KR101724447B1 - UV Sanitizing Robotic Device - Google Patents

UV Sanitizing Robotic Device Download PDF

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KR101724447B1
KR101724447B1 KR1020150159918A KR20150159918A KR101724447B1 KR 101724447 B1 KR101724447 B1 KR 101724447B1 KR 1020150159918 A KR1020150159918 A KR 1020150159918A KR 20150159918 A KR20150159918 A KR 20150159918A KR 101724447 B1 KR101724447 B1 KR 101724447B1
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South Korea
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ultraviolet
sterilizing
disinfection
ultraviolet light
robot
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KR1020150159918A
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Korean (ko)
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이수태
이수규
육근재
진성재
최용기
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주식회사 파나시아
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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
    • A61L2/24—Apparatus using programmed or automatic operation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • A61L2202/11—Apparatus for generating biocidal substances, e.g. vaporisers, UV lamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/10—Apparatus features
    • A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
    • A61L2202/20—Targets to be treated
    • A61L2202/25—Rooms in buildings, passenger compartments

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Epidemiology (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)

Abstract

The present invention relates to an ultraviolet sterilizing apparatus for sterilizing an object to be sterilized by emitting unidirectional ultraviolet light and a body for supporting the ultraviolet sterilizing apparatus and reading a rectangular area in which ultraviolet light can not reach, And a sterilizing schedule module for mapping the ultraviolet sterilization range to the space map as a basis and detecting a rectangular area that is not sterilized due to the ultraviolet light not reaching the space map. To a sterilizing robot.

Figure 112015110952761-pat00001

Description

{UV Sanitizing Robotic Device}

The present invention relates to a method for sterilizing ultraviolet rays and sterilizing ultraviolet light by sterilizing a sterilized rectangular area reading and autonomous moving ultraviolet sterilizing robot to sterilize dead bacteria / Robot.

The sterilization system may be designed to dispense a sterile medium to neutralize or kill various microorganisms present on the surface of the subject to be sterilized. Sterilization systems can be applied for sterilization, disinfection, and decontamination of air. Particularly, air / space contamination purification can be applied to animal husbandry, hospital room, operating room, It can be used for sterilizing various spaces and objects required.

Air / space pollution control systems are used to uniformly dispense a sterilizing medium (ex (ultraviolet light)) over a wide range of areas, which apart from being able to achieve uniform sterilization efficiency over a wide area, It is difficult to get the effect. Particularly, in the case of sterilization system which can be sensitive to the degree of disinfection, intensive sterilization effect on specific space (ex, operation room), specific object (ex, surgical instrument, treatment apparatus) .

On the other hand, although modern medical environment has developed new antibiotics, use of various disinfectants and wearing protective gears have been strengthened, the immune function of patients has been lowered due to the development of anti-cancer therapy and the use of immunosuppressive drugs, Infections of various microorganisms are continuously increasing inside and outside the hospital. In addition, frequent outbreaks of pandemic variant viruses have also increased the incidence of internal and external virus infections.

In particular, infections in hospitals can degrade the quality of medical care, delay treatment of patients, and, in serious cases, lead to death. This can lead to various social problems such as economic loss throughout society and passive response of medical staff to patients caused by legal disputes.

In most countries, hospital disinfection has been standardized as "manual cleaning" with approved disinfectants and manpower. In order to maintain a certain level of disinfection effect, continuous equipment reinforcement and Environmental Management Service (EMS) staff Education and supervision are required. However, since the manual cleaning is disinfection by manpower, there is a problem that the disinfection ability and efficiency are different at the time of disinfection, and the disinfection cost due to the use of manpower is increased. In addition, manual cleaning can only be performed on visible floors and bedding, and there is a limit to sterilization of floating viruses in the air.

In Korea, there has been a serious problem in the hospital infection of viruses such as the Middle East Respiratory Syndrome (MERS). However, most hospitals still do not have the hands of the disinfectant by carrying out the viral or bacterial protection work by primitive methods by manpower Pathogens remained in square areas such as beds and floors, and the resulting viruses spread to hospitals in a national emergency called the spread of infections, leading to serious economic and social problems.

On the other hand, in some foreign countries, the use of equipment such as ultraviolet sterilization robots has been shown to have a great effect in preventing infection of pathogenic bacteria in hospitals. In recent years, MERS and Ebola virus infections have occurred in the United States, but unlike Korea, they have succeeded in early prevention, thereby preventing further patient outbreaks and stabilizing MERS and Ebola. Some experts have noted that equipment such as ultraviolet sterilization robots contributed greatly.

The effectiveness of ultraviolet light (UV) for the sterilization of viruses and other pathogens has been disclosed in various papers and prior art. However, since the human body is exposed to ultraviolet rays (UV), it is possible to cause various problems due to the human being having the ultraviolet (UV) device directly. In the case of the ultraviolet sterilizing robot used in some foreign countries, It is necessary to construct an infection prevention system that sterilizes viruses and the like, and disinfects viruses inside and outside the hospital by mounting them in a device such as an ultraviolet sterilizing robot or the like. In addition, UV-sterilization robot using ultraviolet (UV) can provide a systematic disinfection system that can provide the effect of 'space disinfection' (disinfection of airborne pathogens).

