CN209933559U - Intelligent mobile type ultraviolet sterilization robot - Google Patents
Intelligent mobile type ultraviolet sterilization robot Download PDFInfo
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- CN209933559U CN209933559U CN201822251774.8U CN201822251774U CN209933559U CN 209933559 U CN209933559 U CN 209933559U CN 201822251774 U CN201822251774 U CN 201822251774U CN 209933559 U CN209933559 U CN 209933559U
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Abstract
The utility model relates to an intelligent movement formula ultraviolet sterilization robot. The ultraviolet lamp tube bracket of the utility model is fixedly arranged on the remote control car body, and an ultraviolet lamp tube group module is fixed on the ultraviolet lamp tube bracket; the power supply is connected with the ultraviolet lamp tube group module and the motor through wires and supplies power; the rear end of the remotely controllable vehicle body is provided with a vehicle tail lamp group and a push-pull rod; obstacle avoidance modules are arranged at the front end, two sides and the top end of the ultraviolet lamp tube bracket of the remote-controllable vehicle body; the main control module is respectively connected with the obstacle avoidance module and the motor through wires and is wirelessly connected with the remote controller; the bottom of the remotely controllable vehicle body is provided with universal wheels; the motor drives the screw rod and the universal wheel to move the vehicle body. The utility model can sterilize and disinfect carriages such as high-speed rails, subways and the like in 360 degrees without dead angles, thereby avoiding the defect that the bottom area of the carriage can not be sterilized and disinfected; can also be used for sterilization and disinfection treatment in GMP workshops, hospitals, kindergartens and other public places.
Description
Technical Field
The utility model belongs to the technical field of the ultraviolet sterilization robot, concretely relates to intelligent movement formula ultraviolet sterilization robot.
Background
The density of people in public places such as train (high-speed railway, motor train and common train) carriages, subway carriages, automobile carriages, airplane cabins, hospitals, canteens, kindergartens, schools and the like is high, the air quality is generally poor, various bacteria harmful to human bodies are easy to breed, once infectious diseases occur, great potential safety hazards are caused to the public and passengers, if a fresh air system is arranged in the subway carriages, the fresh air outside the common train only accounts for about 1/3, the circulating air in the carriages is arranged about 2/3, and once epidemic situations occur, the air sanitation quality is difficult to guarantee. And the pharmaceutical production GMP workshop and the food production workshop have extremely high requirements on sterility and need to be disinfected regularly. In order to effectively solve the air pollution of public or closed places such as subway carriages and the like, improve the air quality, and regularly sterilize and disinfect the carriages and the like at regular time is one of the solving ways.
The traditional sterilization method for public environment comprises the following steps: although a chemical bactericide method such as a peracetic acid disinfectant has a certain disinfection effect, the broad spectrum of sterilization is low, and bacteria are easy to generate drug resistance; the filtration and adsorption method can only filter and adsorb certain pollutants, cannot treat bacteria on the surface of an object, and is easy to cause secondary pollution after saturation; therefore, new technical solutions for sterilizing and disinfecting the carriage and the like need to be developed.
