CN114887087B - Indoor mobile robot with ultraviolet disinfection function - Google Patents
Indoor mobile robot with ultraviolet disinfection function Download PDFInfo
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- CN114887087B CN114887087B CN202210477650.XA CN202210477650A CN114887087B CN 114887087 B CN114887087 B CN 114887087B CN 202210477650 A CN202210477650 A CN 202210477650A CN 114887087 B CN114887087 B CN 114887087B
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 74
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 229910052751 metal Inorganic materials 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 6
- 238000005057 refrigeration Methods 0.000 claims description 6
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 239000000696 magnetic material Substances 0.000 claims description 5
- 230000001954 sterilising effect Effects 0.000 claims description 5
- 241000894006 Bacteria Species 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000017525 heat dissipation Effects 0.000 description 3
- 241000700605 Viruses Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
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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
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
- F24F8/20—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by sterilisation
- F24F8/22—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by sterilisation using UV light
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/25—Rooms in buildings, passenger compartments
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2221/00—Details or features not otherwise provided for
- F24F2221/42—Mobile autonomous air conditioner, e.g. robots
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
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- Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
- Manipulator (AREA)
Abstract
The invention provides an indoor mobile robot with an ultraviolet disinfection function, wherein an upper ultraviolet lamp post is arranged at the top of a robot body, the robot body is provided with a cavity, a lower ultraviolet lamp post is arranged in the cavity, the upper ultraviolet lamp post and the lower ultraviolet lamp post are connected through a power supply seat, an upper reflecting plate is arranged above the lower ultraviolet lamp post, a lower reflecting plate is arranged below the lower ultraviolet lamp post, an inner disinfection cavity is formed between the upper reflecting plate and the lower reflecting plate, a first air pump, a second air pump, a third air pump and a refrigerating assembly are arranged on the side wall of the inner disinfection cavity, an air inlet of the first air pump is communicated with the inner disinfection cavity, an air outlet of the first air pump is communicated with an air inlet of the first air duct, a transparent second air duct penetrates through the inner disinfection cavity and is communicated with the air inlet of the second air pump, and a third air duct is connected at the air outlet of the second air pump and extends to the outside of the robot body.
Description
Technical Field
The invention relates to the technical field of intelligent disinfection, in particular to an indoor mobile robot with an ultraviolet disinfection function.
Background
At present, when indoor mobile disinfection is carried out through ultraviolet rays, an indoor mobile robot is generally used as a mobile carrier, heat is generally required to be dissipated from a power source in the walking process of the indoor mobile robot, external gas is required to be introduced into the indoor mobile robot to dissipate the heat from the power source, meanwhile, the dissipated gas is discharged outwards from a power source extraction position, the power source of the indoor mobile robot is difficult to detach and clean, a large amount of bacteria are easy to grow in the long-term use process, when the dissipated gas is discharged outwards, the bacteria growing at the power source are usually discharged together with the gas, the current disinfection equipment cannot disinfect the discharged gas, the problem that the disinfection is incomplete exists due to the fact that the disinfection is easy to occur while the gas with the bacteria is discharged outwards in daily use.
Disclosure of Invention
The invention aims to provide an indoor mobile robot with an ultraviolet disinfection function, so as to solve the problems in the background technology.
The invention is realized by the following technical scheme: the utility model provides an indoor mobile robot with ultraviolet disinfection function, includes walking base and robot body, have the power supply in the walking base and by power supply driven walking subassembly, the robot body is established on the walking base, robot body top is equipped with ultraviolet lamp pole, the robot body has the cavity, be equipped with ultraviolet lamp pole down in the cavity, link to each other through the power supply seat between ultraviolet lamp pole and the ultraviolet lamp pole down, the top of ultraviolet lamp pole is equipped with the reflecting plate down, the below of ultraviolet lamp pole is equipped with down the reflecting plate, constitute inside disinfection chamber between upper and lower reflecting plate the lateral wall of inside disinfection chamber is equipped with first air pump, second air pump, third air pump and refrigeration subassembly, the income wind gap of first air pump with inside disinfection chamber is linked together, and its air outlet is linked together with first air duct, and transparent second air duct passes inside chamber with the income wind gap of second air pump is linked together, the air outlet of second air duct is connected with the reflecting plate down, it is equipped with down the air duct down to constitute inside disinfection chamber, constitute between upper and lower reflecting plate, inside disinfection chamber is equipped with first air pump, third air duct and the third air duct are linked together to the outside and the outside is extended to the outside.