Accordingly, researches on air / space pollution purification systems and devices capable of effectively sterilizing viruses and other microorganisms in a wide range in a short time by using ultraviolet discharge lamp devices, sterilizing devices, and the like have been conducted in some foreign countries.

[Prior Patent Literature]

Korean Patent Laid-Open Publication No. 10-2014-0051219 "A system for determining operating parameters and disinfection schedules of an ultraviolet discharge lamp apparatus and a sterilizing apparatus having one or more reflectors"

However, the conventional ultraviolet discharge lamp apparatus and the sanitizer apparatus disclose a reflector system including a conical reflector on a vertically disposed discharge lamp, and suggest a configuration for dispersing ultraviolet rays to a wide range for the purpose of 'space sterilization'. That is, the conventional ultraviolet discharge lamp device and the sanitizer are intended to be applied to disinfecting the entire object and the area / space (contamination purification, sterilization, etc.), and are not configured to generate light of a narrow beam for a small object .

In this case, the light source may be injected in four directions by adjusting the vertical direction of the conical reflector on the vertically arranged discharge lamp. However, since the light source can not be moved due to restriction of the direction of the light source, There was a problem.

Conventional ultraviolet discharge lamp devices and sterilizer devices have a disadvantage in that the intensity of a light source is weak and the concentration of a light source is difficult to be focused on some specific objects due to the technical contents for reflecting a light source over a wide range. And the disinfecting efficiency can not be obtained.

In addition, the conventional ultraviolet discharge lamp unit and the sterilizer unit are manually positioned by a person, and if they are sterilized for a certain range, they must be transported to a region that is not manually sterilized again by a person, The disinfection operation was performed so as not to be exposed to water, the disinfection operation was carried out by the person after the operation was stopped, the disinfection operation was performed again, and the operation was carried out by the person after the operation was stopped.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art,

An object of the present invention is to provide an ultraviolet sterilizing robot capable of providing a thorough disinfection system for a disinfection space by including an integrated controller for reading a rectangular area that ultraviolet light does not reach by itself and determining operation parameters and performing a disinfecting operation .

It is another object of the present invention to provide an ultraviolet sterilizing robot capable of providing a thorough disinfection system for sterilization space by including an integrated control unit for reading out a remote rectangle area in which ultraviolet light does not reach and disposing itself for disinfecting the area, .

It is still another object of the present invention to provide a display device including a reflector having a quasi-cylindrical shape that encloses a lamp portion for generating ultraviolet light in a longitudinal direction, and the reflector induces redirection so that ultraviolet light emitted from the lamp portion is unidirectionally emitted The present invention provides an ultraviolet sterilizing apparatus capable of providing an intensive sterilizing effect because ultraviolet light can be concentrated and emitted to a multi-contact region by providing an ultraviolet sterilizing apparatus.

It is a further object of the present invention to provide a lamp unit that includes a support portion vertically disposed in a longitudinal direction perpendicular to a body and movable in a vertical direction and in a first rotation direction so that the support portion rotates in the vertical direction or in the first rotation direction, So that the ultraviolet light can be concentrated and emitted in the multi-contact area having high bacterial density. Therefore, ultraviolet sterilization A robot is provided.

It is still another object of the present invention to provide an ultraviolet sterilizing apparatus that includes a plurality of lamp portions radially positioned in a uniformly divided region of the same plane, The present invention provides an ultraviolet sterilizing robot capable of providing a full range of disinfection effect for a 360-degree area in a certain height range even if the robot does not rotate 360 ° in the rotation direction.

It is a further object of the present invention to provide a lamp unit and a support unit which can be rotated in a second rotation direction by connecting the lamp unit and the support unit. The lamp unit is connected to a connecting portion rotatable at an arbitrary angle, It is possible to provide an ultraviolet sterilizing robot capable of providing a full range sterilizing effect on a sterilizing space.

Still another object of the present invention is to provide a disinfection apparatus and a disinfection apparatus which are mounted on a vertically upper end portion of a lamp unit and photograph a disinfection object and a disinfection area located in a multi-contact area and a rectangular area and collecting image information, The present invention provides an ultraviolet sterilizing robot which can more completely sterilize an insufficient area for a disinfection area by visually confirming the sterilization area.

The objects of the present invention are not limited to the above-mentioned objects, and other objects of the present invention which are not mentioned can be understood by the following description and can be more clearly understood by the embodiments of the present invention. Further, the objects of the present invention can be realized by the means shown in the claims and their combinations.

In order to achieve the above-mentioned object, the present invention can be implemented by the following embodiments.

According to an embodiment of the present invention, the ultraviolet sterilizing robot of the present invention includes a ultraviolet sterilizing apparatus for sterilizing a disinfection object by emitting unidirectional ultraviolet light, and a reading unit for reading out a rectangular area that supports the ultraviolet light sterilizing apparatus, Wherein the body includes a sterilization schedule module for mapping the ultraviolet sterilization range to a spatial map on the basis of the ultraviolet light irradiation distance and detecting a rectangular area which is not sterilized because the ultraviolet light can not reach, And an integrated control unit for controlling the display unit.