The ultraviolet sterilization is to use ultraviolet with the wavelength within the range of 200-280nm to destroy the molecular structure of DNA or RNA in microbial organism cells, and simultaneously, ultraviolet with the wavelength of 185nm ionizes oxygen molecules to generate ozone, so that growth type cell death and regenerative cell death are caused together, and the effects of sterilization and disinfection are achieved. It was found that the bactericidal effect of ultraviolet light is strongest at the wavelength of 253.7nm, and that microorganisms do not develop resistance to ultraviolet light. Patent No. CN201520712268.8 discloses an ultraviolet sterilization robot, including shell, chassis, display control equipment, control circuit, keep away barrier module, moving mechanism, sterilizing equipment. The display control equipment comprises a liquid crystal screen and a main power switch which are installed at the top, the control circuit comprises an integrated circuit and a power supply battery which are arranged inside, the obstacle avoidance module comprises ultrasonic probes around to acquire external environment parameters, and the mobile device comprises a stepping motor which is embedded inside and then drives the tire to advance. This comparison document an ultraviolet sterilization robot is equipped with an ultraviolet annular fluorescent tube in the bottom, can only disinfect like indoor floor to the space bottom, can't disinfect to whole spaces, will be polluted again after the device moves away, and the sterilization is inefficient and the space is limited, has certain limitation. Patent No. CN201621094287.X discloses an ultraviolet sterilization and disinfection lamp vehicle with rotation function, which comprises a flat car, a lamp tube storage box, a disinfection control cabinet and a voltage stabilizer frame body. The device is characterized in that the upper end of the flat car is fixedly connected with the disinfection control cabinet and the lamp tube containing box respectively through bolt assemblies, the upper end of the disinfection control cabinet is provided with a control panel and a display screen, circular through rings are processed at the same positions of two sides of the lamp tube containing box close to the upper end, a rotating shaft is inserted into each circular through ring, the middle position of the lamp tube adjusting frame is connected with the voltage stabilizer frame body through a rotating piece, and two ultraviolet lamp tubes are inserted into two ends of the lower part of the voltage stabilizer frame body. The ultraviolet sterilization disinfection lamp car with the rotation function in the comparison file cannot realize automatic moving sterilization, needs personnel to monitor movement in real time to change sterilization places, is low in sterilization efficiency, and has certain limitation.
Most of traditional ultraviolet sterilization equipment is fixedly suspended indoors, the ultraviolet intensity is exponentially attenuated along with the increase of the distance, the sterilization effect on long distances and corners is weak, the sterilization range is small, and dead angles exist. Meanwhile, the human body is irradiated by excessive ultraviolet rays to cause photochemical reaction, so that the skin, eyes, an immune system and the like of the human body are damaged, and the human body cannot move the ultraviolet lamp at a short distance to sterilize in a large range. The utility model can solve the disadvantages of the sterilization and disinfection method by remote control movement and automatic obstacle avoidance. The moving and obstacle avoidance can be controlled manually and remotely, the moving and obstacle avoidance can also be controlled automatically, and the speed is adjustable. The sterilization device is suitable for sterilization and disinfection in public places such as subway carriages, GMP workshops, hospitals and kindergartens.
Disclosure of Invention
An object of the utility model is to provide an intelligent movement formula ultraviolet sterilization robot.
The utility model discloses an intelligent mobile ultraviolet sterilization robot, which comprises an ultraviolet lamp tube bracket, an ultraviolet lamp tube group module, a push-pull rod, a protective cover, a vehicle tail lamp group, an obstacle avoidance module, a main control module, a motor, a remotely controllable vehicle body and a power supply; the method is characterized in that: the ultraviolet lamp tube bracket is fixedly arranged on the remote-controllable vehicle body, and an ultraviolet lamp tube group module is fixed on the ultraviolet lamp tube bracket; the power supply is connected with the ultraviolet lamp tube group module and the motor through wires and supplies power; the rear end of the remotely controllable vehicle body is provided with a vehicle tail lamp group and a push-pull rod; obstacle avoidance modules are arranged at the front end, two sides and the top end of the ultraviolet lamp tube bracket of the remote-controllable vehicle body; the main control module is respectively connected with the obstacle avoidance module and the motor through wires and is wirelessly connected with the remote controller; the bottom of the remotely controllable vehicle body is provided with universal wheels; the motor drives the screw rod and the universal wheel to move the vehicle body.
The ultraviolet lamp tube bracket comprises a telescopic bracket and a height adjusting rod; the height adjusting rod is fixed in height, the height adjusting rod is arranged on one side of the telescopic support, the top end of the height adjusting rod is fixed with the top end of the telescopic support, and the telescopic support is vertically limited. The ultraviolet lamp tube group modules are fixedly arranged at two sides of the ultraviolet lamp tube bracket.