Optionally, still be equipped with master control singlechip, laser radar in the robot body, the robot body is equipped with first opening, laser radar sets up first opening part, laser radar, first air pump, second air pump, third air pump all with master control singlechip signal link to each other.
Optionally, be equipped with self-checking mechanism in the robot body, self-checking mechanism includes rotating electrical machines, first push rod, second push rod, contact plate, contact sensor and complex structure sample, the output of rotating electrical machines with first push rod links to each other, laser radar set up in first push rod tip, complex structure sample sets up on the fixed plate, the fixed plate with laser radar sets up relatively, the robot body still is equipped with the second opening, the second opening sets up first opening below, the second push rod is followed second opening part wears out, the contact plate set up in the tip of second push rod, contact sensor set up in on the contact plate, contact sensor, rotating electrical machines, first push rod, second push rod all with master control singlechip signal links to each other.
Optionally, the first air duct, second air duct are all worn to from robot body shell department to power supply department, be equipped with first solenoid valve on the second air duct, be equipped with the second solenoid valve on the third air duct, first solenoid valve set up the second air duct with the contact portion in inside disinfection chamber, first solenoid valve, second solenoid valve all with master control singlechip signal link to each other.
Optionally, the lower reflecting plate below is equipped with shielding assembly, shielding assembly includes metal cylinder, electro-magnet, movable plate and spring, the electro-magnet is fixed inside the metal cylinder, the electro-magnet pass through the spring with the movable plate links to each other, the tip of movable plate still be equipped with the magnetic material layer that the electro-magnet is inhaled mutually, set up in opposite directions between the movable plate, the electro-magnet links to each other with the relay electrical property, the relay with master control singlechip signal links to each other.
Optionally, the refrigeration subassembly includes water storage tank and circulating pump, the water storage tank is fixed one side outer wall department of robot body, circulating line's entry, export all with the water storage tank links to each other, and its circulating line extends to inside disinfection chamber department, the circulating pump sets up on circulating line.
Optionally, the lower reflecting plate is provided with a plurality of through holes, and the through holes are filled with light-transmitting materials.
Optionally, the upper reflecting plate and the lower reflecting plate are covered with aluminum film layers.
Optionally, a ground ultraviolet lamp is arranged below the robot body.
Compared with the prior art, the invention has the following beneficial effects:
the indoor mobile robot with the ultraviolet disinfection function can drive the walking base to drive the robot body to walk and disinfect indoors according to a preset planning line, meanwhile, the indoor mobile robot with the ultraviolet disinfection function also has the obstacle avoidance function, ultraviolet light is emitted to the outside of the robot body through the upper ultraviolet lamp post to disinfect an area through which the robot body passes, the ultraviolet light is emitted to the inside of the robot body through the lower ultraviolet lamp post, the upper reflecting plate arranged in the robot body reflects the ultraviolet light downwards, the lower reflecting plate reflects the ultraviolet light upwards, an inner disinfection cavity capable of being fully irradiated by the ultraviolet light is formed between the upper reflecting plate and the lower reflecting plate, ultraviolet light is filled in all parts in the inner disinfection cavity, external air is extracted through the third air pump to enter the inner disinfection cavity to carry out ultraviolet irradiation disinfection, and the indoor mobile robot is cooled through the refrigerating assembly in the irradiation disinfection process;
clean cooling air in the internal disinfection cavity is pumped by the first air pump, the clean cooling air is conveyed to the power source through the first air duct to cool and dissipate heat, meanwhile, dirty air at the power source is pumped by the second air pump after heat dissipation, bacteria and viruses carried by the power source possibly exist in the dirty air, the dirty air passes through the internal disinfection cavity along the second air duct, and ultraviolet rays in the internal disinfection cavity can disinfect and sterilize the dirty air in the second air duct through the second air duct because the second air duct is transparent, and the disinfected and sterilized gas is discharged outwards through the second air pump, so that the robot body is enabled to discharge the sterilized clean gas, the problem that the gas with bacteria is discharged outwards while disinfection is avoided is solved, the thorough disinfection of a passing area is realized, and the disinfection effect is greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only preferred embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of an indoor mobile robot with an ultraviolet sterilization function according to the present invention;
fig. 2 is an external schematic view of an indoor mobile robot with ultraviolet disinfection function according to the present invention.