According to an embodiment of the present invention, the ultraviolet sterilizing apparatus according to the present invention includes a lamp unit for generating ultraviolet light, a reflector for guiding directional switching so that ultraviolet light emitted from the lamp unit is unidirectionally emitted, And a connecting portion connecting the lamp portion and the support portion and rotatable in the second rotation direction, wherein the support portion is movable in the vertical direction or the vertical direction, It is possible to concentrate and emit the ultraviolet light emitted from the lamp part in the multi-contact area by rotating the entire ultraviolet sterilizer in the vertical direction or the first rotation direction by rotating in the one rotation direction, .

According to an embodiment of the present invention, the lamp unit according to the present invention is embodied as a plurality of lamp units radially positioned in a uniformly divided region, and emits ultraviolet rays radially in a predetermined height range.

According to an embodiment of the present invention, the reflector according to the present invention is formed in a quasi-cylindrical shape that encloses the lamp unit in the longitudinal direction, and can emit ultraviolet light emitted from the lamp unit, .

According to the embodiment of the present invention, in the ultraviolet sterilizing robot according to the present invention, the connection part is rotated in the second rotation direction so that the lamp part and the reflection part also rotate in the second rotation direction to reach ultraviolet light in a rectangular area Thereby providing a full-range sterilizing effect on the sterilization space.

According to an embodiment of the present invention, the ultraviolet sterilizing apparatus according to the present invention further includes a camera unit mounted on a vertical upper end of the lamp unit to photograph a disinfection object located in a multi-contact area and a rectangular area, As shown in FIG.

According to an embodiment of the present invention, the integrated controller according to the present invention determines an operation parameter of the ultraviolet sterilizing robot to perform an ultraviolet disinfection operation on a disinfecting object or a disinfection area located in an ultraviolet sterilization range mapped on a space map, Further comprising an operation schedule module for scheduling operations of the ultraviolet sterilizing robot.

According to an embodiment of the present invention, the integrated controller according to the present invention further comprises a controller for setting a new position of the ultraviolet sterilizing robot in order to perform an ultraviolet disinfecting operation in a disinfecting object or disinfection area located in a remote rectangular area, And an operation schedule module for generating a control command.

According to an embodiment of the present invention, the integrated control unit according to the present invention further comprises an operation schedule module for receiving an operation schedule from the operation schedule module and performing a disinfection operation on the disinfection object or disinfection area according to the received operation schedule, And an operation control module for controlling the operation of various components and for controlling the movement of the ultraviolet sterilizing robot.

The present invention has the following effects with the above-described configuration.

The present invention can provide a thorough disinfection system for a disinfection space by including an integrated control unit that reads a rectangular area that ultraviolet light does not reach by itself and determines operation parameters and performs disinfection work.

The present invention has an effect of providing a thorough disinfection system for disinfection space by including an integrated control unit which locates and moves by itself to read a remote rectangle area where ultraviolet light can not reach and disinfect the area.

The present invention relates to an ultraviolet sterilizing device for inducing redirecting of ultraviolet light emitted from a lamp unit in a unidirectional manner, and a reflecting unit formed in a quasi-cylindrical shape for enclosing a lamp unit for generating ultraviolet light in a longitudinal direction, So that ultraviolet light can be concentrated and emitted to the multi-contact area, thereby providing an effect of providing an intensive sterilizing effect.

The present invention includes a supporting portion vertically disposed in a longitudinal direction perpendicular to the body and movable in the vertical direction and the first rotation direction so that the supporting portion rotates in the vertical direction or in the first rotation direction, And can be rotated in the first rotation direction so as to concentrate and emit ultraviolet light in a multi-contact area having high bacterial density, thereby providing a full-range disinfection effect over the entire multi-contact area.

The present invention includes a plurality of lamp portions radially positioned in a uniformly divided region of the same plane so that ultraviolet light radiated in a single direction of each of the plurality of lamp portions is radially radiated so that the ultraviolet sterilizing device rotates in the first rotation direction 360 It is possible to achieve a full range sterilization effect for a 360-degree area in a certain height range even if it is not rotated.

Since the lamp unit can be connected to a connecting portion that can turn at an arbitrary angle to adjust the ultraviolet ray irradiation angle, ultraviolet ray light can reach the blind spot And can provide a full-range sterilizing effect on the sterilization space.

The present invention includes a camera unit mounted on a vertically upper end portion of a lamp unit to photograph a disinfection object and a disinfection area located in a multi-contact area and a rectangular area, and collecting image information, wherein the user visually confirms information on the disinfection process It is possible to achieve a sterilizing effect that can more completely sterilize the insufficient area for the disinfection area.

FIG. 1 is a view showing a perspective view (a), an embodiment (b), and a room installation example (c) of a conventional ultraviolet discharge lamp device having a vertically positioned discharge lamp,
2 is a conceptual diagram illustrating an ultraviolet sterilization system having a central server, a portable device, and an ultraviolet sterilizing robot according to an embodiment of the present invention,
3 is a block diagram showing a configuration of an ultraviolet sterilizing robot according to an embodiment of the present invention,
4 is a block diagram showing the configuration of an integrated controller of an ultraviolet sterilizing robot according to an embodiment of the present invention,
FIG. 5 is a perspective view illustrating the non-operating state of the ultraviolet sterilizing robot according to the embodiment of the present invention,
6 to 9 are perspective views for explaining the vertical operation of the ultraviolet sterilizing apparatus according to the embodiment of the present invention,
10 is a perspective view illustrating a first rotary operation of the ultraviolet sterilizing apparatus according to the embodiment of the present invention,
FIG. 11 is a perspective view (a) for explaining a region of ultraviolet light caused by a first rotation operation of the ultraviolet sterilizing apparatus according to an embodiment of the present invention, and a perspective view explaining an area of ultraviolet light emitted from a plurality of ultraviolet sterilizing apparatuses (b)
12 and 13 are perspective views for explaining a region of ultraviolet light according to the second rotation operation of the ultraviolet sterilizing apparatus according to the embodiment of the present invention,
14 is a conceptual diagram necessary for explaining generation of a space map according to an embodiment of the present invention,
FIG. 15 is a conceptual diagram for explaining a process of determining an operation parameter according to a position of a disinfection object retrieved through a spatial map according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art.

