sliding rail, a buckle, etc. to realize a fast and stable installation with the storage.

In the present embodiment, the second vertical support 334 and the second horizontal support 333 enclose a third installation position 313a for installing the third storage 313, that is, the other side of the second vertical support 334 and a portion of the second horizontal support 333 enclose an L-shaped structure. In the present embodiment, fixed links a for mounting the third reservoir 313 are provided at different positions of the third mounting position 313a, respectively.

In this embodiment, the fixed connecting part a may adopt a connecting piece, a sliding rail, a buckle, etc. to realize a fast and stable installation with the storage.

In this embodiment, the first horizontal support 331, the first vertical support 332, the second horizontal support 333 and the third vertical support 335 enclose a mixing box mounting location 32a for mounting the mixing box 32.

In the present embodiment, the mutual connection of the first horizontal support 331, the first vertical support 332, the second horizontal support 333 and the third vertical support 335 defines a mounting position corresponding to the shape of the mixing box, which not only facilitates the stable mounting of the mixing box, but also contributes to the enhancement of the structural strength of the entire support frame 33.

As shown in fig. 1, according to one embodiment of the present invention, a gas ph detector 4 is mounted on the housing 2 to facilitate its ph test on the surrounding environment.

According to another embodiment of the present invention, a displacement device (e.g., a lift table or a robot arm) may be selectively installed at a position where the gas ph detector 4 is installed. Install gaseous pH valve detector 4 on displacement device and then can drive gaseous pH valve detector 4 and measure respectively on the different positions to the pH valve of further accurate acquisition surrounding environment realizes disinfection robot's accurate operation.

In the present embodiment, the gas ph detector 4 can be selectively disposed around the housing 2 (e.g., upper side, left and right sides, front and rear sides) to achieve more accurate and flexible measurement of the surrounding environment by the sterilization robot.

According to an embodiment of the present invention, the disinfection method based on the autonomously operating disinfection robot is realized based on the disinfection robot, and comprises the following steps:

s1. different types of sterilizing agent, and a diluent for mixing with part of the sterilizing agent, are added to the plurality of reservoirs 31 of the sterilizing unit 3, respectively. In the present embodiment, for example, medical alcohol and a chlorine-containing disinfectant (sodium hypochlorite), medical alcohol is added to the first reservoir 311 through the additive package 35 of the first reservoir 311, a chlorine-containing disinfectant is added to the second reservoir 312 through the additive package 35 of the second reservoir 312, and a diluent (for example, water) is added to the third reservoir 313 through the additive package 35 of the third reservoir 313. It should be noted that the control valve 37 is maintained in a closed state while material is being added.

S2, setting a disinfection area of the disinfection robot, presetting a disinfection scheme and an autonomous disinfection scheme based on the operation control unit B, and calibrating an initial state of the disinfection unit 3 based on the operation control unit B. In the present embodiment, in the step of setting the sterilization area, the predetermined sterilization scheme, and the autonomous sterilization scheme of the sterilization robot based on the operation control unit B, the predetermined sterilization method includes: the type of sterilant and the concentration of sterilant corresponding to the sterilization zone. In an autonomous disinfection protocol comprising: the type and concentration of disinfectant used in different environments.

In the step of calibrating the initial state of the disinfection unit 3 based on the operation control unit B, the liquid level sensor 36 detects the liquid position in the storage 31 to calibrate the initial state of the disinfection unit 3, so that the operation control unit B can be used for subsequent configuration of disinfectants, reminding of fluid replacement and the like.

S3, the operation control unit B controls the disinfection robot to autonomously operate to a disinfection area and disinfects the disinfection area according to a preset disinfection scheme or an autonomous disinfection scheme; when the disinfection robot disinfects the disinfection area according to a preset disinfection scheme, judging whether to execute the preset disinfection scheme or not based on the pH value detection result of the gas pH value detector 4, and if so, disinfecting the disinfection area according to the type and concentration of a disinfectant preset in the preset disinfection scheme;

when the sterilization robot sterilizes the sterilization area in the autonomous sterilization scheme, the type and concentration of the disinfectant set in the autonomous sterilization scheme are autonomously switched based on the ph detection result of the gas ph detector 4, and the sterilization area is sterilized based on the switched type and concentration of the disinfectant.

