CN113797373B - Autonomous operation disinfection robot and disinfection method thereof - Google Patents

Autonomous operation disinfection robot and disinfection method thereof Download PDF

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CN113797373B
CN113797373B CN202111157955.4A CN202111157955A CN113797373B CN 113797373 B CN113797373 B CN 113797373B CN 202111157955 A CN202111157955 A CN 202111157955A CN 113797373 B CN113797373 B CN 113797373B
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disinfection
scheme
sterilization
robot
control unit
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CN113797373A (en
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李金波
戴米沙
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/24—Apparatus using programmed or automatic operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
    • A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
    • A61L2/26—Accessories or devices or components used for biocidal treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2101/00—Chemical composition of materials used in disinfecting, sterilising or deodorising
    • A61L2101/02—Inorganic materials
    • A61L2101/06—Inorganic materials containing halogen
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2101/00—Chemical composition of materials used in disinfecting, sterilising or deodorising
    • A61L2101/32—Organic compounds
    • A61L2101/34—Hydroxy compounds
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/15—Biocide distribution means, e.g. nozzles, pumps, manifolds, fans, baffles, sprayers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)

Abstract

The invention relates to a disinfection robot running independently 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) stores a plurality of disinfectants and a diluent for mixing with part of the disinfectants; the operation control unit is respectively and electrically connected with the disinfection unit (3) and the gas pH value detector (4), and the operation control unit controls the spraying of the disinfectant in the disinfection unit (3) based on the environmental 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, high autonomy and flexibility.

Description

Autonomous operation disinfection robot and disinfection method thereof
Technical Field
The invention relates to the field of robots, in particular to an autonomous disinfection robot and a disinfection method thereof.
Background
At present, the disinfection operation is generally realized by adopting a manual mode, which is time-consuming and has poor disinfection effect, and aiming at the problem, some robots for disinfection are also appeared on the market, and the modes of the robots for disinfection are many, including ultraviolet disinfection, ozone disinfection, spraying disinfection water, medical alcohol disinfection and the like.
However, these existing disinfection robots have some disadvantages, mainly including the following two aspects: 1. the ultraviolet light and ozone are limited in applicable places, special equipment is needed for generating the ultraviolet light and the ozone, the application places of the ultraviolet light and the ozone are limited greatly, and the ultraviolet light and the ozone are not applicable to disinfection in large-scale public places; 2. the robots have defects, ultraviolet rays are harmful to human bodies and cannot irradiate the human bodies, ozone has pungent smell, the concentration is too high to cause damage or death of the human bodies, sterilizing water and alcohol do not directly damage the human bodies, but two mediums are in the same place, and when the two mediums are used simultaneously, toxic gas is generated after mixing, so that the damage is caused. For example, 84 disinfectant has NaClO as main effective component, strong oxidizing property and strong alkalinity, alcohol as ethanol, and weak baseThe electrolytic balance of NaClO is affected after mixing, and Cl can be generated if the alkalinity is too high 2 Toxic gases. In particular, the existing disinfection and sterilization robot only detects the concentration of the disinfectant in the air to judge whether to perform disinfection, and mainly uses the light scattering technology to measure the content of particles by measuring the frequency and the following duration of the flash light reflected by the particles in the air flow to judge the concentration of the disinfectant. In a non-laboratory detection environment, the concentration of Cl ions is detected with errors on one hand, and the concentration of ions in 84 disinfectant NaClO or mixed C is detected on the other hand l2 The concentration of the ions after the process results in difficult accurate judgment of detection results, so that the condition of toxic gas enrichment is most likely to be caused, and the risk of potential safety hazards exists. Therefore, there is a need to provide a more effective disinfection and detection scheme for the existing disinfection and detection methods.
Disclosure of Invention
The invention aims to provide a disinfection robot running autonomously and a disinfection method thereof, which can 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 arranged on the chassis, a disinfection unit, an operation control unit and at least one gas pH value detector;
the operation control unit is electrically connected with the chassis and is used for controlling the autonomous operation of the disinfection robot;
the sterilizing unit stores a plurality of sterilizing agents and a diluent for mixing with a part of the sterilizing agents;
the operation control unit is respectively and 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 environmental pH value acquired by the gas pH value detector.
