CN212817306U - Intelligent disinfection service robot - Google Patents
Intelligent disinfection service robot Download PDFInfo
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- CN212817306U CN212817306U CN202020765056.7U CN202020765056U CN212817306U CN 212817306 U CN212817306 U CN 212817306U CN 202020765056 U CN202020765056 U CN 202020765056U CN 212817306 U CN212817306 U CN 212817306U
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Abstract
The utility model relates to the technical field of intelligent disinfection devices, in particular to an intelligent disinfection and sterilization service robot; the body is divided into a front part and a rear part which are independent, and a sterilization system is arranged at the rear part of the body; the front part of the body is divided into an upper layer, a middle layer and a lower layer, the lower layer of the front part of the body is provided with a power supply module, the middle layer of the front part of the body is provided with a master control system, and the upper layer of the front part of the body is provided with an environment sensing system; the main control system is respectively connected with the walking chassis, the power supply module, the killing system and the environment sensing system, and a navigation module and a human-computer interaction module are loaded on the main control system; the utility model discloses rational in infrastructure, multiple obstacle topography can be overcome on the walking chassis, and the robot disposes environmental perception system, and the host system is gone up and is carried navigation module and human-computer interaction module, and whole intelligent degree is high, and the system flexibility of killing, coverage are big, and the function is perfect.
Description
Technical Field
The utility model relates to an intelligence degassing unit technical field specifically indicates an intelligence disinfection service robot.
Background
The sterilizing robot generally comprises a walking platform, a sterilizing agent spraying system and a control mechanism, and is mainly used for automatically sterilizing environment and equipment through sterilizing and spraying, so that the manual input is reduced, and the injury of the sterilizing agent to personnel is avoided. The existing sterilizing robot has a plurality of problems in use, such as: firstly, the mobile walking mechanism has high requirement on the environment and poor mobile performance; secondly, the degree of intellectualization is low, and more manual settings and manual participation are needed during the implementation of work; the sterilization mode is fixed, and dead angles of sterilization are not comprehensive; fourthly, the function is relatively single, open-loop instruction killing is carried out on the viruses and the bacteria, the detection of the viruses and the bacteria in the environment cannot be realized, and then the killing strategy is adjusted.
The reason for this is that: the walking moving mechanism of the existing disinfection robot is unreasonable in design, and more moving walking wheels are adopted for improving the stability of walking movement, so that the tilting walking failure of the driving wheel is easily caused. The robot is designed to simply replace a human to carry out environmental disinfection and sterilization, and the autonomy and intelligence of the robot in the environment are not fully considered. The disinfection and sterilization means is too simple, the disinfection and sterilization mechanism lacks flexibility, and the disinfection and sterilization range is smaller. The disinfection and sterilization robot has poor environment detection function, needs to manually acquire environmental data in advance and then sets a fixed disinfection and sterilization mode.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a but rational in infrastructure intelligence decision-making, kill and kill effectual intelligent disinfection service robot to prior art's defect with not enough.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model relates to an intelligent disinfection and sterilization service robot, which comprises a walking chassis and a body carried on the walking chassis, wherein the body is divided into two parts which are independent from the front and the back, and the back part of the body is provided with a disinfection and sterilization system; the front part of the body is divided into an upper layer, a middle layer and a lower layer, the lower layer of the front part of the body is provided with a power supply module, the middle layer of the front part of the body is provided with a master control system, and the upper layer of the front part of the body is provided with an environment sensing system; the main control system is respectively connected with the walking chassis, the power supply module, the killing system and the environment sensing system, and the main control system is provided with a navigation module and a human-computer interaction module.
According to the scheme, the sterilization system comprises a water tank, a water pump, a spray head and a driving motor, wherein the water tank is connected with the water pump through a pipeline, and a water inlet of the water tank is formed in the top of the body; the driving motor is provided with a swing pipe, one end of the swing pipe is connected with the water pump, the other end of the swing pipe is provided with a plurality of spray heads, the spray heads are erected outside the body through the swing pipe, and the water pump and the driving motor are respectively electrically connected with the master control system.