According to an embodiment of the present invention, in step S3, in the step of controlling the disinfection robot to autonomously travel to the disinfection area by the operation control unit B, the disinfection robot autonomously plans a path to travel to the disinfection area based on the GPS module B2, and autonomously identifies and autonomously avoids obstacles on the path by the image acquisition device B1, so as to accurately and safely travel to the target area.

According to an embodiment of the present invention, the sterilization robot may perform a predetermined sterilization protocol manually through direct setting or remote control. In this embodiment, when the disinfection robot disinfects the disinfection area according to the predetermined disinfection scheme, it is determined whether to execute the predetermined disinfection scheme based on the ph detection result of the gas ph detector 4, for example, it is set to execute medical alcohol disinfection on the current area in the predetermined disinfection scheme, so that the disinfection robot firstly detects the ph of the environment in the current area through the gas ph detector 4, and if the ph detection structure of the surrounding environment shows moderate ph, the disinfection robot executes the alcohol disinfection mode according to the predetermined disinfection scheme. If the surrounding environment is too alkaline or acidic, the robot refuses to execute the predetermined disinfection protocol.

According to another embodiment of the present invention, in step S3, when the disinfection robot disinfects the disinfection area according to the predetermined disinfection scheme, in the step of determining whether to execute the predetermined disinfection scheme based on the ph detection result of the gas ph detector 4, if the surrounding environment is too alkaline or too acidic and the predetermined disinfection scheme is not executed, the operation control unit B may autonomously switch to the autonomous disinfection scheme to autonomously select the type and concentration of the disinfectant matching the current environment for the disinfection operation.

According to an embodiment of the present invention, the sterilization robot may perform an autonomous sterilization protocol manually through direct setup or remote control. In this embodiment, when the disinfection robot disinfects the disinfection area in an autonomous disinfection scheme, the corresponding disinfectant type and concentration are selected based on the ph detection result of the gas ph detector 4 to perform disinfection operation, for example, when the ph detection structure of the surrounding environment shows that the ph is moderate, medical alcohol or diluted chlorine-containing disinfectant is autonomously selected to perform disinfection operation in the current area; when the pH value detection structure of the surrounding environment shows that the alkalinity or the acidity is too high, the robot selects the disinfectant containing chlorine to carry out disinfection operation, and can correspondingly configure the concentration of the disinfectant according to the alkalinity or the acidity value so as to adapt to the disinfection requirement of the current environment. Certainly, in the process of executing the autonomous disinfection scheme, if the alkalinity-acidity detection structure of the surrounding environment shows that the alkalinity or the acidity is too high, but the disinfection area cannot be disinfected by using the chlorine-containing disinfectant, the disinfection operation of other areas can be performed first, then the area is returned to perform the alkalinity-acidity test again, and if the requirement of alcohol disinfection is met, the alcohol disinfection operation is executed.

In the step of sterilizing the sterilization area according to the predetermined sterilization scheme or the autonomous sterilization scheme in step S3, if the concentration of the disinfectant set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be configured, the operation control unit B controls the disinfectant and the diluent stored in the storage 31 to be proportionally mixed and diluted in the mixing box 32. In this embodiment, the control unit calculates the ratio of disinfectant to diluent required based on the sensed data from the level sensors in the respective reservoirs, and then controls the control valve 37 to open until the respective liquid level drops to the respective position and closes the control valve 37, thus achieving accurate dilution of the disinfectant. In this embodiment, after the disinfectant is dispensed, the control unit updates the initial state of the disinfecting unit 3 again with the current liquid level so that the subsequent dispensing of the disinfectant is performed in accordance with the new state.

In step S3, in the step of disinfecting the disinfection area according to the predetermined disinfection scheme or the autonomous disinfection scheme, if the concentration of the disinfectant set in the predetermined disinfection scheme or the autonomous disinfection scheme needs to be changed, the operation control unit B controls the mixing box 32 to discharge the original disinfectant, and then controls the disinfectant and the diluent stored in the storage 31 to be mixed and diluted in the mixing box 32 according to the new ratio. In this embodiment, after the original disinfecting liquid in the mixing box 32 is discharged, the diluent is required to be added into the mixing box again for cleaning so as to ensure that the concentration of the reconfigured disinfecting liquid is accurate.