In addition, although specific terms are used in the drawings and specification of the present invention, they are used for the purpose of describing the present invention only and are not used to limit the scope of the present invention described in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

The ultraviolet sterilization apparatus of the present invention will now be described in detail with reference to the drawings in comparison with the prior art.

FIG. 1 is a view showing a perspective view (a), an embodiment (b), and a room installation example (c) of an ultraviolet discharge lamp device having a conventional discharge lamp positioned vertically.

Referring to FIG. 1 (a), a conventional ultraviolet discharge lamp device 100 is supported on a support structure 102 by a discharge lamp assembly, and is longitudinally disposed perpendicular to the plane of the support structure 102. The discharge lamp assembly includes a discharge lamp 104 surrounded by an optical filter 106 and disposed between the fan 108 and the ozone filter 119.

The conventional ultraviolet discharge lamp device 100 also includes an ozone filter 119 and a reflector 118 attached to the top of the optical filter 106. The reflector 118 reflects the direction of the ultraviolet light propagated from the support structure 102 It is a device that induces redirect.

In the above-described conventional technique, the direction of the ultraviolet light propagated from the support structure 102 is set to a region outside the ultraviolet discharge lamp device 100 from about 2 to about 4 feet from the bottom of the space where the ultraviolet discharge lamp device 100 is disposed To an ultraviolet discharge lamp device (100) having a reflector system configured to change the reflectance of the ultraviolet lamps. Herein, a zone between about 2 feet and about 4 feet from the floor is defined as a hihg touch (HT) zone, and a multi-contact zone is defined as the possibility of contacting bacteria in a space such as a desk, a keyboard, a telephone, This high region can be defined as a high bacterial density.

However, as previously discussed, the conventional ultraviolet discharge lamp device 100 specifies that the ultraviolet light includes a reflector system configured to occupy the entire enclosure entirely and is not configured to generate a narrow beam of light for a small object .

1 (c), in the prior art, a rectangular area bb (dotted line) in which light does not reach beyond the range aa of the area where ultraviolet light is redirected may occur, The light is formed to occupy the entire enclosure entirely, and the sterilization efficiency is inferior because the ultraviolet rays can not be concentrated in a high density of pathogen like the operating apparatus of the operating room.

2 is a conceptual diagram illustrating an ultraviolet sterilization system having a central server, a portable device, and an ultraviolet sterilizing robot according to an embodiment of the present invention.

2, the ultraviolet sterilization system may include an ultraviolet sterilizing robot 100, a portable device 200, and a central server 300, and may include a plurality of ultraviolet sterilizing robots 100a, 100b, , 100n can be integrated and remotely controlled.

The ultraviolet sterilization system stores various data related to sterilization processing stored in the ultraviolet sterilizing robot 100 in the central server 300 and manages them integrally. It is possible to control the sterilizing robot 100 to perform various disinfection operations by transmitting various data and control commands related to the disinfection process so that the ultraviolet sterilizing robot 100 is replaced with another disinfecting robot 100 even in the event of failure of the ultraviolet sterilizing robot 100 . ≪ / RTI >

3, the ultraviolet sterilizing robot 100 includes an ultraviolet sterilizer 110 and a body 120. The ultraviolet sterilizer 100 includes an ultraviolet sterilizer 110 and a non- Read and autonomous movements are possible. Accordingly, the ultraviolet sterilizing robot 100 is capable of maximizing the disinfection ability and disinfection efficiency by sterilizing the dead bacteria / virus without the square area because it can expand the ultraviolet disinfection area and the ultraviolet disinfection area for the disinfection object.

The ultraviolet sterilizer 110 includes a lamp unit 111, a reflection unit 112, a support unit 113, a connection unit 114, and a camera unit 115. The ultraviolet sterilizer 110 moves in three degrees of freedom, There is a technical feature to increase sterilization efficiency. As shown in FIG. 5, when the ultraviolet sterilizer 110 does not emit ultraviolet light, the occupant space is minimized when the ultraviolet sterilizer 100 is stored in the body 120 in a non- .

As shown in FIGS. 6 to 9, the three-degree-of-freedom movement direction is a vertical direction (or vertical direction, Z axis direction) of the ultraviolet sterilizer 110, (Or the YZ plane direction) of the lamp unit 111 as shown in Figs. 12 and 13, as shown in Figs. 12 and 13.

The support portion 113 can be moved in the vertical direction or rotated in the first rotation direction to rotate the entire ultraviolet sterilizer 110 in the vertical direction or in the first rotation direction. In addition, the connection portion 114 rotates in the second rotation direction so that the lamp portion 111 and the reflection portion 112 can be rotated in the second rotation direction.