The ultraviolet lamp tube group module comprises a clamping ring, a fixing piece and an ultraviolet lamp tube; the ultraviolet lamp tube group module is fixed on the ultraviolet lamp tube bracket through a clamping ring, and the ultraviolet lamp tube bracket is adjustable; the lamp holders of the ultraviolet lamp tubes are clamped into the fixing piece by the grooves for fixing.
Preferably, the fixing position of the ultraviolet lamp tube group module can be adjusted along the ultraviolet lamp tube adjusting bracket.
Preferably, the ultraviolet lamp tube support is of a retractable and detachable structure.
Preferably, the protective cover is stretchable.
Preferably, the obstacle avoidance module is an infrared obstacle avoidance module, an ultrasonic obstacle avoidance module or a laser radar obstacle avoidance module.
Preferably, the main control module adopts a STM32 singlechip minimum system board main control circuit.
Preferably, the remote controller of the vehicle body is wirelessly connected with the main control module through a wireless transmission module.
Preferably, the motor is a direct current motor; the power supply is powered by a battery or a power line.
The utility model discloses can have automatic route planning mode, tracking mode, three kinds of modes of manual control moving pattern: in an automatic path planning mode, a dynamic window algorithm is adopted to model the historical path of the trolley in real time in the travelling process of the trolley, and after multiple times of travelling in the same space, a travelable route in the whole area can be established, so that the optimal path is planned, and the disinfection efficiency is improved; in a tracking mode, light is emitted to a road surface through an infrared emission tube, reflected light is sent to a sensor and fed back to a main control module to adjust the speed direction; under the manual control mode, an operator realizes the functions of obstacle avoidance and speed regulation through a remote control device. The utility model discloses can remove by oneself under unmanned environment, prevent that disinfection personnel from being injured by the ultraviolet ray by mistake. Ultraviolet rays emitted by a lamp tube at the upper end of the vehicle body can sterilize and disinfect air at the top end of the space; ultraviolet rays emitted by the lamp tubes on the left side and the right side of the middle part of the vehicle body can respectively sterilize and disinfect air on the left side and the right side of the middle part of the space; the ultraviolet rays emitted by the lamp tubes at the lower end and the rear end of the vehicle body can sterilize and disinfect the space bottom and the ground in the driving process of the vehicle body. Therefore, the carriage of high-speed rail, subway and the like can be sterilized and disinfected in 360 degrees without dead angles, and the defect that the bottom area of the carriage cannot be sterilized and disinfected is avoided; can also be used for sterilization and disinfection treatment in GMP workshops, hospitals, kindergartens and other public places. The movable ultraviolet sterilization robot can be remotely controlled to move, is reasonable in design, can realize 360-degree omnibearing dead-angle-free sterilization, and can be applied to sterilization and disinfection of carriages of trains (high-speed rails, motor trains and common trains), subway carriages, automobile carriages, airplane cabins, medicine production GMP workshops, food production workshops, dining halls, hospitals, kindergartens, schools and other public places needing sterilization and disinfection.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a left side schematic structural diagram of embodiment 1 of the present invention.
FIG. 3 is a schematic structural diagram of the UV lamp module of FIG. 2;
FIG. 4 is a schematic structural view of the snap ring of FIG. 2;
FIG. 5 is a schematic structural view of the fixing member of FIG. 2;
fig. 6 is a schematic structural diagram of embodiment 2 of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1: as shown in fig. 1, an intelligent mobile ultraviolet sterilization robot comprises an ultraviolet lamp tube bracket 1, an ultraviolet lamp tube group module 2, a push-pull rod 3, a protective cover 4, a vehicle tail lamp group 5, an obstacle avoidance module 6, a main control module 7, a motor 8, a remotely controllable vehicle body 9 and a power supply 10; all components are provided on the remotely controllable car body 9.