According to an embodiment of the present invention, in step S3, during the detection of the ambient environment by the gas ph detector 4, the disinfection robot moves within a certain area, the gas ph detector 4 arranged in the vertical direction can continuously measure the gas at the same height and draw a ph curve of the gas at the same height, and the ph level in the height area is obtained based on the ph curve. In this embodiment, when the gas ph detector 4 disposed in the vertical direction is mounted on the displacement device, the displacement device changes the position of the gas ph detector 4, and the above steps are repeatedly executed to draw ph curves in environments with different heights, so as to obtain the ph level in the height direction of the region in a three-dimensional manner. Correspondingly, if the gas pH value detector 4 is also arranged on the side surface of the disinfection robot, the pH value level in the transverse space can be further tested. Based on the disinfection operation of the disinfection area, which is further and accurately detected on the acid-base level in a certain area, the potential safety hazard caused by disinfectant residue before the existence of part of the area is greatly eliminated.

According to an embodiment of the present invention, in step S3, during the process of detecting the surrounding environment based on the gas ph detector 4, the surrounding environment may be visually imaged by operating the image capturing device B1 in the control unit B, and whether the current area is an open space is determined by the visual imaging result, and the people stream data of the current area is calculated, and the sterilization operation is performed based on the determination result.

According to an embodiment of the present invention, in step S3, if the ph detection structure of the surrounding environment indicates too high alkalinity or acidity during execution of the autonomous disinfection scheme, but the disinfection area cannot be disinfected by the chlorine-containing disinfectant, the autonomous disinfection scheme may be executed by returning to the area after disinfection of other areas to perform the ph test again, and if the requirement of alcohol disinfection is met, the autonomous disinfection scheme may be executed. In the process, in the process of detecting the surrounding environment based on the gas ph detector 4, whether the current area is an open space is judged through the image acquisition device B1, the time for returning to the area for sterilization is calculated according to the judgment result of the degree of opening of the space and the ph of the current environment, and the sterilization robot returns to the area for sterilization based on the calculated time.

According to an embodiment of the present invention, in step S3, during the process of detecting the surrounding environment based on the gas ph detector 4, the surrounding environment may be visually imaged by the image capturing device B1 in the operation control unit B, the disinfection area is image-identified by the visual imaging result, the area requiring the important disinfection is identified, the environmental ph of the important area is re-measured during the detection process of the disinfection robot, and if the measurement result meets the disinfection operation requirements of the corresponding disinfectant type and disinfectant concentration in the predetermined disinfection scheme or the autonomous disinfection scheme, the disinfection robot may increase the dwell time or increase the spraying amount of the disinfectant when passing through the important area.

The foregoing is merely exemplary of particular aspects of the present invention and devices and structures not specifically described herein are understood to be those of ordinary skill in the art and are intended to be implemented in such conventional ways.

The above description is only one embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An autonomously operating disinfection robot, comprising: the device comprises a chassis (1), a shell (2) arranged on the chassis (1), a disinfection unit (3), an operation control unit and at least one gas pH value detector (4);

the operation control unit is electrically connected with the chassis (1) and is used for controlling the autonomous operation of the disinfection robot;

the disinfection unit (3) is stored with a plurality of disinfectants and a diluent used for mixing with part of the disinfectants;

the operation control unit is respectively electrically connected with the disinfection unit (3) and the gas pH value detector (4), and controls the spraying of the disinfectant in the disinfection unit (3) based on the environment pH value acquired by the gas pH value detector (4).

2. A sterilising robot according to claim 1, characterized in that said sterilisation unit (3) comprises: -a plurality of mutually independent reservoirs (31), -a mixing box (32), -a support frame (33) for supporting said reservoirs (31) and said mixing box (32), -spray assemblies (34), -additive assemblies (35) arranged in one-to-one correspondence with said reservoirs (31);

a liquid level sensor (36) is arranged on the storage tank (31), and the liquid level sensor (36) is electrically connected with the operation control unit;

part of the reservoir (31) is communicated with the mixing box (32), and a control valve (37) is arranged at the communication position;

the control valve (37) is electrically connected to the operation control unit.

3. A sterilising robot according to claim 2, characterized in that said plurality of reservoirs (31) comprises: a first reservoir (311) for storing medical alcohol, a second reservoir (312) for storing a chlorine-containing disinfectant, a third reservoir (313) for storing a diluent;

the second reservoir (312) and the third reservoir (313) are respectively communicated with the mixing box (32) through the control valve (37);

the first storage tank (311), the second storage tank (312) and the third storage tank (313) are respectively provided with a liquid inlet (31a), and the dosing assembly (35) is connected with the liquid inlet (31 a);

the first storage device (311) and the mixing box (32) are respectively provided with a liquid outlet (31b), the spraying assemblies (34) and the liquid outlets (31b) are arranged in a one-to-one correspondence mode, and the plurality of spraying assemblies (34) are arranged on the shell (2) in a mutually-far mode.