According to one aspect of the invention, the disinfection unit comprises: the device comprises a plurality of mutually independent storages, a mixing box, a supporting frame for supporting the storages and the mixing box, a spraying assembly and dosing assemblies, wherein the dosing assemblies are arranged in one-to-one correspondence with the storages;
the liquid level sensor is arranged on the storage and is electrically connected with the operation control unit;
part of the storage 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, a plurality of said reservoirs comprises: a first reservoir for storing medical alcohol, a second reservoir for storing chlorine-containing disinfectant, a third reservoir for storing diluent;
the second storage and the third storage are respectively communicated with the mixing box through the control valve;
the first storage, the second storage and the third storage are respectively provided with a liquid inlet, and the dosing assembly is connected with the liquid inlet;
the first storage and the mixing box are respectively provided with a liquid outlet, the spraying components are arranged in one-to-one correspondence with the liquid outlets, and a plurality of spraying components are arranged on the shell far away from each other.
According to one aspect of the invention, the bottom of the mixing box is provided with an openable drain outlet, and the bottom is provided with a slope around the drain outlet;
the gradient 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: a first horizontal support, a first vertical support vertically connected to the first horizontal support, a second horizontal support arranged above the first horizontal support in parallel to the first horizontal support, a second vertical support vertically connected to the second horizontal support, and a 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 disposed in spaced relation to 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 tank mounting location for mounting the mixing tank.
To achieve the above object, the present invention provides a sterilization method based on an autonomously operating sterilization robot, comprising:
s1, respectively adding different types of disinfectants and diluents for mixing with part of the disinfectants into a plurality of reservoirs of a disinfection unit;
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 the 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 disinfects 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 so, disinfecting the disinfection area according to the preset disinfectant type and disinfectant concentration in the preset disinfection scheme;
when the disinfection robot disinfects the disinfection area by the independent disinfection scheme, automatically switching the type and the concentration of the disinfectant set in the independent disinfection scheme based on the pH value detection result of the gas pH value detector, and disinfecting the disinfection area based on the type and the concentration of the disinfectant after switching.
According to one aspect of the present invention, in step S3, when the sterilization robot performs sterilization on the sterilization area according to the predetermined sterilization scheme, the operation control unit may autonomously switch to the autonomous sterilization scheme to perform the sterilization operation if the predetermined sterilization scheme is not performed in the step of determining whether to perform the predetermined sterilization scheme based on the ph detection result of the gas ph detector.
According to an aspect of the present invention, in the step S3 of sterilizing the sterilization area according to the predetermined sterilization scheme or the autonomous sterilization scheme, if the concentration of the sterilizing agent set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be configured, the operation control unit controls the sterilizing agent and the diluent stored in the reservoir to be mixed and diluted in a mixing tank in proportion.
According to one aspect of the present invention, in the step S3, in the step of sterilizing the sterilization area according to the predetermined sterilization scheme or the autonomous sterilization scheme, if the concentration of the sterilizing agent set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be changed, the operation control unit controls the mixing tank to discharge the original sterilizing agent, and then re-controls the mixing and dilution of the sterilizing agent and the diluent stored in the storage according to a new ratio in the mixing tank.
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, the working environment of the disinfection robot is accurately judged whether to be alkaline, so that the disinfection operation process is more accurate and effective, and the detection errors caused by different chloride ions are effectively solved by detecting the pH value of the gas after the gas is dissolved in a medium, so that the environment safety after the disinfection operation is effectively ensured, and the disinfection device is simple in structure, convenient and timely.
According to one scheme of the invention, the storage and the spraying of different types of disinfectants (such as alcohol and chlorine-containing disinfectants) are realized in a partitioned manner, and the safety of the surrounding environment is ensured through the gas detector, so that the risk of mutual intersection of gas or liquid does not exist, the alcohol disinfection requirement can be met under the proper condition of the surrounding environment, and the aim of using the chlorine-containing disinfectants to disinfect public places can be also achieved.