The ultraviolet lamp tube bracket 1 is fixedly arranged on the remote control car body 9, and the ultraviolet lamp tube group module 2 is fixed on the ultraviolet lamp tube bracket 1 through a clamping ring; the power supply 10 is connected with the ultraviolet lamp tube group module 2 and the motor 8 through wires and supplies power; the rear end of the remotely-controllable vehicle body 9 is provided with a tail lamp group 5 and a push-pull rod 3, so that the vehicle body can be conveniently pushed to move; the front end and the two sides of the remotely-controllable vehicle body 9 and the top end of the ultraviolet lamp tube bracket 1 are respectively provided with an obstacle avoidance module 6; the main control module 7 is respectively connected with the obstacle avoidance module 6 and the motor 8 through electric wires, and the main control module 7 is wirelessly connected and transmitted with the remote controller through 2.4G; the bottom of the remote-controllable vehicle body 9 is provided with universal wheels; the motor 8 drives the screw rod and the universal wheel to move the vehicle body.
The ultraviolet lamp tube bracket 1 and the ultraviolet lamp tube group module 2 are of a retractable and detachable structure; the protection cover 4 can be stretched to cover and protect the ultraviolet lamp tube group module 2, so that the automobile body can be conveniently moved and stored.
The obstacle avoidance module selects infrared obstacle avoidance, ultrasonic obstacle avoidance or laser radar obstacle avoidance; the distance between the trolley and the barrier is detected by one of the three modes, when the distance reaches a set value, the main control module 7 sends a pulse to the motor so as to control the speed and the speed difference of the motor to carry out distance control and direction control, and the movement and the direction of the trolley are adjusted.
The main control module 7 can regulate and control the running speed and the running mode; the main control module 7 is connected with the obstacle avoidance module 6 and the motor 8 through electric wires respectively; the STM32 singlechip minimum system board main control circuit is adopted, and the singlechip sends electric pulses to the motor to control the speed of the motor, thereby controlling the moving speed of the vehicle body. The information of the obstacle avoidance module 6 is fed back to the main control module 7, and the main control module 7 sends a pulse instruction to the motor 8 to change the running speed direction of the vehicle body.
And a transmission module between a remote controller of the vehicle body and the main control module 7 adopts a 2.4G wireless transmission module, so that parameter adjustment and mode switching are carried out. The motor of the vehicle body is driven by a direct current motor. The power supply 10 is powered by a battery or a power line;
as shown in fig. 2 to 5, the ultraviolet lamp module 2 comprises a snap ring 1-1, a fixing member 1-2, and an ultraviolet lamp; the bracket 1 fixes the ultraviolet lamp tube group module 2 on the bracket through the snap ring 1-1, the fixing position is adjustable, and the height of the bracket is adjustable; the lamp caps of the ultraviolet lamp tubes 1-4 are clamped into the fixing pieces 1-2 by the grooves for fixing, the number of the ultraviolet lamp tube group modules can be increased or decreased according to actual needs, and the number of the lamp tubes in each ultraviolet lamp tube group module can be increased or decreased according to actual needs.
In embodiment 2, the rest of the structure is the same as that of embodiment 1, and the difference is shown in fig. 6, wherein the ultraviolet lamp tube bracket 1 is composed of a telescopic bracket and height adjusting rods 1-3; the height adjusting rods 1-3 are used for fixing the height, and the height adjusting rods 1-3 are arranged on one sides of the telescopic supports and are used for fixing the height of the upper telescopic support 1 and the lower telescopic support 1. Ultraviolet lamp tube group modules are respectively fixed on two sides of the ultraviolet lamp tube bracket 1.
The vehicle body can run in three modes: automatic path planning mode, tracking mode, and manual control mode. One mode can be selected, or three modes can coexist and can be switched. The remote controller sends an instruction to the main control module 7, the main control module 7 receives a signal to cause level change, and the set mode conversion is triggered to realize mode switching.