According to the scheme, the sterilizing system further comprises an air channel, the air channel is arranged in the upper layer space of the front portion of the body, the two ends of the air channel are respectively provided with the air inlet fan and the air outlet fan, the air channel is internally provided with the ozone generator and the ultraviolet sterilizing lamp, the ozone generator, the air inlet fan and the air outlet fan are respectively and electrically connected with the main control system.
According to the scheme, the two sides of the bottom surface of the walking chassis are provided with walking wheels, the rear end of the bottom surface of the walking chassis is provided with a grounded universal driven wheel, and the front end of the bottom surface of the walking chassis is provided with a suspended universal driven wheel; a hub servo motor is arranged in the lower layer of the front part of the body, and an output shaft of the hub servo motor is connected with the two walking wheels respectively.
According to the scheme, the navigation module comprises an RFID landmark reader, a magnetic stripe navigation sensor, a laser radar sensor and a landmark, wherein the RFID landmark reader and the magnetic stripe navigation sensor are respectively arranged on the bottom surface of the walking chassis; the laser radar sensor, the RFID landmark reader and the magnetic stripe navigation sensor are respectively and electrically connected with the master control system; the landmarks include RFID landmarks and magnetic stripe landmarks located on the floor of the work environment.
According to the scheme, the environment sensing system comprises N infrared obstacle avoidance sensors and M ultrasonic obstacle avoidance sensors, the N infrared obstacle avoidance sensors and the M ultrasonic obstacle avoidance sensors are respectively arranged on the front portion of the body to form a detection array, and the N infrared obstacle avoidance sensors and the M ultrasonic obstacle avoidance sensors are respectively electrically connected with the main control system; the environment perception system further comprises a smoke induction sensor, a human body detection sensor, an PM. concentration sensor, a PM0 concentration sensor, an air microorganism content sensor, a formaldehyde concentration sensor, an air temperature sensor, an air humidity sensor and an indoor organic gaseous substance concentration sensor which are arranged on the surface of the main body respectively, and a plurality of sensors of the environment perception system are all electrically connected with the main control system.
According to the scheme, the main control system comprises an intelligent decision-making industrial computer, a main control single chip microcomputer system and a slave control single chip microcomputer system, the human-computer interaction module comprises a human-computer interaction touch display screen, an airborne working operation button and a robot emergency stop button which are arranged on a front panel of the main body, the human-computer interaction module further comprises a remote control transceiver and an external remote controller, and the remote control transceiver is connected with the main control system.
The utility model discloses beneficial effect does: the utility model discloses rational in infrastructure, multiple obstacle topography can be overcome on the walking chassis, and the robot disposes environmental perception system, and the host system is gone up and is carried navigation module and human-computer interaction module, and whole intelligent degree is high, and the system flexibility of killing, coverage are big, and the function is perfect.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
In the figure:
1. a walking chassis; 2. a body; 3. a killing system; 11. a traveling wheel; 12. a landing universal driven wheel; 13. a suspended universal driven wheel; 14. a hub servo motor; 21. a power supply module; 22. a master control system; 23. a laser radar sensor; 24. an infrared obstacle avoidance sensor; 25. an ultrasonic obstacle avoidance sensor; 26. a man-machine interaction touch display screen; 27. a robot emergency stop button; 28. an onboard work operation button; 31. a water tank; 32. a spray head; 33. a drive motor; 34. a swing pipe; 35. an air duct; 36. an air intake fan; 37. an exhaust fan; 38. an ultraviolet disinfection lamp; 39. a water inlet.
Detailed Description
The technical solution of the present invention will be described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the intelligent robot for disinfection and sterilization of the present invention comprises a walking chassis 1 and a body 2 mounted on the walking chassis 1, wherein the body 2 is divided into two parts which are independent from each other, and a disinfection and sterilization system 3 is arranged at the rear part of the body 2; the front part of the body 2 is divided into an upper layer, a middle layer and a lower layer, the lower layer of the front part of the body 2 is provided with a power supply module 21, the middle layer of the front part of the body 2 is provided with a main control system 22, and the upper layer of the front part of the body 2 is provided with an environment sensing system; the main control system 22 is respectively connected with the walking chassis 1, the power module 21, the killing system 3 and the environment sensing system, and the main control system 22 is provided with a navigation module and a human-computer interaction module.