According to the scheme provided by the invention, the disinfectant with the proportion required to be changed can be flexibly allocated according to different environmental disinfection levels, so that the disinfection requirements of different occasions can be flexibly met.
According to the scheme, the liquid or gas which is not suitable for mixed use is separated by arranging the separated liquid storage device, so that toxic gas generated by 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 liquid or gas in the mixing box is effectively regulated through the linkage cooperation of the detection device and the control device, so that the use requirement is effectively met.
According to the scheme, the autonomous robot has the capability of identifying the environment, and can autonomously select a sterilization mode according to the strength of acid and alkali in the environment, and the sterilization efficiency of the scheme is effectively improved by using alcohol or using chlorine-containing disinfectants.
Drawings
Fig. 1 is a perspective view schematically showing a sterilization robot according to an embodiment of the present invention;
FIG. 2 is a block diagram 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 one embodiment of the present invention;
FIG. 4 is a block diagram schematically illustrating the arrangement of a reservoir and a mixing tank according to one embodiment of the invention;
FIG. 5 is a block diagram schematically illustrating the connection of a reservoir to a control unit according to one embodiment of the present invention;
FIG. 6 is a block diagram schematically illustrating a mixing tank according to one embodiment of the invention;
fig. 7 is a structural diagram schematically showing connection of a supporting frame to 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 that are required to be used in the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
In describing embodiments of the present invention, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer" and the like are used in terms of orientation or positional relationship based on that shown in the drawings, which are merely for convenience of description and to simplify the description, rather than to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus the above terms should not be construed as limiting the present invention.
The present invention will be described in detail below with reference to the drawings and the specific embodiments, which are not described in detail 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 of the present invention includes: chassis 1, housing 2 mounted on chassis 1, sterilizing unit 3, operation control unit B, at least one gas ph detector 4. In this embodiment, the sterilization robot of the present invention is a self-propelled robot, and the chassis 1 is a carrier of the whole robot, wherein the components such as the housing 2, the sterilization unit 3, the operation control unit B, the gas ph detector 4, and the like 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 sterilization robot;
in the present embodiment, the sterilizing unit 3 stores therein a plurality of types 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 inside of robot, rationally utilized the inside vacant space of robot, it is useful to realize disinfection robot's small size. .
In this embodiment, the operation control unit B is electrically connected to the sterilizing unit 3 and the gas ph detector 4, respectively, and controls the spraying of the sterilizing agent in the sterilizing unit 3 based on the environmental ph acquired 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 robot sterilization path, a target area (i.e., a sterilization area), a sterilization operation mode, and the like. 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 correspondingly by means of manual setting, so as to achieve the function of autonomous operation thereof.
As shown in connection with fig. 1, 2 and 3, according to one embodiment of the invention, the chassis 1 is a wheeled chassis of truss construction, comprising a load-bearing platform 11 and a drive wheel set 12. In the present embodiment, the carrying platform 11 is provided with carrying parts 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 adopt a channel steel, an i-steel, an alloy frame, or the like to realize a truss structure.
As shown in connection with fig. 2, 4 and 5, according to one embodiment of the present invention, the sterilizing unit 3 comprises: a plurality of independent reservoirs 31, a mixing tank 32, a supporting frame 33 for supporting the reservoirs 31 and the mixing tank 32, a spraying assembly 34, and dosing assemblies 35 arranged in one-to-one correspondence with the reservoirs 31. In the present embodiment, the supporting frame 33 is mounted on the carrying part of the carrying platform 11 using a connector (for example, a screw connector), and the plurality of reservoirs 31 and the mixing tank 32 are independently mounted on the corresponding parts of the supporting frame, respectively. The spraying assembly 34 and the dosing assembly 35 are required to be arranged outside the sterilizing robot to realize the normal operation requirement for adding and spraying materials. In the present embodiment, both the injection assembly 34 and the dosing assembly 35 are mounted on the outside of the housing 2, which are connected by pipes to the respective reservoirs 31 or mixing tanks 32.