The working principle and the process are as follows:
the method is characterized in that the method specifically comprises the following steps of: turning on a power supply, entering a remote control mode after starting up, and moving the device into a sterilization place by an operator; setting a remote controller, switching to an automatic path planning mode, entering a sterilization place for the first time, carrying out mobile scanning on the sterilization place by the vehicle body, returning to an initial point, turning on an ultraviolet lamp set, and carrying out mobile sterilization on the vehicle body by using an optimal mobile path; finishing sterilization; setting a main control module, switching to a remote control mode, and moving to a storage place by an operator; shutting down;
the specific use process for GMP workshops, canteens, kitchens and the like is as follows: turning on a power supply, entering a remote control mode after starting up, and moving the device into a sterilization place by an operator; setting a remote controller and switching to a tracking mode; the ultraviolet lamp set is turned on, and the vehicle body is sterilized in a moving mode according to the mark of the ground; finishing sterilization; setting a main control module, switching to a remote control mode, and moving to a storage place by an operator; and (5) shutting down.
The utility model discloses the disinfection experiment that disinfects has been carried out in the subway carriage, and the experimental result reaches national disinfection standard.
The above, only do the specific implementation manner of the present invention, but the protection scope of the present invention is not limited to this, and the present invention can increase or decrease the number of the ultraviolet lamp tubes according to the actual use condition. Any changes or substitutions which are not imaginable by the inventive work are intended to be covered by the scope of protection of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (9)
1. The intelligent mobile ultraviolet sterilization robot comprises an ultraviolet lamp tube bracket, an ultraviolet lamp tube group module, a push-pull rod, a protective cover, a vehicle tail lamp group, an obstacle avoidance module, a main control module, a motor, a remotely controllable vehicle body and a power supply; the method is characterized in that: the ultraviolet lamp tube bracket is fixedly arranged on the remote-controllable vehicle body, and an ultraviolet lamp tube group module is fixed on the ultraviolet lamp tube bracket; the power supply is connected with the ultraviolet lamp tube group module and the motor through wires and supplies power; the rear end of the remotely controllable vehicle body is provided with a vehicle tail lamp group and a push-pull rod; obstacle avoidance modules are arranged at the front end, two sides and the top end of the ultraviolet lamp tube bracket of the remote-controllable vehicle body; the main control module is respectively connected with the obstacle avoidance module and the motor through wires and is wirelessly connected with the remote controller; the bottom of the remotely controllable vehicle body is provided with universal wheels; the motor drives the screw rod and the universal wheel to move the vehicle body.
2. The intelligent mobile ultraviolet sterilization robot of claim 1, wherein: the ultraviolet lamp tube bracket comprises a telescopic bracket and a height adjusting rod; the height adjusting rod is used for fixing the height, the height adjusting rod is arranged on one side of the telescopic bracket, and the top end of the height adjusting rod is fixed with the top end of the telescopic bracket to vertically limit the telescopic bracket; the ultraviolet lamp tube group modules are fixedly arranged at two sides of the ultraviolet lamp tube bracket.
3. The intelligent mobile ultraviolet sterilization robot of claim 1 or 2, wherein: the ultraviolet lamp tube group module comprises a clamping ring, a fixing piece and an ultraviolet lamp tube; the ultraviolet lamp tube group module is fixed on an ultraviolet lamp tube bracket through a snap ring 1-1, and the ultraviolet lamp tube bracket is adjustable; the lamp holders of the ultraviolet lamp tubes are clamped into the fixing piece by the grooves for fixing.
4. The intelligent mobile ultraviolet sterilization robot of claim 3, wherein: the fixing position of the ultraviolet lamp tube group module can be adjusted along the ultraviolet lamp tube adjusting bracket.
5. The intelligent mobile ultraviolet sterilization robot of claim 3, wherein: the ultraviolet lamp tube bracket is of a retractable and detachable structure.
6. The intelligent mobile ultraviolet sterilization robot of claim 1, wherein: the protective cover is stretchable.
7. The intelligent mobile ultraviolet sterilization robot of claim 1, wherein: the obstacle avoidance module adopts infrared obstacle avoidance, ultrasonic obstacle avoidance or laser radar obstacle avoidance.