4. A disinfection robot as claimed in claim 3, characterised in that the bottom of said mixing box (32) is provided with an openable and closable waste outlet (321), and that said bottom is sloped around said waste outlet (321);

the slope is at least 2%.

5. A disinfecting robot as recited in claim 4, characterized in that the operation control unit comprises: the system comprises an image acquisition device, a GPS module and a control module;

the control module is respectively connected with the image acquisition device, the GPS module, the chassis (1), the liquid level sensor (36), the control valve (37), the injection assembly (34) and the gas pH value detector (4).

6. A sterilising robot according to any of claims 3 to 5, wherein said supporting frame (33) comprises: a first horizontal support (331), a first vertical support (332) vertically connected with the first horizontal support (331), a second horizontal support (333) parallel with the first horizontal support (331) and arranged above the first horizontal support (331), a second vertical support (334) vertically connected with the second horizontal support (333), and a third vertical support (335);

one end of the second horizontal support (333) is vertically connected with the first vertical support (332), and the other end is vertically connected with one end of the third vertical support (335);

the other end of the third vertical support (335) is vertically connected with the first horizontal support (331);

the second vertical support (334) is disposed in spaced relation to the first vertical support (332);

the first horizontal support (331) and the first vertical support (332) enclose a first mounting location (311a) for mounting the first reservoir (311);

the second horizontal support (333), the first vertical support (332), and the second vertical support (334) enclose a second mounting location (312a) for mounting the second reservoir (312);

the second vertical support (334) and the second horizontal support (333) enclose a third mounting location (313a) for mounting the third reservoir (313);

the first horizontal support (331), the first vertical support (332), the second horizontal support (333) and the third vertical support (335) enclose a mixing box mounting location (32a) for mounting the mixing box (32).

7. A sterilization method based on an autonomously operating sterilization robot, comprising:

s1, adding different types of disinfectants and diluents for mixing with part of the disinfectants into a plurality of storage tanks (31) of a disinfection unit (3) respectively;

s2, setting a disinfection area, a preset disinfection scheme and an autonomous disinfection scheme of the disinfection robot based on the operation control unit, and calibrating an initial state of the disinfection unit (3) based on the operation control unit;

s3, the operation control unit controls the disinfection robot to autonomously operate to the disinfection area and disinfect the disinfection area according to the preset disinfection scheme or the autonomous disinfection scheme; when the disinfection robot disinfects the disinfection area according to the preset disinfection scheme, judging whether the preset disinfection scheme is executed or not based on the pH value detection result of the gas pH value detector (4), and if the preset disinfection scheme is executed, disinfecting the disinfection area according to the type and concentration of a disinfectant preset in the preset disinfection scheme;

and when the disinfection robot disinfects the disinfection area according to the automatic disinfection scheme, automatically switching the type and concentration of the disinfectant set in the automatic disinfection scheme based on the pH value detection result of the gas pH value detector (4), and disinfecting the disinfection area based on the switched type and concentration of the disinfectant.

8. The sterilization method according to claim 7, wherein in step S3, in the step of determining whether to execute the predetermined sterilization scheme based on the ph value detection result of the gas ph value detector (4) when the sterilization robot sterilizes the sterilization area in the predetermined sterilization scheme, the operation control unit may autonomously shift to the autonomous sterilization scheme for sterilization operation if the predetermined sterilization scheme is not executed.

9. A sterilization method according to claim 8, wherein in the step of sterilizing said sterilization area according to said predetermined sterilization protocol or said autonomous sterilization protocol in step S3, if the concentration of the sterilizing agent set in said predetermined sterilization protocol or said autonomous sterilization protocol needs to be configured, said operation control unit controls said sterilizing agent and said diluent stored in said storage (31) to be proportionally mixed and diluted in a mixing box (32).

10. A sterilization method according to claim 9, wherein in the step of sterilizing said sterilization area according to said predetermined sterilization protocol or said autonomous sterilization protocol in step S3, if the concentration of the sterilizing agent set in said predetermined sterilization protocol or said autonomous sterilization protocol needs to be changed, said operation control unit controls said mixing box (32) to discharge the original sterilizing agent, and then controls said sterilizing agent and said diluent stored in said storage container (31) to be mixed and diluted in a new ratio in said mixing box (32).