According to the invention, the plurality of independent and separately arranged storages realize the effective separation of different types of disinfectants, avoid the mixing or pollution among the disinfectants, and further be beneficial to ensuring the use safety of the disinfection process.
In this embodiment, the storage 31 and the mixing box 32 may be made of an epoxy resin material or a hard plastic, and have a light weight, high strength and corrosion resistance, which is advantageous for long-time stable installation in a sterilization robot, and the storage 31 and the mixing box 32 made of the above materials have insulation properties, so that the use safety between the sterilization unit and the chassis is effectively ensured.
In the present embodiment, a liquid level sensor 36 is provided on the reservoir 31, and the liquid level sensor 36 is electrically connected to the operation control unit B.
The liquid level sensor can be used for effectively detecting the liquid level in the storage device, so that the collection of the robot to the state of the internal disinfection unit is realized, and a user can be reminded of adding liquid under the condition of lower liquid level. Meanwhile, aiming at the disinfectant to be diluted, the control of the disinfectant configuration proportion can be effectively ensured through the liquid level sensor, the autonomous 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 tank 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 disinfectant with dilution requirement, so that effective separation between disinfectant stock solution and diluted disinfectant is ensured, and accurate control and operation safety of the configuration process are ensured. In addition, the control valve 37 and the liquid level detection unit of the storage are arranged at the communication position, so that automation of the disinfectant configuration process can be realized, and the safety risk of manual participation in the speed per hour is effectively eliminated.
As shown in connection with 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 chlorine-containing disinfectant, and a third reservoir 313 for storing diluent. In the present embodiment, the second reservoir 312 and the third reservoir 313 are respectively in communication with the mixing tank 32 through the control valve 37.
In the present embodiment, the first reservoir 311, the second reservoir 312, and the third reservoir 313 are each provided with a liquid inlet 31a, and the dosing assembly 35 is connected to the liquid inlet 31 a.
In the present embodiment, the first reservoir 311 and the mixing tank 32 are provided with the liquid outlets 31b, respectively, the spray modules 34 are provided in one-to-one correspondence with the liquid outlets 31b, and the plurality of spray modules 34 are provided on the housing 2 away from each other. In the present embodiment, the injection unit 34 connected to the first reservoir 311 may be provided at one side of the front end of the housing 2, and the injection unit 34 connected to the mixing tank 32 may be provided at one side of the rear end of the housing 2.
In the present embodiment, the jetting assembly 34 includes: pressurizing means (e.g., a booster pump), control valves, connection hoses and spray heads disposed in the liquid outlet 31b or the reservoir 31. In this embodiment, the connection hose is connected to the pressurizing device and the shower 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 shower head is connected to the connection hose.
It should be noted that the reservoir 31 may be further added as needed to store other types of disinfectant, and if the stored disinfectant needs to be diluted, the control valve 37 is provided to control the communication with the mixing tank 32.
As shown in fig. 6, according to an embodiment of the present invention, the bottom of the mixing tank 32 is provided with a drain 321 that can be opened and closed, and the bottom has a slope around the drain 321. In the present embodiment, the bottom of the mixing tank 32 may be provided in a pyramid shape, and further the drain 321 may be provided at the lowest position of the bottom of the mixing tank 32 to achieve a smooth drain. Of course, the bottom of the mixing tank 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 gradient of the bottom may be uniform or variable from high to low, and may be set according to the size of the drain 321, the speed of the liquid discharge, and the like.
By the above arrangement, the bottom of the mixing tank 32 is provided as an inclined surface having a slope, so that the removal of surplus disinfectant is more advantageous and quick, which is advantageous in improving the working efficiency of the present invention.
As shown in conjunction with fig. 1, 3 and 5, according to one 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 present embodiment, the control module is connected to the image pickup device B1, the GPS module B2, the chassis 1, the liquid level sensor 36, the control valve 37, the injection unit 34, and the gas ph detector 4, respectively. In this embodiment, the operation control unit B may be mounted on the chassis, or mounted on the housing, or distributed on the chassis and the housing, respectively.