The sterilizing system 3 comprises a water tank 31, a water pump, a spray head 32 and a driving motor 33, wherein the water tank 31 is connected with the water pump through a pipeline, and a water inlet 39 of the water tank 31 is formed in the top of the body 2; the driving motor 33 is provided with a swing pipe 34, one end of the swing pipe 34 is connected with the water pump, the other end of the swing pipe 34 is provided with a plurality of spray heads 32, the spray heads 32 are erected outside the body 2 through the swing pipe 34, and the water pump and the driving motor 33 are respectively electrically connected with the main control system 22.
The sterilizing system 3 further comprises an air duct 35, the air duct 35 is arranged in the upper space of the front part of the body 2, an air inlet fan 36 and an air outlet fan 37 are respectively arranged at two ends of the air duct 35, an ozone generator and an ultraviolet sterilizing lamp 38 are arranged in the air duct 35, and the ultraviolet sterilizing lamp 38, the ozone generator, the air inlet fan 36 and the air outlet fan 37 are respectively and electrically connected with the main control system 22.
The navigation module comprises an RFID landmark reader, a magnetic stripe navigation sensor, a laser radar sensor 23 and a landmark, wherein the RFID landmark reader and the magnetic stripe navigation sensor are respectively arranged on the bottom surface of the walking chassis 1; the laser radar sensor 23 is arranged on the top surface of the body 2, and the laser radar sensor 23, the RFID landmark reader and the magnetic stripe navigation sensor are respectively and electrically connected with the main control system 22; the landmarks include RFID landmarks and magnetic stripe landmarks located on the floor of the work environment.
The environment sensing system comprises N infrared obstacle avoidance sensors 24 and M ultrasonic obstacle avoidance sensors 25, the N infrared obstacle avoidance sensors 24 and the M ultrasonic obstacle avoidance sensors 25 are respectively arranged at the front part of the body 2 to form a detection array, and the N infrared obstacle avoidance sensors 24 and the M ultrasonic obstacle avoidance sensors 25 are respectively electrically connected with the main control system 22; the environment sensing system further comprises a smoke induction sensor, a human body detection sensor, a PM2.5 concentration sensor, a PM10 concentration sensor, an air microorganism content sensor, a formaldehyde concentration sensor, an air temperature sensor, an air humidity sensor and an indoor organic gaseous substance concentration sensor which are arranged on the surface of the main body respectively, and a plurality of sensors of the environment sensing system are all electrically connected with the main control system 22.
The main control system 22 consists of an intelligent decision-making industrial computer, a main control single chip microcomputer system and a slave control single chip microcomputer system, the human-computer interaction module comprises a human-computer interaction touch display screen 26, an airborne working operation button 28 and a robot emergency stop button 27 which are arranged on a front panel of the main body, the human-computer interaction module further comprises a remote control transceiver and an external remote controller, and the remote control transceiver is connected with the main control system 22.