FIG. 3 is a schematic view of a shielding assembly of an indoor mobile robot with ultraviolet disinfection function according to the present invention;
FIG. 4 is a schematic view of a portion of a self-checking mechanism of an indoor mobile robot with ultraviolet disinfection function according to the present invention;
fig. 5 is a schematic diagram of a refrigeration assembly of an indoor mobile robot with ultraviolet disinfection function provided by the invention.
In the figure, a walking base, a robot body, a 3 upper ultraviolet lamp post, a 4 lower ultraviolet lamp post, a 5 power supply seat, a 6 upper reflecting plate, a 7 lower reflecting plate, an 8 inner sterilizing cavity, a 9 first air pump, a 10 second air pump, a 11 third air pump, a 12 first air guide pipe, a 13 second air guide pipe, a 14 third air guide pipe, a 15 laser radar, a 16 rotary motor, a 17 first push rod, a 18 second push rod, a 19 contact plate, a 20 contact sensor, a 21 fixed plate, a 22 complex structure sample, a 23 first opening, a 24 first electromagnetic valve, a 25 second electromagnetic valve, a 26 through hole, a 27 light transmission material, a 28 metal cylinder, a 29 electromagnetic magnet, a 30 moving plate, a 31 spring, a 32-pair ultraviolet lamp, a 33 power source, a 34 magnetic material layer, a 35 second opening, a 36 water storage tank, a 37 circulation pump and a 38 circulation pipeline.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed structures will be presented in the following description in order to illustrate the technical solutions presented by the present invention. Alternative embodiments of the invention are described in detail below, however, the invention may have other implementations in addition to these detailed descriptions.
Referring to fig. 1 to 5, an indoor mobile robot with ultraviolet disinfection function comprises a walking base 1 and a robot body 2, wherein a power source 33 and a walking component driven by the power source 33 are arranged in the walking base 1, the robot body 2 is arranged on the walking base 1, an upper ultraviolet lamp post 3 is arranged at the top of the robot body 2, the robot body 2 is provided with a cavity, a lower ultraviolet lamp post 4 is arranged in the cavity, the upper ultraviolet lamp post 3 and the lower ultraviolet lamp post 4 are connected through a power supply seat 5, an upper reflecting plate 6 is arranged above the lower ultraviolet lamp post 4, a lower reflecting plate 7 is arranged below the lower ultraviolet lamp post 4, an inner disinfection cavity 8 is formed between the upper reflecting plate and the lower reflecting plate 7, a first air pump 9, a second air pump 10, a third air pump 11 and a refrigerating component are arranged on the side wall of the inner disinfection cavity 8, an air inlet of the first air pump 9 is communicated with the inner disinfection cavity 8, an air outlet 12 is communicated with a first air duct 12, a second air duct 13 is communicated with the inner air duct of the second air pump 10, a second air duct 13 is communicated with the air inlet of the second air pump 10, and the second air duct is communicated with the air inlet of the second air pump 10, and the air duct is communicated with the outer cavity of the second air pump 14, and the air duct is communicated with the air inlet of the second air pump is communicated with the air inlet of the inner cavity, and the air cavity is communicated with the air inlet cavity 13.