12 shows the rotation angle at which the lamp unit 111 is rotated in the second rotation direction in a state where the reflection unit 112 is fixedly coupled to the lamp unit 111. However, Only the reflection portion 112 connected to the first rotation direction may rotate in the second rotation direction. The ultraviolet sterilizing robot 100 of the present invention may also include an embodiment in which the entire ultraviolet sterilizing apparatus 110 including the lamp unit 111, the support unit 113 and the like is rotated in the second rotation direction.

The lamp unit 111 is connected to the connection unit 114 and is arranged in the longitudinal direction perpendicular to the plane together with the support unit 113 to generate ultraviolet light. As the support portion 113 moves up and down and / or rotates in the first rotation direction, the lamp portion 111 can be moved in the vertical direction and / or the first rotation direction together with the support portion 113, Referring to FIG. 7, ultraviolet light can be concentrated and emitted in the multi-contact zone HT, thereby providing a strong sterilizing effect. In the present invention, the multi-contact zone HT is defined as a zone having a high density of bacteria in the space to be disinfected, and a vertical movement distance of the support unit 113 can be set corresponding to the multi-contact zone HT.

12 and 13, the lamp unit 111 may be connected to a connecting portion 114 that can be rotated at an arbitrary angle, and may emit ultraviolet light while rotating in the second rotational direction, , It is possible to realize ultraviolet light reaching the rectangular area bb in which the ultraviolet light does not reach in the prior art, so that it is possible to provide a full-range sterilizing effect on the sterilizing space.

In the present invention, the rectangular area is defined by the ultraviolet light emitted from the lamp part 111 by the upward and downward movement of the support part 113 and / or rotation in the first rotation direction to the lower and upper areas of the multi- It means an area that can not be reached. Therefore, according to the present invention, the connection part 114, which is rotatable in the second rotation direction, and the lamp part 111, which is connected to the connection part 114 and is rotatable at a predetermined angle in the second rotation direction, And thus can provide a full-range sterilization effect on the sterilization space. The rectangular area may include a remote rectangle area. The rectangle area refers to a region that is farther than the horizontal reach distance of the ultraviolet light at the current position of the ultraviolet sterilizing robot 100 and is described as a remote multi-contact area (HT) . The disinfecting operation for the remote rectangular area can be performed by autonomous movement of the ultraviolet sterilizing robot 100 to the remote rectangular area.

In the meantime, the present invention is defined as a concept encompassing various kinds of light which are described as 'ultraviolet light' but are effective in sterilizing viruses and pathogens. In one embodiment, the lamp unit 111 may be realized as a discharge lamp that generates light by internal electrical discharge between the electrodes in the gas, and may be configured in a non-laser manner to widely disperse the light emitted from the discharge lamp can do. The discharge lamp includes not only a gas discharge lamp but also a surface discharge lamp, and may be a device that generates continuous light and may emit light for a short time.

The lamp unit 111 may further include an optical system (not shown) for generating a laser from the light emitted from the discharge lamp, and may be configured in a laser manner. Accordingly, the lamp unit 111 of the present invention is a discharge lamp not including an optical system, and may be implemented as a non-laser device, and further includes an optical system to realize a laser.

The reflective portion 112 induces a direction change of a part of ultraviolet light emitted radially from the lamp portion 111 so that ultraviolet light is concentratedly emitted in a unidirectional direction. In one embodiment, when the lamp unit 111 is implemented as a discharge lamp and is implemented in a non-laser manner to widely disperse the light emitted from the discharge lamp, the reflector 112 reflects the ultraviolet light emitted radially from the discharge lamp It is possible to increase the density of the ultraviolet light so that the ultraviolet light can be intensively irradiated to the disinfecting source.

The reflector 112 may be formed into a semicylindrical shape in which the lamp portion 111 is wrapped in the longitudinal direction, and may be variously formed into a 1/3 cylindrical shape or a 2/3 cylindrical shape according to an embodiment. The present invention is defined as a cylindrical shape in which a part of the longitudinal direction of the cylindrical shape is opened at 1/2, 1/3, 1/4, And the reflective portion 112 may be formed in a quasi-cylindrical shape that surrounds the lamp portion 111 in the longitudinal direction.

6 to 9 illustrate ultraviolet light emitted unidirectionally in the ultraviolet sterilizer 110 including the quasi-cylindrical reflector 112 that encloses the lamp unit 111 in the longitudinal direction. Particularly, as the ultraviolet sterilizer 110 rises in the vertical direction (Z-axis direction) in the body 120, the height of the region where the ultraviolet light emitted in the unidirectional direction from the lamp unit 111 reaches also increases A concentrated sterilization effect on the contact zone HT can be obtained.

FIG. 10 illustrates a first rotation operation of the ultraviolet sterilizing apparatus according to another embodiment of the present invention. FIG. 11 (a) shows a state in which the ultraviolet sterilizing apparatus 110 rotates in the first rotation direction The regions aa and bb, in which the ultraviolet light reaches the cross-sectional area AA 'shown in Fig. 10, are described.