8. The intelligent mobile ultraviolet sterilization robot of claim 1, wherein: the main control module adopts a STM32 singlechip minimum system board main control circuit.
9. The intelligent mobile ultraviolet sterilization robot of claim 1, wherein: the motor is a direct current motor; the power supply is powered by a battery or a power line.
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| CN201822251774.8U CN209933559U (en) | 2018-12-29 | 2018-12-29 | Intelligent mobile type ultraviolet sterilization robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822251774.8U CN209933559U (en) | 2018-12-29 | 2018-12-29 | Intelligent mobile type ultraviolet sterilization robot |
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| CN209933559U true CN209933559U (en) | 2020-01-14 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166913A (en) * | 2020-02-26 | 2020-05-19 | 美利康(苏州)光电科技有限公司 | Movable type closed sterilization cabin |
| CN111214675A (en) * | 2020-03-10 | 2020-06-02 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle |
| CN111298155A (en) * | 2020-03-31 | 2020-06-19 | 北京汉希工业科技有限公司 | Intelligence ultraviolet passenger cabin degassing unit |
| CN111821480A (en) * | 2020-08-06 | 2020-10-27 | 苏州合光智控科技有限公司 | Short wave ultraviolet sterilization intelligent mobile device |
| CN111938520A (en) * | 2020-08-21 | 2020-11-17 | 北京石头世纪科技股份有限公司 | Floor sweeping robot and ultraviolet disinfection method thereof |
| CN112274665A (en) * | 2020-09-30 | 2021-01-29 | 江苏祥祐医疗器械有限公司 | Disinfection robot based on remote communication technology and control system thereof |
| CN114259580A (en) * | 2021-12-27 | 2022-04-01 | 杭州电子科技大学 | Mobile sterilization robot |
| CN114848867A (en) * | 2022-06-16 | 2022-08-05 | 上海莱陆科技有限公司 | Composite disinfection robot used in high-speed rail and subway carriage |
| CN111214675B (en) * | 2020-03-10 | 2024-10-25 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle |
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2018
- 2018-12-29 CN CN201822251774.8U patent/CN209933559U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111166913A (en) * | 2020-02-26 | 2020-05-19 | 美利康(苏州)光电科技有限公司 | Movable type closed sterilization cabin |
| CN111214675A (en) * | 2020-03-10 | 2020-06-02 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle |
| CN111214675B (en) * | 2020-03-10 | 2024-10-25 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle |
| CN111298155A (en) * | 2020-03-31 | 2020-06-19 | 北京汉希工业科技有限公司 | Intelligence ultraviolet passenger cabin degassing unit |
| CN111821480A (en) * | 2020-08-06 | 2020-10-27 | 苏州合光智控科技有限公司 | Short wave ultraviolet sterilization intelligent mobile device |
| CN111821480B (en) * | 2020-08-06 | 2021-11-09 | 苏州合光智控科技有限公司 | Short wave ultraviolet sterilization intelligent mobile device |
| CN111938520A (en) * | 2020-08-21 | 2020-11-17 | 北京石头世纪科技股份有限公司 | Floor sweeping robot and ultraviolet disinfection method thereof |
| CN112274665A (en) * | 2020-09-30 | 2021-01-29 | 江苏祥祐医疗器械有限公司 | Disinfection robot based on remote communication technology and control system thereof |
| CN114259580A (en) * | 2021-12-27 | 2022-04-01 | 杭州电子科技大学 | Mobile sterilization robot |
| CN114848867A (en) * | 2022-06-16 | 2022-08-05 | 上海莱陆科技有限公司 | Composite disinfection robot used in high-speed rail and subway carriage |
| CN114848867B (en) * | 2022-06-16 | 2024-04-26 | 上海莱陆科技有限公司 | Composite disinfection robot used in high-speed rail and subway carriage |
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