As shown in conjunction with fig. 2 and 7, according to one embodiment of the present invention, the support frame 33 includes: a first horizontal support 331, a first vertical support 332 vertically 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 vertically connected to the second horizontal support 333, and a third vertical support 335. In the present embodiment, the second horizontal support 333 is vertically connected to the first vertical support 332 at one end and to the third vertical support 335 at the other end. The other end of the third vertical support 335 is vertically connected to the first horizontal support 331. The second vertical support 334 is disposed in spaced relation to the first vertical support 332.
In the present embodiment, the first horizontal support 331 and the first vertical support 332 enclose a first mounting location 311a for mounting the first reservoir 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 fixing connectors a for mounting the first reservoirs 311 are provided at different positions of the first mounting positions 311a, respectively. In this embodiment, the fixing connection piece a may adopt a structure such as a connection piece, a sliding rail, a buckle, and the like, so that quick and stable installation with the storage device may be realized.
In this embodiment, 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, i.e., a portion of the second horizontal support 333, and the other side of the first vertical support 332 and one side of the second vertical support 334 enclose a "concave" structure. In the present embodiment, fixing connectors a for mounting the second reservoirs 312 are provided at different positions of the second mounting positions 312a, respectively. In the present embodiment, the fixed connection a is provided on the first vertical support 332 and the second vertical support 334, respectively, and is disposed opposite to each other. In this embodiment, the fixing connection piece a may adopt a structure such as a connection piece, a sliding rail, a buckle, and the like, so that quick and stable installation with the storage device may be realized.
In the present embodiment, the second vertical support 334 and the second horizontal support 333 enclose a third mounting location 313a for mounting the third reservoir 313, i.e. an L-shaped structure enclosed by the other side of the second vertical support 334 and a portion of the second horizontal support 333. In the present embodiment, fixing connectors a for mounting the third reservoir 313 are provided at different positions of the third mounting position 313a, respectively.
In this embodiment, the fixing connection piece a may adopt a structure such as a connection piece, a sliding rail, a buckle, and the like, so that quick and stable installation with the storage device may be realized.
In the present embodiment, the first horizontal support 331, the first vertical support 332, the second horizontal support 333, and the third vertical support 335 enclose a mix tank mounting site 32a for mounting the mix tank 32.
In the present embodiment, the first horizontal support 331, the first vertical support 332, the second horizontal support 333, and the third vertical support 335 are connected to each other to form a mounting position corresponding to the shape of the mixing tank, which not only facilitates stable mounting of the mixing tank, but also contributes to enhancing 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 testing of 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. The gas PH value detector 4 is arranged on the displacement device so as to drive the gas PH value detector 4 to respectively measure at different positions, thereby further accurately acquiring the PH value of the surrounding environment and realizing the accurate operation of the disinfection robot.
In the present embodiment, the gas ph detector 4 may be selectively provided 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, a disinfection method based on an autonomously operating disinfection robot of the present invention is implemented based on the aforementioned disinfection robot, and includes:
s1. different types of disinfectants, and diluents for mixing with part of the disinfectants, are added to the plurality of reservoirs 31 of the disinfection unit 3, respectively. In the present embodiment, taking medical alcohol and chlorine-containing disinfectant (sodium hypochlorite) as an example, medical alcohol is added to the first reservoir 311 by the adder unit 35 of the first reservoir 311, chlorine-containing disinfectant is added to the second reservoir 312 by the adder unit 35 of the second reservoir 312, and a diluent (e.g., water) is added to the third reservoir 313 by the adder unit 35 of the third reservoir 313. It should be noted that the control valve 37 is kept in a closed state when adding material.
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 the initial state of the disinfection unit 3 based on the operation control unit B. In the present embodiment, in the steps of setting the sterilization area of the sterilization robot, the predetermined sterilization scheme, and the autonomous sterilization scheme based on the operation control unit B, the predetermined sterilization method includes: the type of disinfectant and the concentration of disinfectant corresponding to the disinfection area. Included in the autonomous disinfection protocol are: the type and concentration of disinfectant used in different environmental pH values.