The utility model discloses an adopt bimodulus structure around, function coupling around this kind of structure can reduce can avoid the disappearing at 2 rear portions of body to kill chemical agent and spray the corruption influence to front end electronic part, can reduce the influence that front end electromagnetic infection decomposed chemical agent again. The body adopts three-layer structure from top to bottom, and the function is washd, makes things convenient for processing production and maintenance. The robot power adopts modularization power supply system, makes things convenient for production and processing and electric wiring, and power module 21 carries voltage monitoring direct monitoring battery voltage, and voltage measurement is accurate, provides the basis for the meticulous management of robot power, and battery charging detects and adopts hall sensor to detect charging current, and this mode detects quick accurate, makes things convenient for the robot automatic charging. The utility model provides a running gear of robot is the four-wheel structure, including two walking wheels, one land the universal driving wheel, a unsettled universal driving wheel of following, two walking wheels that this kind of structure can keep the robot land constantly with ground, guarantee the differential type walking ability of robot, the walking wheel is not skidded, the walking is stable. The travelling mechanism adopts a hub servo motor, and compared with the traditional mode that a speed reducer is added to the servo motor, the travelling mechanism can reduce the weight, reduce the cost and is convenient to produce and install. The servo driver adopts two unification integral type low pressure servo drivers, is of value to the lightweight, reduces the electric energy loss, extension robot operating time. The navigation system composed of the RFID landmark reader, the magnetic stripe navigation sensor, the laser radar sensor 23, the RFID landmark and the magnetic stripe landmark can conveniently realize the all-dimensional navigation of large range, high dynamic, any space structure and any terrain and ground with low cost. The robot disinfection chemical agent sprinkling system sprays simultaneously by many shower nozzles, can spray the angle through the upper and lower adjustment of driving motor 33 control cloud platform developments simultaneously, and it is big to spray the scope, sprays the dead angle and is few, and the live time is long after the disposable medicine of irritating, and the robot provides the basis for the automatic medicine that adds of robot fills through dose sensor real-time supervision medicament use amount. The ultraviolet disinfection system and the ozone disinfection system of the robot are positioned in independent closed shading spaces, and an air circulation system is arranged in the same space, so that the damage of ultraviolet rays and ozone to human bodies and animals can be reduced, and the real-time dynamic circulation of air can be guaranteed to receive disinfection and sterilization. The robot installs smog inductive sensor additional, PM2.5 concentration sensor, PM10 concentration sensor, air microorganism content sensor, formaldehyde concentration sensor, air temperature sensor, air humidity transducer, indoor organic gaseous substance concentration sensor etc. can provide abundant ambient air information, and then for the robot aassessment air instruction, independently decide to disinfect the mode and provide the basis, on the other hand, the function of robot has also been richened to these sensors. The intelligent decision-making industrial computer, the master control single-chip microcomputer system, the slave control single-chip microcomputer system and the like in the robot control decision-making system are high in modularization degree, strong in computing capability and clear in task allocation, and the robot-computer interaction system is convenient for personnel to operate.
The above is only the preferred embodiment of the present invention, so all the equivalent changes or modifications made by the structure, features and principles in accordance with the claims of the present invention are included in the claims of the present invention.
Claims (7)
1. The utility model provides an intelligence disinfection and isolation service robot, includes walking chassis (1) and carries body (2) on walking chassis (1), its characterized in that: the body (2) is divided into two parts which are independent from the front and the back, and a sterilizing system (3) is arranged at the back part of the body (2); the front part of the body (2) is divided into an upper layer, a middle layer and a lower layer, the lower layer of the front part of the body (2) is provided with a power supply module (21), the middle layer of the front part of the body (2) is provided with a master control system (22), and the upper layer of the front part of the body (2) is provided with an environment sensing system; the main control system (22) is respectively connected with the walking chassis (1), the power supply module (21), the killing system (3) and the environment sensing system, and the main control system (22) is provided with a navigation module and a human-computer interaction module.
2. The intelligent disinfection and sterilization service robot of claim 1, wherein: the sterilizing system (3) comprises a water tank (31), a water pump, a spray head (32) and a driving motor (33), the water tank (31) is connected with the water pump through a pipeline, and a water inlet (39) of the water tank (31) is formed in the top of the body (2); be equipped with on driving motor (33) and sway pipe (34), the one end and the water pump of sway pipe (34) are connected, are equipped with a plurality of shower nozzles (32) on the other end of sway pipe (34), and a plurality of shower nozzles (32) erect the outside of locating body (2) through sway pipe (34), water pump and driving motor (33) are connected with major control system (22) electricity respectively.