Particularly, as the ultraviolet sterilizer 110 rotates in the first rotation direction, the area aa of the ultraviolet light emitted unidirectionally in the ultraviolet sterilizer 110 varies. Referring to FIGS. 6 to 11, Ultraviolet light emission can be realized for 360 degrees in a certain height range (particularly in the multi-contact area HT) when the ultraviolet sterilizing device 110 rotates 360 占 in the first rotation direction.

Referring to FIG. 11 (b), according to various embodiments of the present invention, the ultraviolet sterilizing apparatus 110 includes a plurality of lamp units 111 radially positioned in a uniformly divided area on the same plane, The ultraviolet ray irradiating unit 110 is constructed to include the ultraviolet ray irradiation unit 111 and the reflecting unit 112, the four lamp units 111 and the reflecting unit 112, Ultraviolet light emission for a 360 degree region can be realized within a certain height range without rotation of 360 degrees in the first rotation direction of the substrate 110. [

The support part 113 is connected to the connection part 114 to support the lamp part 111 and move up and down in the vertical direction (Z-axis direction) The height of the region where the ultraviolet light emitted by the light source reaches.

As the support portion 113 rotates in the first rotation direction, it is possible to adjust the arrival area aa of the ultraviolet light emitted unidirectionally in the XY plane direction in the ramp portion 111, The disinfecting object can be disinfected.

The connection portion 114 connects the lamp portion 111 and the support portion 113 and is rotatable in a second rotation angle (TA) range. The second rotation angle TA includes an angle capable of optimizing an incident angle of ultraviolet light emitted from the lamp unit 111 to a disinfection object located outside the multi-contact zone HT.

12, the second rotation angle TA may be an angle that includes an area that can be rotated clockwise or counterclockwise 90 degrees from the vertical upper end of the lamp part 111 to the vertical lower end However, the present invention is not limited to this, and it may be configured to include an area rotatable up to an arbitrary angle within a range of up to 180 degrees clockwise or counterclockwise from the vertical upper end to the vertical lower end of the lamp unit 111.

The camera unit 115 is mounted on the vertical upper end portion of the lamp unit 111 so that the camera unit 115 can move up and down together with the vertical movement of the support unit 113 and / Referring to FIGS. 3 and 4, image information is collected by photographing a disinfection object and / or a disinfection area located in the multi-contact area HT.

12 and 13, since the camera unit 115 is mounted on the vertical upper end portion of the lamp unit 111 connected to the connection unit 114 that can be rotated at an arbitrary angle, The camera unit 115 can photograph the disinfection object and / or disinfection area located in a rectangular area within the range of the second rotation angle TA and collect image information.

The present invention is not limited to this, and the camera unit 115 may be configured to photograph the disinfection object and / or the disinfection area A plurality of UV sterilizing robots 100 may be mounted at arbitrary positions.

 The body 120 may include a sensor unit 121, an integrated control unit 122, a display unit 123, a moving unit 124, and an antenna unit 125. The body 120 supports the ultraviolet sterilizing apparatus 110 And may include an empty space so that the ultraviolet sterilizer 110 can be positioned inside the ultraviolet sterilizer 110 in a non-operating state in which ultraviolet light is not emitted.

The sensor unit 121 may include an ultrasonic sensor 121a, an ultraviolet ray irradiation distance measuring sensor 121b and a motion sensor 121c. The ultraviolet sterilizer robot 100 may include a sterilizing space to be sterilized, Collect geometric information.

The ultrasonic sensor 121a attaches to an outer surface of the body 120 to emit ultrasonic waves in a horizontal direction, collects ultrasonic waves reflected from the object to be sterilized, and transmits the disinfection space and geometry information of the object to be sterilized to the integrated controller 122 have. In the present invention, the body 120 may include two or more ultrasonic sensors 121a spaced apart from each other in the vertical direction by a predetermined distance. In another embodiment, the ultraviolet sterilizing device 110 may include a vertical And two or more ultrasonic sensors 121a spaced apart from each other by a predetermined distance.

The ultraviolet ray irradiation distance measuring sensor 121b measures the irradiation distance and the irradiation amount of the ultraviolet ray emitted from the lamp unit 111 and transmits the information about the ultraviolet ray sterilized area corresponding to the irradiation distance to the integrated controller 122 in real time have.

The motion sensor 121c may be attached to the outer surface of the body 120 to detect movement within a disinfection space area to be sterilized and transmit motion information to the integrated controller 122 in real time.

4, the integrated control unit 122 includes a data storage module 1221, a sterilization schedule module 1222, an operation schedule module 1223, an operation control module 1224, and a communication module 1225, Detects a rectangular area that is not sterilized due to the ultraviolet ray not reaching the robot, and determines the position control and operating parameters of the ultraviolet sterilizing robot (100).

The data storage module 1221 stores various data necessary for the disinfection operation of the integrated controller 122 and also stores the disinfection operation result data in the integrated controller 122. Various data stored in the data storage module 1221 may be transferred to the central server 300 and managed in an integrated manner.

In addition, each of the plurality of ultraviolet sterilizing robots 100a, 100b, 100n stores the code, ID, password, and the like for identifying the self in the data storage module 1221 so that the central server 300 has a plurality of ultraviolet sterilization The robots 100a, 100b, 100n can be integrated and remotely controlled.