In the step of calibrating the initial state of the sterilizing unit 3 based on the operation control unit B, the liquid position in the reservoir 31 is detected by the liquid level sensor 36, so that the initial state of the sterilizing unit 3 is calibrated, and the sterilizing unit can be used for the subsequent configuration of the sterilizing agent, reminding of the action of replenishing liquid and the like.
S3, the operation control unit B controls the disinfection robot to operate autonomously 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 the preset disinfection scheme is executed 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 preset disinfectant type and disinfectant concentration in the preset disinfection scheme;
when the sterilization robot sterilizes the sterilization area with the autonomous sterilization scheme, the type of the sterilization agent and the concentration of the sterilization agent set in the autonomous sterilization scheme are autonomously switched based on the pH value detection result of the gas pH value detector 4, and the sterilization area is sterilized based on the type of the sterilization agent and the concentration of the sterilization agent after the switching.
According to one embodiment of the present invention, in step S3, in the step of controlling the sterilization robot to autonomously operate to the sterilization area by the operation control unit B, the sterilization robot autonomously plans a path to the sterilization area based on the GPS module B2, and autonomously recognizes and autonomously evades an obstacle existing on the path through the image acquisition device B1, so as to achieve accurate and safe driving to the target area.
According to one embodiment of the present invention, the sterilization robot may perform a predetermined sterilization scheme manually through direct setting or remote control. In this embodiment, when the sterilization robot performs sterilization on a sterilization area according to a predetermined sterilization scheme, it is determined whether to perform the predetermined sterilization scheme based on the ph detection result of the gas ph detector 4, for example, medical alcohol sterilization is performed on the current area in the predetermined sterilization scheme, so that the sterilization robot first performs ph detection on the environment of the current area through the gas ph detector 4, and if the ph detection structure of the surrounding environment shows that the ph is moderate, the sterilization is performed according to the alcohol sterilization mode preset by the predetermined sterilization scheme. If the ambient environment is too alkaline or acidic, the robot refuses to perform the predetermined disinfection scheme.
According to another embodiment of the present invention, in the step S3, when the sterilization robot performs sterilization on the sterilization area according to the predetermined sterilization scheme, the operation control unit B may autonomously switch to the autonomous sterilization scheme to autonomously select the type of sterilization agent and the concentration of sterilization agent matching the current environment for sterilization operation, if the ambient environment is too alkaline or too acidic and the predetermined sterilization scheme is not performed in the step of judging whether to perform the predetermined sterilization scheme based on the ph detection result of the gas ph detector 4.
According to one embodiment of the present invention, the sterilization robot may perform an autonomous sterilization scheme manually through direct setting or remote control. In this embodiment, when the sterilization robot performs sterilization on the sterilization area according to the autonomous sterilization scheme, a corresponding type of sterilization agent and concentration of sterilization agent are selected based on the ph detection result of the gas ph detector 4, for example, when the ph detection structure of the surrounding environment shows that the ph is moderate, medical alcohol or diluted chlorine-containing sterilization agent is autonomously selected for performing the sterilization operation on 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 chlorine-containing disinfectant for disinfection operation, and the concentration of the disinfectant can be correspondingly configured according to the alkalinity or the acidity value so as to adapt to the disinfection requirement of the current environment. Of course, in the process of executing the autonomous disinfection scheme, if the ph detection structure of the surrounding environment shows that the alkalinity or acidity is too high, but the disinfection area cannot be disinfected by adopting the chlorine-containing disinfectant, the disinfection operation of other areas can be performed first, and then the area is returned to carry out the ph test again, and if the requirement of alcohol disinfection is met, the alcohol disinfection operation is executed.