The invention provides an indoor mobile robot with ultraviolet disinfection function, which can drive a walking base 1 to drive a robot body 2 to walk and disinfect indoors according to a preset planning line, and also has an obstacle avoidance function, when the indoor mobile robot is put into use, ultraviolet light is emitted to the outside of the robot body 2 through an upper ultraviolet lamp post 3 to disinfect a region through which the robot body 2 passes, ultraviolet light is emitted to the inside of the robot body 2 through a lower ultraviolet lamp post 4, an upper reflecting plate 6 arranged in the robot body 2 reflects ultraviolet light downwards, and an upper reflecting plate 7 reflects ultraviolet light upwards, so that an inner disinfection cavity 8 which can be fully irradiated by ultraviolet light is formed between the upper reflecting plate 7 and the lower reflecting plate 7, all parts in the inner disinfection cavity 8 are filled with ultraviolet light, external air is pumped into the inner disinfection cavity 8 through a third air pump 11 to irradiate and disinfect the ultraviolet light, and the indoor mobile robot is cooled through a refrigerating component in the irradiation disinfection process;
clean cooling air in the internal disinfection cavity 8 is pumped by the first air pump 9 and is conveyed to the power source 33 through the first air duct 12 to cool and dissipate heat of the power source 33, meanwhile, dirty air at the power source 33 after heat dissipation is pumped by the second air pump 10, and bacteria and viruses carried by the power source 33 possibly exist in the dirty air, and the dirty air passes through the internal disinfection cavity 8 along the second air duct 13, and as the second air duct 13 is arranged in a transparent way, ultraviolet rays in the internal disinfection cavity 8 can disinfect and sterilize the dirty air in the second air duct 13 through the second air duct 13, and the disinfected and sterilized air is discharged outwards through the second air pump 10, so that the robot body 2 discharges the sterilized clean air, the problem of sterilizing at one side and discharging the air with bacteria outwards is avoided, the thorough disinfection of the passing area is realized, and the disinfection effect is greatly improved.
Specifically, still be equipped with master control singlechip, laser radar 15 in the robot body 2, the robot body 2 is equipped with first opening 23, laser radar 15 sets up first opening 23 department, laser radar 15, first air pump 9, second air pump 10, third air pump 11 all with master control singlechip signal links to each other, and when using, master control singlechip obtains robot body 2 peripheral barrier information, distance information, the direction information etc. with the barrier according to laser radar 15, and master control singlechip removes and keeps away barrier according to laser radar 15's feedback data drive robot body 2.
Specifically, the upper reflecting plate 6 and the lower reflecting plate 7 are covered with aluminum film layers, and the aluminum film layers can have better reflecting effect on ultraviolet rays.
Specifically, be equipped with self-checking mechanism in the robot body 2, its self-checking mechanism is used for testing the performance of laser radar 15, judges whether master control singlechip can be according to the data of laser radar 15 range finding, keep away the barrier, discernment object, self-checking mechanism includes rotating electrical machines 16, first push rod 17, second push rod 18, contact plate 19, touch sensor 20 and complex structure sample 22, the output of rotating electrical machines 16 with first push rod 17 links to each other, laser radar 15 set up in first push rod 17 tip, complex structure sample 22 sets up on fixed plate 21, fixed plate 21 with laser radar 15 sets up relatively, the robot body 2 still is equipped with second opening 35, second opening 35 sets up first opening 23 below, second push rod 18 is followed second opening 35 department wears out, contact plate 19 set up in the tip of second push rod 18, touch sensor 20 set up in on contact plate 19, contact motor 20, first push rod 16, first push rod 17, second singlechip signal all link to each other.
When the robot is used, any obstacle is selected, a rated distance is set, the rated distance is consistent with the longest length of the second push rod 18 after the second push rod 18 is stretched, whether the robot body 2 has the rated distance with the obstacle or not is measured through the laser radar 15, if the ranging result of the laser radar 15 is equal to the rated distance, the second push rod 18 is driven to penetrate out of the second opening 35 and stretch to the longest gesture, and if the contact plate 19 on the second push rod 18 is contacted with the obstacle, and the contact sensor 20 of the contact plate 19 scattered girls sends feedback data to the master control singlechip, the ranging function of the laser radar 15 on the long distance is normal.
Further, when the identification function of the laser radar 15 on the short distance is performed, the first push rod 17 drives the laser radar 15 to move inwards along the first outlet, so that the laser radar 15 enters the robot body 2, the first push rod 17 is driven to rotate by the rotating motor 16, the laser radar 15 on the first push rod 17 is aligned to the complex structure sample 22, the laser radar 15 is started to identify the complex structure sample 22 at the moment, the master control singlechip judges the performance condition of the laser radar 15 according to the identification result, and if the laser radar 15 is abnormal on the long-distance ranging or short-distance identification, the master control singlechip timely alarms to a controller.