The disinfection schedule module 1222 generates a space map based on the geometric information of the disinfection space to be disinfected by disposing the ultraviolet light disinfection robot 100 in the location of the ultraviolet disinfection robot 1002. Based on the irradiation distance of the ultraviolet light, You can specify a range. In particular, the sterilization schedule module 1222 can detect a rectangular region that is an unsterilized region because ultraviolet light can not reach within the sterilization space.

The square area is a region in which the ultraviolet sterilizing robot 100 can not be sterilized due to the distance from the ultraviolet sterilization range to the object to be sterilized, the incidence angle of the ultraviolet light to the object to be sterilized, Can be explained.

The sterilization schedule module 1222 can generate a grid map of the disinfection space based on the ultrasound information collected by the ultrasonic sensor 121a. The lattice map grids the disinfection space by distinguishing the area recognized as an obstacle by the occupied grid, the unoccupied grid of the area where no obstacle is not present, and the boundary grid between the occupied grid and the non-pointed grid . In addition, the grid map can grid the disinfection space in an approximate shape of the obstacle shape measured through the ultrasonic sensor 121a. The upper part of FIG. 9 schematically illustrates a grid map formation process performed by the sterilization schedule module 1222. FIG.

9, the disinfection schedule module 1222 disinfects the disinfection schedule module 1222 based on the ultrasound information collected by the two ultrasound sensors 121a spaced at regular intervals in the vertical direction on the outer surface of the body 120, (A) and a lattice map (B) having different phases from each other.

The sterilization schedule module 1222 can generate a space map close to the structure of the actual disinfection space such as the environment and shape of the disinfection space by performing an operation such as noise removal on the generated grid map. The present invention may include generating a space map in the sterilization schedule module 1222, and receiving information such as data or maps reflecting the structural characteristics of the sterilization space from the outside.

The disinfection schedule module 1222 maps the information about the irradiation distance of the ultraviolet light measured by the ultraviolet light irradiation distance measuring sensor 121b to the space map, displays the sterilizable area at the point where the ultraviolet sterilizing robot 100 is currently located, The sterilization range can be specified. In particular, the sterilization schedule module 1222 can determine a region that is not sterilized outside the ultraviolet sterilization range mapped to the space map as a rectangular region.

The operation schedule module 1223 determines the positioning and / or operating parameters of the ultraviolet sterilizing robot 100 and schedules the operation of the ultraviolet sterilizing robot 100 for ultraviolet disinfection for the ultraviolet disinfection range mapped on the space map, Command to the operation control module 1224. [

The positioning of the ultraviolet sterilizing robot 100 includes shifting to an area judged to be a remote rectangular area. The operation schedule module 1223 calculates the position of the ultraviolet sterilizing robot 100 in accordance with the current position of the ultraviolet sterilizing robot 100 on the space map, And the position setting is scheduled in consideration of factors such as a moving distance, a moving speed, and a moving time.

The operation parameters include a moving distance of the support portion 113 in the vertical direction, a rotation angle of the support portion 113 with respect to the first rotation direction, and a rotation angle of the connection portion (not shown) so as to perform a disinfecting operation for the disinfection object or disinfection area, And the rotation angle with respect to the second rotation direction. Accordingly, the operation schedule module 1223 determines the operation parameters of the ultraviolet sterilizing robot 100 in consideration of the ultraviolet light source height, ultraviolet incident angle, and ultraviolet irradiation time for sterilizing the disinfection object located in the ultraviolet sterilization range mapped on the space map Can be determined.

15, the operation schedule module 1223 distinguishes an object to be disinfected located at a location (1) close to the ultraviolet sterilizing robot (100) and a disinfection object at a distant site (2) The rotation speed and the ultraviolet light irradiation time can be set differently in the first rotation direction of the supporting part 113. [ At this time, the operation schedule module 1223 may set the operation parameters such that the rotation speed is (2) <(1) <(3) and the irradiation time is (1) <(2) <(3).

The operation control module 1224 controls the ultraviolet sterilizing robot 100 to perform disinfection operations for the power ON / OFF of the ultraviolet sterilizing robot 100, the movement of the ultraviolet sterilizing robot 100, 100). &Lt; / RTI &gt;

The communication module 1225 controls the antenna unit 125 to transmit and receive various data and control commands to and from the portable device 200 or the central server 300.

The display unit 123 may display the disinfection object and / or the disinfection area, and may receive the collected image information from the camera unit 115 to display real-time information on the disinfection process.

The moving part 124 may be implemented as a plurality of wheels that are rotatable in a configuration that freely moves the ultraviolet sterilizing robot 100. The operation control module 1224 can move the ultraviolet sterilizing robot 100 to a predetermined point by operating the moving unit 124 according to the position setting control command scheduled by the operation schedule module 1223. [

The antenna unit 125 can exchange various data, control commands, and the like with the portable device 200 or the central server 300 by wireless communication.

The portable device 200 can receive the real time information on the disinfection process by wireless communication and can remotely control the ultraviolet sterilizing robot 100. The present invention can not only disinfect the ultraviolet sterilizing robot 100 by specifying the ultraviolet sterilization range itself and determine the operation parameters to perform disinfection operation at a predetermined point but also perform the disinfection operation by the camera unit 115 through the portable device 200 Sterilizing robot 100 and transmits the control command necessary for performing the disinfection operation to the ultraviolet sterilizing robot 100. The ultraviolet sterilizing robot 100 may transmit the control command to the ultraviolet sterilizing robot 100. [

In addition, since the portable device 200 can receive and display image information of the disinfection object and / or disinfection area located in the rectangular area from the ultraviolet sterilizing robot 100, the user can view the blind spot through the portable device 200 It is possible to sterilize the disinfection object and / or disinfection area in detail by directly confirming the disinfection object and transmitting an additional control command other than the disinfection operation performed by the operation schedule performed by the ultraviolet sterilizing robot 100 itself.