3. The intelligent disinfection and sterilization service robot of claim 1, wherein: the sterilizing system (3) further comprises an air duct (35), the air duct (35) is arranged in the upper space of the front portion of the body (2), an air inlet fan (36) and an air exhaust fan (37) are arranged at two ends of the air duct (35) respectively, an ozone generator and an ultraviolet sterilizing lamp (38) are arranged in the air duct (35), and the ultraviolet sterilizing lamp (38), the ozone generator, the air inlet fan (36) and the air exhaust fan (37) are electrically connected with the main control system (22) respectively.
4. The intelligent disinfection and sterilization service robot of claim 1, wherein: the walking wheels (11) are arranged on two sides of the bottom surface of the walking chassis (1), the grounded universal driven wheel (12) is arranged at the rear end of the bottom surface of the walking chassis (1), and the suspended universal driven wheel (13) is arranged at the front end of the bottom surface of the walking chassis (1); a hub servo motor (14) is arranged in the lower layer of the front part of the body (2), and an output shaft of the hub servo motor (14) is connected with the two walking wheels (11) respectively.
5. The intelligent disinfection and sterilization service robot of claim 1, wherein: the navigation module comprises an RFID landmark reader, a magnetic stripe navigation sensor, a laser radar sensor (23) and a landmark, and the RFID landmark reader and the magnetic stripe navigation sensor are respectively arranged on the bottom surface of the walking chassis (1); the laser radar sensor (23) is arranged on the top surface of the body (2), and the laser radar sensor (23), the RFID landmark reader and the magnetic stripe navigation sensor are respectively and electrically connected with the master control system (22); the landmarks include RFID landmarks and magnetic stripe landmarks located on the floor of the work environment.
6. The intelligent disinfection and sterilization service robot of claim 1, wherein: the environment sensing system comprises N infrared obstacle avoidance sensors (24) and M ultrasonic obstacle avoidance sensors (25), the N infrared obstacle avoidance sensors (24) and the M ultrasonic obstacle avoidance sensors (25) are respectively arranged at the front part of the body (2) to form a detection array, and the N infrared obstacle avoidance sensors (24) and the M ultrasonic obstacle avoidance sensors (25) are respectively electrically connected with the main control system (22); the environment sensing system further comprises a smoke induction sensor, a human body detection sensor, a PM2.5 concentration sensor, a PM10 concentration sensor, an air microorganism content sensor, a formaldehyde concentration sensor, an air temperature sensor, an air humidity sensor and an indoor organic gaseous substance concentration sensor which are arranged on the surface of the main body respectively, and a plurality of sensors of the environment sensing system are all electrically connected with the main control system (22).
7. The intelligent disinfection and sterilization service robot of claim 1, wherein: the main control system (22) is composed of an intelligent decision-making industrial computer, a main control single chip microcomputer system and a slave control single chip microcomputer system, the human-computer interaction module comprises a human-computer interaction touch display screen (26), an airborne working operation button (28) and a robot emergency stop button (27) which are arranged on a front panel of the main body, the human-computer interaction module further comprises a remote control transceiver and an external remote controller, and the remote control transceiver is connected with the main control system (22).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020765056.7U CN212817306U (en) | 2020-05-11 | 2020-05-11 | Intelligent disinfection service robot |
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| CN202020765056.7U CN212817306U (en) | 2020-05-11 | 2020-05-11 | Intelligent disinfection service robot |
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| CN212817306U true CN212817306U (en) | 2021-03-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069579A (en) * | 2021-03-31 | 2021-07-06 | 广州大学 | Movable intelligent killing device |
| CN113157025A (en) * | 2021-04-09 | 2021-07-23 | 厦门大学 | Intelligent robot device based on dark ultraviolet disappears and kills |
-
2020
- 2020-05-11 CN CN202020765056.7U patent/CN212817306U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069579A (en) * | 2021-03-31 | 2021-07-06 | 广州大学 | Movable intelligent killing device |
| CN113157025A (en) * | 2021-04-09 | 2021-07-23 | 厦门大学 | Intelligent robot device based on dark ultraviolet disappears and kills |
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