Specifically, the first air duct 12 and the second air duct 13 are all penetrated from the outer shell of the robot body 2 to the power source 33, the second air duct 13 is provided with a first electromagnetic valve 24, the third air duct 14 is provided with a second electromagnetic valve 25, the first electromagnetic valve 24 is provided with a contact part of the second air duct 13 and the internal disinfection cavity 8, and the first electromagnetic valve 24 and the second electromagnetic valve 25 are both connected with the main control singlechip through signals.
The interaction of the first electromagnetic valve 24 and the second electromagnetic valve 25 enables the dirty air extracted from the power source 33 to stay at the second air duct 13 for a certain time, during which the dirty air in the second air duct 13 is disinfected by ultraviolet rays in the internal disinfection cavity 8, and after the disinfection time is reached, the first electromagnetic valve 24, the second electromagnetic valve 25 and the second air pump 10 are started, so that the disinfected air is discharged outwards.
Specifically, the lower reflecting plate 7 is provided with a plurality of through holes 26, and the through holes 26 are filled with a light-transmitting material 27, such as glass, and the light-transmitting material 27 can sterilize the interior of the robot body 2 below the lower reflecting plate 7 by using part of ultraviolet rays.
Specifically, since the lower reflecting plate 7 can partially penetrate into ultraviolet rays, a shielding component is arranged between the upper part of the self-checking component and the lower part of the lower reflecting plate 7, when the self-checking operation is carried out, the shielding component is required to shield ultraviolet rays, interference of the ultraviolet rays on the laser radar 15 is eliminated, the shielding component comprises a metal cylinder 28, an electromagnet 29, a moving plate 30 and a spring 31, the electromagnet 29 is fixed inside the metal cylinder 28, the electromagnet 29 is connected with the moving plate 30 through the spring 31, a magnetic material layer 34 attracted with the electromagnet 29 is further arranged at the end part of the moving plate 30, the moving plates 30 are oppositely arranged, the electromagnet 29 is electrically connected with a relay, and the relay is connected with a master control singlechip signal.
When the shielding assembly is not required to be started, the electromagnet 29 is electrified to generate magnetism under the action of the relay, so that the magnetic material layer 34 on the movable plate 30 can be adsorbed, the movable plate 30 moves towards the inside of the metal cylinder 28 and compresses the spring 31, a channel allowing ultraviolet rays to pass through is formed between the metal cylinders 28, when the shielding assembly is required to be started, the electromagnet 29 is powered off to lose magnetism under the action of the relay, the movable plate 30 moves towards each other and contacts with each other under the action of the elastic force of the spring 31, the channel is cut off by the movable plate 30, the outer surfaces of the movable plate 30 and the metal cylinders 28 are covered with reflecting materials, such as aluminum film layers, so that ultraviolet rays cannot pass through the movable plate 30 and the metal cylinders 28, and the influence of the ultraviolet rays on the self-detection mechanism test is avoided.
Specifically, the ground ultraviolet lamp 32 is disposed below the robot body 2, and the ground ultraviolet lamp 32 is used to sterilize the ground.