According to an embodiment 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 sterilizing agent set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be configured, the operation control unit B controls the sterilizing agent and the diluent stored in the reservoir 31 to be mixed and diluted in proportion in the mixing tank 32. In this embodiment, the control unit calculates the ratio of disinfectant to diluent required based on the detection data of the level sensor in the corresponding reservoir, and then controls the control valve 37 to open until the corresponding level drops to the corresponding position, and then closes the control valve 37, thus achieving accurate dilution of the disinfectant. In the present embodiment, after the disinfectant is configured, the control unit updates the initial state of the disinfectant unit 3 again with the current liquid level so that the subsequent configuration of the disinfectant is performed in accordance with the new state.
According to an embodiment of the present invention, in the step S3 of sterilizing the sterilization area according to the predetermined sterilization scheme or the autonomous sterilization scheme, if the concentration of the sterilizing agent set in the predetermined sterilization scheme or the autonomous sterilization scheme needs to be changed, the operation control unit B controls the mixing tank 32 to discharge the original sterilizing agent, and then re-controls the mixing and dilution of the sterilizing agent and the diluting agent stored in the storage 31 in the mixing tank 32 according to a new ratio. In this embodiment, after the original disinfectant in the mixing tank 32 is discharged, the diluent is also added to the mixing tank again for cleaning to ensure that the concentration of the reconstituted disinfectant is accurate.
According to an embodiment of the present invention, in step S3, during the process of detecting the surrounding environment by the gas ph detector 4, the sterilization robot moves in a certain area, and 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 height, and the ph level of the height area is obtained based on the ph curve. In this embodiment, when the gas ph detector 4 arranged in the vertical direction is mounted on the displacement device, the position of the gas ph detector 4 is changed by the displacement device, and the above steps are repeatedly performed to achieve drawing of ph curves of different height environments, so that the ph level in the height direction of the region can be obtained three-dimensionally. Correspondingly, if the side surface of the disinfection robot is also provided with the gas PH detector 4, the PH level in the transverse space can be further tested. Based on the detection of the acid-base level in a certain area, the disinfection operation is further accurately carried out on the disinfection area, and potential safety hazards caused by disinfectant residues before the existence of partial areas are 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 image acquisition device B1 in the operation control unit B may perform visual imaging on the surrounding environment, determine whether the current area is an open space according to the visual imaging result, calculate the people stream data of the current area, and perform the disinfection operation based on the determination result.
According to one embodiment of the present invention, in step S3, if the ph detection structure of the surrounding environment shows that the alkalinity or acidity is too high during the execution of the autonomous disinfection scheme, but the disinfection area cannot be disinfected by using the chlorine-containing disinfectant, the disinfection operation of other areas may be performed first, and then the ph test may be performed again after the disinfection operation of the other areas, and if the requirement of alcohol disinfection is met, the alcohol disinfection operation may be performed. In the process, in the process of detecting the surrounding environment based on the gas pH value detector 4, the image acquisition device B1 is used for judging whether the current area is an open space, the time for returning to the area for sterilization is calculated according to the judgment result of the opening degree of the space by combining the pH value 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 image acquisition device B1 in the operation control unit B may perform visual imaging on the surrounding environment, and perform image recognition on the disinfection area according to the visual imaging result, to identify the area needing to be disinfected, and re-measure the ph of the environment in the heavy area during the detection of the disinfection robot, if the measurement result meets the disinfection operation requirement of the corresponding disinfectant type and disinfectant concentration in the predetermined disinfection scheme or the autonomous disinfection scheme, the disinfection robot may increase the residence time or increase the spraying amount of the disinfectant when passing through the heavy areas.
The foregoing is merely exemplary of embodiments of the invention and, as regards devices and arrangements not explicitly described in this disclosure, it should be understood that this can be done by general purpose devices and methods known in the art.