The central server 300 receives various data on the disinfection area where the disinfecting operation is currently performed from the ultraviolet sterilizing robot 100 and manages the integrated data by identifying the ultraviolet sterilizing robots 100a, 100b, 100n, The code, the ID, and the password are separately stored, and the plurality of ultraviolet sterilizing robots 100a, 100b, 100n having the same performance can be integrated and remotely controlled.

The central server 300 designates any ultraviolet sterilizing robot 100 among a plurality of ultraviolet sterilizing robots 100a, 100b, 100n when an event (ex, failure) occurs in the ultraviolet sterilizing robot 100 currently in operation It is possible to control the newly designated ultraviolet sterilizing robot 100 to continue performing the disinfection operation by transmitting the integrated management data to the designated ultraviolet sterilizing robot 100.

The foregoing detailed description is illustrative of the present invention. In addition, the foregoing is intended to illustrate and explain the preferred embodiments of the present invention, and the present invention may be used in various other combinations, modifications, and environments. That is, it is possible to make changes or modifications within the scope of the concept of the invention disclosed in this specification, within the scope of the disclosure, and / or within the skill and knowledge of the art. The embodiments described herein are intended to illustrate the best mode for implementing the technical idea of the present invention and various modifications required for specific applications and uses of the present invention are also possible. Accordingly, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. It is also to be understood that the appended claims are intended to cover such other embodiments.

100: Ultraviolet sterilization robot
110: Ultraviolet sterilization device
111:
112:
113: Support
114:
115:
120: Body
121:
122:
123:
124:
125:
200: Portable device
300: central server

Claims (9)

An ultraviolet sterilizer for sterilizing the object to be sterilized by emitting unidirectional ultraviolet light and enabling three degrees of freedom motion, and
And a body for supporting the ultraviolet sterilizing device and reading a rectangular area where ultraviolet light can not reach,
The body includes a sterilizing schedule module for mapping a ultraviolet sterilization range on a space map based on an irradiation distance of ultraviolet light and detecting a rectangular area that is not sterilized due to the ultraviolet light not reaching the body, And an operation schedule module for generating a control command for moving the ultraviolet sterilizing robot to a set position by setting a new position of the ultraviolet sterilizing robot to perform an ultraviolet disinfecting operation on the area,
The sterilizing schedule module generates a grid map for latticing the disinfection space based on the ultrasound information collected from the ultrasonic sensor, maps the information on the irradiation distance of the ultraviolet light measured by the ultraviolet ray irradiation distance measuring sensor to a space map, Wherein the ultraviolet sterilizing range can be specified by marking a sterilizable region at the present location. The method of claim 1,
The ultraviolet sterilization apparatus includes a lamp unit for generating ultraviolet light, a reflector for guiding directional change so that the ultraviolet light emitted from the lamp unit is unidirectionally emitted, A support portion rotatable in a first rotation direction, and a connection portion connecting the lamp portion and the support portion and rotatable in a second rotation direction,
The support portion may be moved in the vertical direction or in the first rotation direction to rotate the entire ultraviolet sterilizer in the vertical direction or in the first rotation direction to concentrate and emit ultraviolet light emitted from the lamp portion in the multi- Wherein the ultraviolet sterilizing robot is capable of providing high intensity sterilization effect. 3. The lamp unit according to claim 2,
Wherein the plurality of lamp units are radially positioned in a uniformly divided region of the same plane to emit ultraviolet rays radially in a predetermined height range. 3. The apparatus of claim 2,
Wherein the lamp unit is configured in a quasi-cylindrical shape to enclose the lamp unit in the longitudinal direction, so that ultraviolet light emitted from the lamp unit can be concentrated and emitted, thereby providing a high sterilizing effect. 4. The method of claim 3,
The connection portion rotates in the second rotation direction so that the lamp portion and the reflection portion also rotate in the second rotation direction to reach ultraviolet light even in the rectangular region, thereby providing a sterilizing effect on the sterilizing space over the entire range Ultraviolet sterilization robot. The ultraviolet sterilization apparatus according to claim 4,
Further comprising a camera unit mounted on a vertical upper end of the lamp unit to photograph a disinfection object and a disinfection area located in a multi-contact area and a rectangular area, and collect image information. 3. The system of claim 2, wherein the operation schedule module
Wherein an operation parameter of the ultraviolet sterilizing robot is determined to schedule the operation of the ultraviolet sterilizing robot in order to perform an ultraviolet disinfection operation on a disinfection object or a disinfection area located in an ultraviolet disinfection range mapped to a space map. delete 8. The apparatus of claim 7,
The operation schedule module receives the operation schedule and controls the operation of various components of the ultraviolet sterilizing robot in order to perform a disinfecting operation on the disinfection object or disinfection area according to the received operation schedule, And an operation control module for controlling the operation of the ultraviolet sterilizing robot.
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