Specifically, the refrigeration subassembly includes water storage tank and circulating pump, the water storage tank is fixed one side outer wall department of robot body 2, circulating line's entry, export all with the water storage tank links to each other, and its circulating line extends to inside disinfection chamber 8 departments, the circulating pump sets up on circulating line, and its circulating pump during operation, the circulating pump take out the water in the water storage tank to in the circulating line, realize the air heat dissipation to inside disinfection chamber 8 departments through the circulating line, optionally, set up refrigerator or radiator on the water storage tank, utilize refrigerator or fan heater to cool down to the water storage tank. The optional heat sink may be a heat sink and the refrigerator may be a semiconductor refrigeration fin.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (9)
1. The utility model provides an indoor mobile robot with ultraviolet disinfection function, includes walking base and robot body, have the power supply in the walking base and by the walking subassembly of power supply driven, the robot body is established on the walking base, its characterized in that, the robot body top is equipped with the ultraviolet lamp pole, the robot body has the cavity, be equipped with down the ultraviolet lamp pole in the cavity, go up between ultraviolet lamp pole and the lower ultraviolet lamp pole through the power supply seat linking to each other, the top of lower ultraviolet lamp pole is equipped with the reflecting plate, the below of lower ultraviolet lamp pole is equipped with down the reflecting plate, go up, constitute inside disinfection chamber down between the reflecting plate the lateral wall in inside disinfection chamber is equipped with first air pump, second air pump, third air pump and refrigeration subassembly, the income wind gap of first air pump with inside disinfection chamber is linked together, its air outlet is linked together with first air duct, transparent second air duct passes the inside disinfection chamber with the income wind gap of second air pump is linked together, the second air duct is connected with the third air duct is connected to the third air duct, the third air duct is extended to the outside, and the air duct is connected to the outside.
2. The indoor mobile robot with the ultraviolet disinfection function according to claim 1, wherein a main control singlechip and a laser radar are further arranged in the robot body, the robot body is provided with a first opening, the laser radar is arranged at the first opening, and the laser radar, the first air pump, the second air pump and the third air pump are all connected with the main control singlechip through signals.
3. The indoor mobile robot with ultraviolet disinfection function according to claim 2, wherein a self-checking mechanism is arranged in the robot body, the self-checking mechanism comprises a rotating motor, a first push rod, a second push rod, a contact plate, a contact sensor and a complex structure sample, the output end of the rotating motor is connected with the first push rod, the laser radar is arranged at the end part of the first push rod, the complex structure sample is arranged on a fixed plate, the fixed plate is oppositely arranged with the laser radar, the robot body is also provided with a second opening, the second opening is arranged below the first opening, the second push rod penetrates out from the second opening, the contact plate is arranged at the end part of the second push rod, the contact sensor is arranged on the contact plate, and the contact sensor, the rotating motor, the first push rod and the second push rod are all connected with the master control singlechip signal.
4. The indoor mobile robot with the ultraviolet disinfection function according to claim 2, wherein the first air duct and the second air duct penetrate from the robot body shell to the power source, a first electromagnetic valve is arranged on the second air duct, a second electromagnetic valve is arranged on the third air duct, the first electromagnetic valve is provided with a contact part of the second air duct and the internal disinfection cavity, and the first electromagnetic valve and the second electromagnetic valve are connected with the main control singlechip through signals.
5. The indoor mobile robot with the ultraviolet disinfection function according to claim 2, wherein a shielding component is arranged below the lower reflecting plate, the shielding component comprises a metal cylinder, an electromagnet, a moving plate and a spring, the electromagnet is fixed inside the metal cylinder and connected with the moving plate through the spring, a magnetic material layer attracted with the electromagnet is further arranged at the end part of the moving plate, the moving plates are oppositely arranged, the electromagnet is electrically connected with a relay, and the relay is connected with the main control singlechip through signals.
6. The indoor mobile robot with ultraviolet sterilization function according to claim 2, wherein the refrigerating assembly comprises a water storage tank and a circulating pump, the water storage tank is fixed at the outer wall of one side of the robot body, the inlet and the outlet of the circulating pipeline are connected with the water storage tank, the circulating pipeline extends to the inner sterilization cavity, and the circulating pump is arranged on the circulating pipeline.
7. The indoor mobile robot with ultraviolet disinfection function according to claim 1, wherein a plurality of through holes are formed in the lower reflecting plate, and light-transmitting materials are filled in the through holes.
8. The indoor mobile robot with ultraviolet disinfection function according to claim 1, wherein the upper reflecting plate and the lower reflecting plate are covered with aluminum film layers.
9. The indoor mobile robot with ultraviolet disinfection function according to claim 1, wherein an ultraviolet lamp is arranged below the robot body.
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| CN115950036B (en) * | 2023-02-15 | 2023-06-23 | 甘肃天立恒智电子科技有限公司 | Ultraviolet disinfection device and feedback method for indoor |
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