The above description is only one embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. An autonomously operating sterilization 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) stores a plurality of disinfectants and a diluent for mixing with part of the disinfectants;
the operation control unit is respectively and 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 environmental pH value acquired by the gas pH value detector (4);
the disinfection unit (3) comprises: a plurality of mutually independent reservoirs (31), a mixing box (32), a supporting frame (33) for supporting the reservoirs (31) and the mixing box (32), a spraying assembly (34), and dosing assemblies (35) arranged in one-to-one correspondence with the reservoirs (31);
a liquid level sensor (36) is arranged on the storage (31), and the liquid level sensor (36) is electrically connected with the operation control unit;
part of the storage (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 with the operation control unit;
the plurality of reservoirs (31) includes: a first reservoir (311) for storing medical alcohol, a second reservoir (312) for storing chlorine-containing disinfectant, a third reservoir (313) for storing diluent;
the bottom of the mixing box (32) is provided with an openable drain outlet (321), and the bottom is provided with a slope around the drain outlet (321);
the gradient is at least 2%;
the support frame (33) comprises: a first horizontal support (331), a first vertical support (332) vertically 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) vertically connected to 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 of the second horizontal support 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);
-said second vertical support (334) is provided with a spacing from said first vertical support (332);
-said first horizontal support (331) and said first vertical support (332) enclose a first mounting location (311 a) for mounting said first reservoir (311);
-the second horizontal support (333), the first vertical support (332) and the second vertical support (334) enclose a second mounting location (312 a) for mounting the second reservoir (312);
-the second vertical support (334) and the second horizontal support (333) enclose a third mounting location (313 a) 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 tank mounting location (32 a) for mounting the mixing tank (32);
the gas pH value detector (4) is respectively arranged on the upper side, the left side, the right side and the front side and the rear side of the shell (2).
2. The sterilization robot according to claim 1, characterized in that the second reservoir (312) and the third reservoir (313) are in communication with the mixing tank (32) via the control valve (37), respectively;
the first storage (311), the second storage (312) and the third storage (313) are respectively provided with a liquid inlet (31 a), and the dosing assembly (35) is connected with the liquid inlet (31 a);
the first storage (311) and the mixing box (32) are respectively provided with a liquid outlet (31 b), the spraying components (34) are arranged in one-to-one correspondence with the liquid outlets (31 b), and a plurality of spraying components (34) are arranged on the shell (2) far away from each other.
3. The sterilization robot according to claim 2, wherein 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 (1), the liquid level sensor (36), the control valve (37), the injection assembly (34) and the gas PH value detector (4).
4. A disinfection method based on the autonomous operating disinfection robot of any of claims 1-3, comprising:
s1, respectively adding different types of disinfectants and diluents for mixing with part of the disinfectants into a plurality of reservoirs (31) of a disinfection unit (3);
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 the 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 disinfects 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 so, disinfecting the disinfection area according to the preset disinfectant type and disinfectant concentration in the preset disinfection scheme;
when the disinfection robot disinfects the disinfection area by the independent disinfection scheme, automatically switching the type and the concentration of the disinfectant set in the independent disinfection scheme based on the pH value detection result of the gas pH value detector (4), and disinfecting the disinfection area based on the type and the concentration of the disinfectant after switching.
5. The sterilization method according to claim 4, wherein in step S3, when the sterilization robot sterilizes the sterilization area with the predetermined sterilization scheme, the operation control unit autonomously shifts to the autonomous sterilization scheme to perform the sterilization operation in the step of judging whether to execute the predetermined sterilization scheme based on the ph detection result of the gas ph detector (4), if not.
6. A disinfection method as claimed in claim 5, wherein in step S3, in the step of disinfecting the disinfection area according to the predetermined disinfection scheme or the autonomous disinfection scheme, the operation control unit controls the disinfectant and the diluent stored in the reservoir (31) to be mixed and diluted in a mixing tank (32) in proportion if the disinfectant concentration set in the predetermined disinfection scheme or the autonomous disinfection scheme needs to be configured.
7. A disinfection method as claimed in claim 6, wherein in step S3, in the step of disinfecting the disinfection area according to the predetermined disinfection scheme or the autonomous disinfection scheme, if the disinfectant concentration set in the predetermined disinfection scheme or the autonomous disinfection scheme needs to be changed, the operation control unit controls the mixing tank (32) to discharge the original disinfectant, and then re-controls the mixing and dilution of the disinfectant stored in the storage (31) in the mixing tank (32) according to a new ratio.
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